CN215701661U

CN215701661U - Z-axis large-stroke SCARA robot

Info

Publication number: CN215701661U
Application number: CN202122425974.2U
Authority: CN
Inventors: 刘伟平; 朱国伟; 张天洪
Original assignee: Shenzhen Chaoci Robot Technology Co ltd
Current assignee: Shenzhen Chaoci Robot Technology Co ltd
Priority date: 2021-10-09
Filing date: 2021-10-09
Publication date: 2022-02-01
Anticipated expiration: 2031-10-09

Abstract

A Z-axis large-stroke SCARA robot comprises a SCARA robot (01) and a Z-axis (02), wherein the SCARA robot (01) is used for transferring articles, and the Z-axis (02) is used for vertically lifting the SCARA robot (01); the SCARA robot (01) is fixedly arranged on a Z-axis connecting plate (02114) through a SCARA robot connecting plate (011), the Z-axis connecting plate (02114) is arranged on a Z-axis screw rod (02113), so that the Z-axis screw rod (02113) drives the SCARA robot (01) to ascend to a specified position through clockwise rotation motion, or the Z-axis screw rod (02113) drives the SCARA robot (01) to descend to the specified position through anticlockwise rotation motion, and the SCARA robot (01) transfers articles to the accurate position of a conveying destination; the utility model can carry the articles from high to low or from low to high in a full-automatic mode and accurately place the articles at the designated position, thereby solving the problems of low efficiency and easy error of the placement position in manual carrying.

Description

Z-axis large-stroke SCARA robot

Technical Field

The utility model relates to the technical field of robots, in particular to a Z-axis large-stroke SCARA robot.

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 a laboratory, experimental equipment is often required to be transported from a high place to a low place or from the low place to the high place, manual transportation is not only low in efficiency but also errors are easy to occur in the placement position, and therefore, the Z-axis large-stroke SCARA robot is designed by utilizing the advantages of the SCARA robot, and objects are transported from the high place to the low place or from the low place to the high place and placed at a specified position in a full-automatic mode.

SUMMERY OF THE UTILITY MODEL

In view of the above-mentioned drawbacks in the prior art, an object of the present invention is to provide a Z-axis large-stroke SCARA robot, which can automatically transport articles from a high place to a low place or from the low place to the high place and accurately place the articles at a designated position, so as to solve the problems that manual transportation is not only inefficient, but also the placement position is prone to errors.

The utility model is realized in the way, and the technical scheme adopted by the Z-axis large-stroke SCARA robot is as follows: a Z-axis large stroke SCARA robot comprising:

the SCARA robot (01) is used for transferring articles and comprises a first rotating arm (0108), a second rotating arm (0109), a first closed-loop stepping motor (0201), a second closed-loop stepping motor (0202), a third closed-loop stepping motor (0204), a hollow shaft (0107) and a tail end connector (01071); the first closed-loop stepping motor (0201) is used for driving the first rotating arm (0108) to move left and right along the horizontal direction, the second closed-loop stepping motor (0202) is used for driving the second rotating arm (0109) to move left and right along the horizontal direction, and the third closed-loop stepping motor (0204) is used for driving the hollow shaft (0107) to rotate along the central point; the first closed-loop stepping motor (0201) is positioned at one end of the first rotating arm (0108), the second closed-loop stepping motor (0202) is positioned at the intersection of the other end of the first rotating arm (0108) and one end of the second rotating arm (0109), and the third closed-loop stepping motor (0204) is arranged on the second rotating arm (0109); the hollow shaft (0107) is fixed at the front end of the second rotating arm (0109) through a shaft fixing part (01055); the end connector (01071) is arranged at the bottom end of the hollow shaft (0107) passing through the second rotating arm (0109), and the end connector (01071) is used for connecting external equipment to realize the grabbing or the lowering of the object;

the Z-axis (02) is used for vertical lifting of the SCARA robot (01) and comprises a Z-axis bracket (0211), a Z-axis screw rod (02113), an integrated stepping motor (0213), a Z-axis screw rod top fixing piece (0211301), a first Z-axis synchronizing wheel (02131), a second Z-axis synchronizing wheel (02132) and a Z-axis synchronous belt (02133); the Z-axis support (0211) has a certain height, and a Z-axis screw rod (02113) is vertically arranged in the Z-axis support (0211); the Z-axis screw rod top fixing piece (0211301) is fixed on the inner wall of the Z-axis support (0211) through a screw, and the Z-axis screw rod top fixing piece (0211301) is used for fixing the top end of the Z-axis screw rod (02113); the first Z-axis synchronizing wheel (02131) is installed at the bottom of the Z-axis screw rod (02113), the second Z-axis synchronizing wheel (02132) is installed at the motor shaft end of the integrated stepping motor (0213), and a Z-axis synchronous belt (02133) is sleeved on the outer peripheral walls of the first Z-axis synchronizing wheel (02131) and the second Z-axis synchronizing wheel (02132); the integrated stepping motor (0213) drives the second Z-axis synchronous wheel (02132) to rotate so as to drive the first Z-axis synchronous wheel (02131) to rotate through the Z-axis synchronous belt (02133), and then drives the Z-axis screw rod (02113) to realize clockwise or anticlockwise rotation through the first Z-axis synchronous wheel (02131);

