WO2019041687A1

WO2019041687A1 - Mechanical arm and scara horizontal multi-joint robot with same

Info

Publication number: WO2019041687A1
Application number: PCT/CN2017/118324
Authority: WO
Inventors: 刘松; 黄伟才; 刘志昌; 耿继青; 叶俊奇
Original assignee: 珠海格力节能环保制冷技术研究中心有限公司
Priority date: 2017-08-28
Filing date: 2017-12-25
Publication date: 2019-03-07
Also published as: CN107571251A

Abstract

A mechanical arm, comprising: a rotating arm (10); a holder (30) connected to the rotating arm (10); a ball screw spline (20) separately penetrating through the rotating arm (10) and the holder (30) and rotatably provided relative to the holder (30); a base (40) provided on the rotating arm (10) and located above the rotating arm (10); and a drive part (50) provided on the base (40) and configured to drive the ball screw spline (20) to move. The holder is provided on the rotating arm, and the ball screw spline is connected to the holder, so that the amplitude of the ball screw spline in the transmission process is effectively reduced, and the precision of the mechanical arm is improved. Also involved is an SCARA horizontal multi-joint robot with the mechanical arm.

Description

Robotic arm and SCARA horizontal articulated robot with it

Technical field

The present invention relates to the field of robotic device technology, and in particular to a robot arm and a SCARA horizontal articulated robot having the same.

Background technique

In the prior art, since the ball screw spline of the robot arm is directly disposed on the rotating arm, the problem that the ball screw spline has a large amplitude during the transmission process and the mechanical arm is operated with low precision is easily caused. Further, in the prior art, the transmission belt is disposed in the rotating arm, so that the processing difficulty of the rotating arm is increased. Moreover, the motor mounting seat in the prior art adopts a split structure, and the two motors on the robot arm are each equipped with a motor seat, which increases the number of parts, and the shape of the motor seat is relatively complicated, the production and processing are difficult, and the weight increases obviously. It is extremely disadvantageous for the high speed and high precision of SCARA horizontal articulated robots. The arm structure has not reached the optimal