the SCARA robot (01) is fixedly installed on a Z-axis connecting plate (02114) through a SCARA robot connecting plate (011), the Z-axis connecting plate (02114) is installed on a Z-axis screw rod (02113), so that the Z-axis screw rod (02113) drives the SCARA robot (01) to ascend to a specified position through clockwise rotation motion, or the Z-axis screw rod (02113) drives the SCARA robot (01) to descend to the specified position through anticlockwise rotation motion, and the SCARA robot (01) drives an end connector (01071) to drive external equipment to move to the specified position through first rotating arms (0108) and second rotating arms (0109).

Further, the Z axis (02) also comprises a Z axis controller (02141), and the Z axis controller (02141) is used for controlling the operation of the integrated stepping motor (0213); the Z-axis controller fixing plate (02142) is installed at the top end of the Z-axis support (0211), the Z-axis controller dust cover (02143) is buckled with the Z-axis controller fixing plate (02142) so that the Z-axis controller (02141) is placed in a cavity surrounded by the Z-axis controller dust cover (02143) and the Z-axis controller fixing plate (02142), and the Z-axis controller (02141) is fixedly installed in a groove formed in the Z-axis controller fixing plate (02142).

Further, the Z-axis (02) further comprises an origin switch (021151), a first guide rail (02111) and a second guide rail (02112), wherein the origin switch (021151) is used for detecting whether the SCARA robot (01) moves to a specified position; the first guide rail (02111) and the second guide rail (02112) are respectively located on two sides of the Z-axis screw rod (02113), the first guide rail (02111) and the second guide rail (02112) are fixed on the inner wall of the Z-axis support (0211) through screws, the back of the Z-axis connecting plate sliding block (021141) is embedded in the second guide rail (02112), the front of the Z-axis connecting plate sliding block (021141) is embedded in the corresponding position of the back of the Z-axis connecting plate (02114), and the Z-axis connecting plate (02114) slides up and down on the second guide rail (02112) through the Z-axis connecting plate sliding block (021141) so that the SCARA robot (01) can ascend and descend stably; an origin switch (021151) is mounted on the inner wall of the Z-axis bracket (0211) through an origin switch mounting piece (021152), and an origin switch (021151) is positioned below the first guide rail (02111); the method comprises the steps that an origin switch (021151) detects that the SCARA robot (01) descends to a specified position, a signal is sent to a Z-axis controller (02141), and the Z-axis controller (02141) sends an instruction to enable an integrated stepping motor (0213) to stop running; or the origin switch (021151) detects that the SCARA robot (01) rises to the specified position, a signal is sent to the Z-axis controller (02141), and the Z-axis controller (02141) sends an instruction to enable the integrated stepping motor (0213) to stop running.

Furthermore, the Z shaft (02) also comprises a Z shaft screw nut (021131), a Z shaft screw top deep groove ball bearing arranged at the top of the Z shaft screw (02113), and a Z shaft screw bottom deep groove ball bearing (0211302) arranged at the bottom of the Z shaft screw (02113); the Z-axis screw rod nut (021131) is sleeved on the Z-axis screw rod (02113) and is nested in a circular cavity formed in the Z-axis connecting plate (02114) so as to drive the Z-axis connecting plate (02114) to stably ascend or descend; the Z-axis lead screw top deep groove ball bearing is located in a Z-axis lead screw top fixing piece (0211301), the Z-axis lead screw bottom deep groove ball bearing (0211302) is located above a first Z-axis synchronizing wheel (02131), and the Z-axis lead screw top deep groove ball bearing and the Z-axis lead screw bottom deep groove ball bearing (0211302) enable the Z-axis lead screw (02113) to rotate stably.

Further, Z axle (02) still includes base shell (02121), bottom plate (02122), base shell (02121) pass through screw fixed mounting on bottom plate (02122), base shell (02121) have a take the altitude in order to form the space of take the altitude with between bottom plate (02122), first Z axle synchronizing wheel (02131), second Z axle synchronizing wheel (02132), Z axle hold-in range (02133) are located the space between base shell (02121) and bottom plate (02122), the surface of base shell (02121) is equipped with Z axle lead screw fixed orifices (021211) and integral type step motor installing port (021212), Z axle lead screw fixed orifices (021211) are used for the fixed bottom of placing Z axle lead screw (02113), integral type step motor installing port (021212) are used for fixed placing integral type step motor (0213).

Furthermore, the SCARA robot (01) further comprises a SCARA robot supporting arm (01081), one end of the SCARA robot supporting arm (01081) is connected with one end of the first rotating arm (0108), and the other end of the SCARA robot supporting arm (01081) is fixed on the SCARA robot connecting plate (011); z axle lead screw (02113) is through driving Z axle connecting plate (02114) and is elevating movement, and then drive SCARA robot connecting plate (011) through Z axle connecting plate (02114) and do elevating movement, SCARA robot connecting plate (011) drives SCARA robot support arm (01081) again and is elevating movement, SCARA robot support arm (01081) drives first rocking arm (0108) again and is elevating movement, first rocking arm (0108) drives second rocking arm (0109) and is elevating movement, thereby realize that SCARA robot (01) is elevating movement.

Further, the SCARA robot (01) further comprises a first fixing plate (0111) and a second fixing plate (0112) for the SCARA robot, and the first fixing plate and the second fixing plate are used for stably connecting the SCARA robot connecting plate (011) with the supporting arm (01081) of the SCARA robot; the first fixed plate of SCARA robot (0111) and SCARA robot second fixed plate (0112) are right triangle, the base of first fixed plate of SCARA robot (0111) and SCARA robot second fixed plate (0112) is respectively through screw fixed mounting in the relative one side of SCARA robot support arm (01081), the perpendicular edge of first fixed plate of SCARA robot (0111) and SCARA robot second fixed plate (0112) is respectively through screw fixed mounting in the relative one side of SCARA robot connecting plate (011), the interval that has certain distance between first fixed plate of SCARA robot (0111) and SCARA robot second fixed plate (0112).

Furthermore, the SCARA robot (01) further comprises a first harmonic speed reducer (0205) and a second harmonic speed reducer (0206), wherein the first harmonic speed reducer (0205) is connected with the first closed-loop stepping motor (0201) through a first connecting shaft (02051), the second harmonic speed reducer (0206) is connected with the second closed-loop stepping motor (0202) through a second connecting shaft (02061), the first harmonic speed reducer (0205) is further connected with one end of the first rotating arm (0108) through a first synchronizing shaft (02011), and the first harmonic speed reducer (0205) is further connected with the intersection of the other end of the first rotating arm (0108) and one end of the second rotating arm (0109) through a second synchronizing shaft (02021); the first harmonic speed reducer (0205) enables the first closed-loop stepping motor (0201) to stably drive the first rotating arm (0108) to move through harmonic transmission, and the second harmonic speed reducer (0206) enables the second closed-loop stepping motor (0202) to stably drive the second rotating arm (0109) to move through harmonic transmission.

Further, SCARA robot (01) still includes bellows (0104) that are used for accomodating the control pencil, and bellows (0104) one end is through first installed part (01041) fixed mounting on SCARA robot support arm (01081), and the other end of bellows (0104) passes through second installed part (01042) fixed mounting on first mount (01043), and first mount (01043) is adjacent with second closed loop step motor (0202).

Furthermore, the first synchronous belt (020411) is sleeved on the periphery of the third synchronous shaft (02041) and the shaft fixing piece (01055), the third closed-loop stepping motor (0204) drives the third synchronous shaft (02041) to rotate so as to drive the first synchronous belt (020411) to rotate, and then the first synchronous belt (020411) rotates to drive the hollow shaft (0107) to move.

Specifically, the SCARA robot (01) further includes a first housing (0101), a second housing (0102), and a third housing (0103), the first housing (0101) and the second housing (0102) being mounted above the second boom (0109) to cover a component located above the second boom (0109), the third housing (0103) being mounted below the SCARA robot support arm (01081) to cover a component located below the SCARA robot support arm (01081); the position that first shell (0101) and second shell (0102) correspond still is equipped with a plurality of screw holes to it is fixed that first shell (0101) links to each other through the screw in second shell (0102).

Specifically, the bottom of the tip connector (01071) is provided with a through hole (010711) to mount an external device by a screw.

The working process of the Z-axis large-stroke SCARA robot is as follows:

firstly, an external device is fixedly arranged below a terminal connector (01071) through a through hole (010711), and an article to be carried is grabbed by the external device;

then, according to the height between the position of the conveyed article and the position of the conveying destination, the Z-axis controller (02141) controls the operation of the integrated stepping motor (0213) to drive the Z-axis screw rod (02113) to move, and if the article is conveyed from a low position to a high position, the integrated stepping motor (0213) drives the Z-axis screw rod (02113) to clockwise move; if the article is conveyed from a high position to a low position, the integrated stepping motor (0213) drives the Z-axis screw rod (02113) to move anticlockwise; after the SCARA robot (01) moves to ascend or descend to a designated position through a Z-axis screw rod (02113), a Z-axis controller (02141) controls an integrated stepping motor (0213) to stop running so as to stop the Z-axis screw rod (02113) from moving; the first closed-loop stepping motor (0201) and the second closed-loop stepping motor (0202) operate to drive the first rotating arm (0108) and the second rotating arm (0109) to move left and right in the horizontal direction, so that the end connector (01071) moves to the position above a conveying destination; the third closed loop stepper motor (0204) operates to move the hollow shaft (0107) so that the end connector (01071) reaches the exact location of the transport destination by rotational movement and the external device lowers the item. When the current carrying work is completed, the SCARA robot (01) returns to the specified position to prepare for the next carrying work.

Compared with the prior art, the Z-axis large-stroke SCARA robot has the beneficial effects that the Z-axis large-stroke SCARA robot comprises the SCARA robot (01) and a Z-axis (02), wherein the SCARA robot (01) is used for transferring articles, and the Z-axis (02) is used for vertically lifting the SCARA robot (01); the SCARA robot (01) is fixedly arranged on a Z-axis connecting plate (02114) through a SCARA robot connecting plate (011), the Z-axis connecting plate (02114) is arranged on a Z-axis screw rod (02113), so that the SCARA robot (01) is driven to ascend to a specified position by the Z-axis screw rod (02113) through clockwise rotation motion, or the SCARA robot (01) is driven to descend to the specified position by the Z-axis screw rod (02113) through anticlockwise rotation motion, and the SCARA robot (01) transfers articles to the accurate position of a conveying destination; the utility model can carry the articles from high to low or from low to high in a full-automatic mode and accurately place the articles at the designated position, thereby solving the problems of low efficiency and easy error of the placement position in manual carrying.

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 external schematic view of a Z-axis large-stroke SCARA robot provided by an embodiment of the utility model.

Fig. 2 is an external schematic view of another direction of a Z-axis large-stroke SCARA robot according to an embodiment of the present invention.

Fig. 3 is an external schematic view of another direction of a Z-axis large-stroke SCARA robot according to an embodiment of the present invention.

Fig. 4 is a Z-axis schematic view of a Z-axis large-stroke SCARA robot according to an embodiment of the present invention.

Fig. 5 is another schematic view of the Z-axis direction of the Z-axis large-stroke SCARA robot according to the embodiment of the present invention.

Fig. 6 is an exploded schematic view of a Z-axis large-stroke SCARA robot according to an embodiment of the present invention.

Fig. 7 is another exploded view of the Z-axis large-stroke SCARA robot according to the embodiment of the present invention.

Fig. 8 is a schematic diagram of a Z-axis large-stroke SCARA robot according to an embodiment of the present invention.

Fig. 9 is a schematic view of another direction of the SCARA robot of the Z-axis large-stroke SCARA robot according to the embodiment of the present invention.

Fig. 10 is a partial structural schematic diagram of a SCARA robot of a Z-axis large-stroke SCARA robot according to an embodiment of the present invention.

Fig. 11 is a schematic view of a partial structure of a SCARA robot with a large Z-axis stroke according to an embodiment of the present invention.

Fig. 12 is an exploded view of a part of a structure of a SCARA robot of a Z-axis large-stroke SCARA robot according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further 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 utility model and are not intended to limit the utility model.

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 should be 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 also be present; it is to be understood that the terms "upper", "lower", "left", "right", and the like, if any, are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms in the drawings describing the positional relationships are used for illustrative purposes only and are not to be construed as limiting the present patent, and the specific meanings of the terms will be understood by those skilled in the art according to the specific circumstances.

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

Referring to fig. 1 to 12, a preferred embodiment of the present invention is shown.

Referring to fig. 1 to 12, the utility model provides a Z-axis large-stroke SCARA robot, comprising:

the SCARA robot 01 is used for transferring articles and comprises a first rotating arm 0108, a second rotating arm 0109, a first closed-loop stepping motor 0201, a second closed-loop stepping motor 0202, a third closed-loop stepping motor 0204, a hollow shaft 0107 and a tail end connector 01071; the first closed-loop stepping motor 0201 is used for driving the first rotating arm 0108 to move left and right along the horizontal direction, the second closed-loop stepping motor 0202 is used for driving the second rotating arm 0109 to move left and right along the horizontal direction, and the third closed-loop stepping motor 0204 is used for driving the hollow shaft 0107 to rotate along the central point; the first closed-loop stepping motor 0201 is located at one end of a first rotating arm 0108, the second closed-loop stepping motor 0202 is located at the intersection of the other end of the first rotating arm 0108 and one end of a second rotating arm 0109, and the third closed-loop stepping motor 0204 is installed on the second rotating arm 0109; the hollow shaft 0107 is fixed at the front end of the second rotating arm 0109 through a shaft fixing member 01055; a tail end connector 01071 is mounted at the bottom end of the hollow shaft 0107 penetrating through the second rotating arm 0109, and the tail end connector 01071 is used for connecting external equipment to realize the grabbing or lowering of the article;

the Z-axis 02 is used for vertical lifting of the SCARA robot 01 and comprises a Z-axis bracket 0211, a Z-axis screw 02113, an integrated stepping motor 0213, a Z-axis screw top fixing piece 0211301, a first Z-axis synchronizing wheel 02131, a second Z-axis synchronizing wheel 02132 and a Z-axis synchronizing belt 02133; the Z-axis support 0211 has a certain height, and the Z-axis wire pole 02113 is vertically arranged in the Z-axis support 0211; the Z-axis screw top fixing piece 0211301 is fixed on the inner wall of the Z-axis support 0211 through a screw, and the Z-axis screw top fixing piece 0211301 is used for fixing the top end of the Z-axis screw 02113; the first Z-axis synchronizing wheel 02131 is installed at the bottom of the Z-axis screw 02113, the second Z-axis synchronizing wheel 02132 is installed at the motor shaft end of the integrated stepping motor 0213, and the Z-axis synchronous belt 02133 is sleeved on the outer peripheral walls of the first Z-axis synchronizing wheel 02131 and the second Z-axis synchronizing wheel 02132; the integrated stepping motor 0213 drives the second Z-axis synchronizing wheel 02132 to rotate so as to drive the first Z-axis synchronizing wheel 02131 to rotate through the Z-axis synchronizing belt 02133, and then drives the Z-axis lead screw 02113 to realize clockwise or anticlockwise rotating motion through the first Z-axis synchronizing wheel 02131;

the SCARA robot 01 is fixedly arranged on a Z-axis connecting plate 02114 through a SCARA robot connecting plate 011, and a Z-axis connecting plate 02114 is arranged on a Z-axis screw 02113, so that the Z-axis screw 02113 drives the SCARA robot 01 to ascend to a specified position through clockwise rotation motion, or the Z-axis screw 02113 drives the SCARA robot 01 to descend to the specified position through anticlockwise rotation motion; the SCARA robot 01 moves the first rotating arm 0108 and the second rotating arm 0109 to make the end connector 01071 move the external device to a designated position.

The Z-axis large-stroke SCARA robot comprises a SCARA robot 01 and a Z-axis 02, wherein the SCARA robot 01 is used for transferring articles, and the Z-axis 02 is used for vertically lifting the SCARA robot 01; the SCARA robot 01 is fixedly arranged on a Z-axis connecting plate 02114 through a SCARA robot connecting plate 011, a Z-axis connecting plate 02114 is arranged on a Z-axis screw 02113, so that the Z-axis screw 02113 drives the SCARA robot 01 to ascend to a designated position through clockwise rotation motion, or the Z-axis screw 02113 drives the SCARA robot 01 to descend to the designated position through anticlockwise rotation motion, and the SCARA robot 01 transfers articles to the accurate position of a conveying destination; the utility model can carry the articles from high to low or from low to high in a full-automatic mode and accurately place the articles at the designated position, thereby solving the problems of low efficiency and easy error of the placement position in manual carrying.

Referring to fig. 4 to 7:

as an embodiment of the present invention, the Z-axis 02 further includes a Z-axis controller 02141, and the Z-axis controller 02141 is used for controlling the operation of the integrated stepping motor 0213; the Z-axis controller fixing plate 02142 is arranged at the top end of the Z-axis support 0211, the Z-axis controller dust cover 02143 is buckled with the Z-axis controller fixing plate 02142 so that the Z-axis controller 02141 is placed in a cavity surrounded by the Z-axis controller dust cover 02143 and the Z-axis controller fixing plate 02142, and the Z-axis controller 02141 is fixedly arranged in a groove arranged in the Z-axis controller fixing plate 02142;

as an embodiment of the present invention, the Z-axis 02 further includes an origin switch 021151, a first guide rail 02111, and a second guide rail 02112, the origin switch 021151 is used to detect whether the SCARA robot 01 moves to a designated position; the first guide rail 02111 and the second guide rail 02112 are respectively located on two sides of the Z-axis wire 02113, the first guide rail 02111 and the second guide rail 02112 are fixed on the inner wall of the Z-axis bracket 0211 through screws, the back surface of the Z-axis connecting plate slider 021141 is embedded in the second guide rail 02112, the front surface of the Z-axis connecting plate slider 021141 is embedded in the corresponding position of the back surface of the Z-axis connecting plate 02114, and the Z-axis connecting plate 02114 slides up and down on the second guide rail 02112 through the Z-axis connecting plate slider 021141 so that the SCARA robot 01 can ascend and descend stably; an origin switch 021151 is mounted on the inner wall of the Z-axis bracket 0211 through an origin switch mount 021152, and an origin switch 021151 is located below the first guide rail 02111; the original point switch 021151 detects that the SCARA robot 01 descends to a specified position, a signal is sent to the Z-axis controller 02141, and the Z-axis controller 02141 sends an instruction to enable the integrated stepping motor 0213 to stop running; or, the origin switch 021151 detects that the SCARA robot 01 ascends to the designated position, and sends a signal to the Z-axis controller 02141, and the Z-axis controller 02141 sends an instruction to stop the operation of the integrated stepper motor 0213;

as an embodiment of the present invention, the Z-axis 02 further includes a Z-axis screw nut 021131, a Z-axis screw top deep groove ball bearing installed on the top of the Z-axis screw 02113, and a Z-axis screw bottom deep groove ball bearing 0211302 installed on the bottom of the Z-axis screw 02113; the Z-axis screw nut 021131 is sleeved on the Z-axis screw 02113 and is nested in a circular cavity formed in the Z-axis connecting plate 02114, so as to drive the Z-axis connecting plate 02114 to stably ascend or descend; the Z-axis lead screw top deep groove ball bearing is positioned in the Z-axis lead screw top fixing piece 0211301, the Z-axis lead screw bottom deep groove ball bearing 0211302 is positioned above the first Z-axis synchronizing wheel 02131, and the Z-axis lead screw top deep groove ball bearing and the Z-axis lead screw bottom deep groove ball bearing 0211302 enable the Z-axis lead screw 02113 to rotate stably;

as an embodiment of the present invention, the Z-axis 02 further includes a base housing 02121 and a bottom plate 02122, the base housing 02121 is fixedly mounted on the bottom plate 02122 by screws, the base housing 02121 has a certain height to form a certain height space with the bottom plate 02122, the first Z-axis synchronizing wheel 02131, the second Z-axis synchronizing wheel 02132 and the Z-axis synchronizing belt 02133 are located in the space between the base housing 02121 and the bottom plate 02122, a Z-axis screw fixing hole 021211 and an integrated stepping motor mounting port 021212 are disposed on a surface of the base housing 02121, the Z-axis screw fixing hole 021211 is used for fixedly placing a bottom end of the Z-axis screw 02113, and the integrated stepping motor mounting port 021212 is used for fixedly placing the integrated stepping motor 0213.

Referring to fig. 8 to 12:

as an embodiment of the present invention, the SCARA robot 01 further includes a SCARA robot supporting arm 01081, one end of the SCARA robot supporting arm 01081 is connected to one end of the first rotating arm 0108, and the other end of the SCARA robot supporting arm 01081 is fixed to the SCARA robot connecting plate 011; the Z-axis screw 02113 drives the Z-axis connecting plate 02114 to perform lifting motion, and further drives the SCARA robot connecting plate 011 to perform lifting motion through the Z-axis connecting plate 02114, the SCARA robot connecting plate 011 then drives the SCARA robot supporting arm 01081 to perform lifting motion, the SCARA robot supporting arm 01081 then drives the first rotating arm 0108 to perform lifting motion, and the first rotating arm 0108 drives the second rotating arm 0109 to perform lifting motion, so that the SCARA robot 01 performs lifting motion;

as an embodiment of the utility model, the SCARA robot 01 further comprises a first fixed plate 0111 of the SCARA robot and a second fixed plate 0112 of the SCARA robot, and the first fixed plate and the second fixed plate are used for stably connecting the connecting plate 011 of the SCARA robot with the supporting arm 01081 of the SCARA robot; the first fixing plate 0111 of the SCARA robot and the second fixing plate 0112 of the SCARA robot are right triangles, the bottom edges of the first fixing plate 0111 of the SCARA robot and the second fixing plate 0112 of the SCARA robot are fixedly installed on the opposite surface of the SCARA robot supporting arm 01081 through screws respectively, the vertical edges of the first fixing plate 0111 of the SCARA robot and the second fixing plate 0112 of the SCARA robot are fixedly installed on the opposite surface of the SCARA robot connecting plate 011 through screws respectively, and a certain distance interval is formed between the first fixing plate 0111 of the SCARA robot and the second fixing plate 0112 of the SCARA robot;

as an embodiment of the present invention, the SCARA robot 01 further includes a first harmonic reducer 0205 and a second harmonic reducer 0206, the first harmonic reducer 0205 is connected to the first closed-loop stepping motor 0201 through a first connecting shaft 02051, the second harmonic reducer 0206 is connected to the second closed-loop stepping motor 0202 through a second connecting shaft 02061, the first harmonic reducer 0205 is further connected to one end of the first rotating arm 0108 through a first synchronizing shaft 02011, and the first harmonic reducer 0205 is further connected to an intersection of the other end of the first rotating arm 0108 and one end of the second rotating arm 0109 through a second synchronizing shaft 02021; the first harmonic reducer 0205 enables the first closed-loop stepping motor 0201 to stably drive the first rotating arm 0108 to move through harmonic transmission, and the second harmonic reducer 0206 enables the second closed-loop stepping motor 0202 to stably drive the second rotating arm 0109 to move through harmonic transmission;

as an embodiment of the present invention, the SCARA robot 01 further includes a corrugated pipe 0104 for accommodating the control harness, one end of the corrugated pipe 0104 is fixedly mounted on the SCARA robot supporting arm 01081 through a first mounting part 01041, the other end of the corrugated pipe 0104 is fixedly mounted on a first fixing frame 01043 through a second mounting part 01042, and the first fixing frame 01043 is adjacent to the second closed-loop stepping motor 0202;

as an embodiment of the present invention, the first synchronizing belt 020411 is sleeved on the outer peripheries of the third synchronizing shaft 02041 and the shaft fixing member 01055, the third closed-loop stepping motor 0204 drives the third synchronizing shaft 02041 to rotate so as to drive the first synchronizing belt 020411 to rotate, and then the first synchronizing belt 020411 rotates to drive the hollow shaft 0107 to move;

specifically, the SCARA robot 01 further includes a first housing 0101, a second housing 0102, and a third housing 0103, the first housing 0101 and the second housing 0102 being mounted on the second boom 0109 to cover a component located on the second boom 0109, the third housing 0103 being mounted under the SCARA robot support arm 01081 to cover a component located under the SCARA robot support arm 01081; a plurality of screw holes are further formed in positions of the first shell 0101 corresponding to the second shell 0102, so that the first shell 0101 is connected and fixed to the second shell 0102 through screws;

specifically, the bottom of the end connector 01071 is provided with a through hole 010711 for mounting an external device by a screw.

The working process of the Z-axis large-stroke SCARA robot is as follows:

firstly, the external device is fixedly installed below the end connector 01071 through the through hole 010711, and an article to be carried is grabbed by the external device;

then, according to the height between the position of the transported article and the position of the transport destination, the Z-axis controller 02141 controls the operation of the integrated stepper motor 0213 to drive the Z-axis screw 02113 to move, and if the article is transported from the low position to the high position, the integrated stepper motor 0213 drives the Z-axis screw 02113 to move clockwise; if the article is transported from a high position to a low position, the integrated stepping motor 0213 drives the Z-axis screw 02113 to move anticlockwise; after the SCARA robot 01 moves up or down to a designated position through the Z-axis screw 02113, the Z-axis controller 02141 controls the integrated stepping motor 0213 to stop operating so as to stop the movement of the Z-axis screw 02113; the first closed-loop stepping motor 0201 and the second closed-loop stepping motor 0202 operate to drive the first rotating arm 0108 and the second rotating arm 0109 to move left and right in the horizontal direction, so that the end connector 01071 moves to the position above a conveying destination; the third closed loop stepper motor 0204 operates to move the hollow shaft 0107 so that the end connector 01071 reaches the exact location of the transport destination by rotational movement and the external device lowers the item. When the transport work is completed, the SCARA robot 01 returns to the designated position and prepares for the next transport work.

The Z-axis controller 02141, the integrated stepping motor 0213, the first closed-loop stepping motor 0201, the second closed-loop stepping motor 0202 and the third closed-loop stepping motor 0204 which are related to the technical scheme of the utility model all adopt the existing and disclosed technology or products, and according to the functions described in the technical scheme of the utility model, a person skilled in the art can easily adopt the existing and disclosed technology or products to realize the functions.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the utility model, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. A Z-axis large-stroke SCARA robot, comprising:

the SCARA robot (01) is fixedly arranged on a Z-axis connecting plate (02114) through a SCARA robot connecting plate (011), the Z-axis connecting plate (02114) is arranged on a Z-axis screw rod (02113), so that the Z-axis screw rod (02113) drives the SCARA robot (01) to ascend to a specified position through clockwise rotation motion, or the Z-axis screw rod (02113) drives the SCARA robot (01) to descend to the specified position through anticlockwise rotation motion; the SCARA robot (01) moves through the first rotating arm (0108) and the second rotating arm (0109) so that the end connector (01071) drives the external equipment to move to a specified position.

2. The Z-axis large-stroke SCARA robot according to claim 1, wherein the Z-axis (02) further comprises a Z-axis controller (02141), the Z-axis controller (02141) is used for controlling the operation of the integrated stepper motor (0213); the Z-axis controller fixing plate (02142) is installed at the top end of the Z-axis support (0211), the Z-axis controller dust cover (02143) is buckled with the Z-axis controller fixing plate (02142) so that the Z-axis controller (02141) is placed in a cavity surrounded by the Z-axis controller dust cover (02143) and the Z-axis controller fixing plate (02142), and the Z-axis controller (02141) is fixedly installed in a groove formed in the Z-axis controller fixing plate (02142).

3. The Z-axis large-stroke SCARA robot of claim 2, characterized in that the Z-axis (02) further comprises an origin switch (021151), a first guide rail (02111), a second guide rail (02112), the origin switch (021151) is used for detecting whether the SCARA robot (01) moves to a designated position; the first guide rail (02111) and the second guide rail (02112) are respectively located on two sides of the Z-axis screw rod (02113), the first guide rail (02111) and the second guide rail (02112) are fixed on the inner wall of the Z-axis support (0211) through screws, the back of the Z-axis connecting plate sliding block (021141) is embedded in the second guide rail (02112), the front of the Z-axis connecting plate sliding block (021141) is embedded in the corresponding position of the back of the Z-axis connecting plate (02114), and the Z-axis connecting plate (02114) slides up and down on the second guide rail (02112) through the Z-axis connecting plate sliding block (021141) so that the SCARA robot (01) can ascend and descend stably; an origin switch (021151) is mounted on the inner wall of the Z-axis bracket (0211) through an origin switch mounting piece (021152), and an origin switch (021151) is positioned below the first guide rail (02111); the method comprises the steps that an origin switch (021151) detects that the SCARA robot (01) descends to a specified position, a signal is sent to a Z-axis controller (02141), and the Z-axis controller (02141) sends an instruction to enable an integrated stepping motor (0213) to stop running; or the origin switch (021151) detects that the SCARA robot (01) rises to the specified position, a signal is sent to the Z-axis controller (02141), and the Z-axis controller (02141) sends an instruction to enable the integrated stepping motor (0213) to stop running.

4. The Z-axis large-stroke SCARA robot as recited in claim 3, wherein the Z-axis (02) further comprises a Z-axis screw nut (021131), a Z-axis screw top deep groove ball bearing installed on the top of the Z-axis screw (02113), and a Z-axis screw bottom deep groove ball bearing (0211302) installed on the bottom of the Z-axis screw (02113); the Z-axis screw rod nut (021131) is sleeved on the Z-axis screw rod (02113) and is nested in a circular cavity formed in the Z-axis connecting plate (02114) so as to drive the Z-axis connecting plate (02114) to stably ascend or descend; the Z-axis lead screw top deep groove ball bearing is located in a Z-axis lead screw top fixing piece (0211301), the Z-axis lead screw bottom deep groove ball bearing (0211302) is located above a first Z-axis synchronizing wheel (02131), and the Z-axis lead screw top deep groove ball bearing and the Z-axis lead screw bottom deep groove ball bearing (0211302) enable the Z-axis lead screw (02113) to rotate stably.

5. The Z-axis large-stroke SCARA robot as claimed in claim 4, wherein the Z-axis (02) further comprises a base housing (02121) and a bottom plate (02122), the base housing (02121) is fixedly mounted on the bottom plate (02122) through screws, the base housing (02121) has a certain height to form a certain height space with the bottom plate (02122), the first Z-axis synchronizing wheel (02131), the second Z-axis synchronizing wheel (02132) and the Z-axis synchronizing belt (02133) are located in the space between the base housing (02121) and the bottom plate (02122), a Z-axis screw fixing hole (021211) and an integrated stepper motor mounting port (021212) are formed in the surface of the base housing (02121), the Z-axis screw fixing hole (021211) is used for fixedly placing the bottom end of the Z-axis screw (02113), and the integrated stepper motor mounting port (021212) is used for fixedly placing the integrated stepper motor (0213).

6. The Z-axis large stroke SCARA robot of claim 1, wherein the SCARA robot (01) further comprises a SCARA robot support arm (01081), one end of the SCARA robot support arm (01081) is connected with one end of the first rotating arm (0108), and the other end of the SCARA robot support arm (01081) is fixed on the SCARA robot connection plate (011); z axle lead screw (02113) is through driving Z axle connecting plate (02114) and is elevating movement, and then drive SCARA robot connecting plate (011) through Z axle connecting plate (02114) and do elevating movement, SCARA robot connecting plate (011) drives SCARA robot support arm (01081) again and is elevating movement, SCARA robot support arm (01081) drives first rocking arm (0108) again and is elevating movement, first rocking arm (0108) drives second rocking arm (0109) and is elevating movement, thereby realize that SCARA robot (01) is elevating movement.

7. The Z-axis large-stroke SCARA robot as claimed in claim 6, wherein the SCARA robot (01) further comprises a first fixed SCARA robot plate (0111) and a second fixed SCARA robot plate (0112) for stable connection of the SCARA robot connecting plate (011) and the SCARA robot supporting arm (01081); the first fixed plate of SCARA robot (0111) and SCARA robot second fixed plate (0112) are right triangle, the base of first fixed plate of SCARA robot (0111) and SCARA robot second fixed plate (0112) is respectively through screw fixed mounting in the relative one side of SCARA robot support arm (01081), the perpendicular edge of first fixed plate of SCARA robot (0111) and SCARA robot second fixed plate (0112) is respectively through screw fixed mounting in the relative one side of SCARA robot connecting plate (011), the interval that has certain distance between first fixed plate of SCARA robot (0111) and SCARA robot second fixed plate (0112).

8. The large-stroke Z-axis SCARA robot as claimed in claim 1, wherein the SCARA robot (01) further comprises a first harmonic reducer (0205) and a second harmonic reducer (0206), the first harmonic reducer (0205) is connected with the first closed-loop stepping motor (0201) through a first connecting shaft (02051), the second harmonic reducer (0206) is connected with the second closed-loop stepping motor (0202) through a second connecting shaft (02061), the first harmonic reducer (0205) is further connected with one end of the first rotating arm (0108) through a first synchronizing shaft (02011), and the first harmonic reducer (0205) is further connected with the intersection of the other end of the first rotating arm (0108) and one end of the second rotating arm (0109) through a second synchronizing shaft (02021); the first harmonic speed reducer (0205) enables the first closed-loop stepping motor (0201) to stably drive the first rotating arm (0108) to move through harmonic transmission, and the second harmonic speed reducer (0206) enables the second closed-loop stepping motor (0202) to stably drive the second rotating arm (0109) to move through harmonic transmission.

9. The Z-axis large-stroke SCARA robot of claim 7, wherein the SCARA robot (01) further comprises a bellows (0104) for receiving the control harness, one end of the bellows (0104) is fixedly mounted on the SCARA robot supporting arm (01081) through a first mounting part (01041), the other end of the bellows (0104) is fixedly mounted on a first fixing frame (01043) through a second mounting part (01042), and the first fixing frame (01043) is adjacent to the second closed-loop stepping motor (0202).

10. The Z-axis large-stroke SCARA robot as claimed in claim 1, wherein the first synchronizing belt (020411) is sleeved on the outer peripheries of the third synchronizing shaft (02041) and the shaft fixing member (01055), and the third closed-loop stepping motor (0204) drives the third synchronizing shaft (02041) to rotate so as to drive the first synchronizing belt (020411) to rotate, and then the first synchronizing belt (020411) rotates to drive the hollow shaft (0107) to move.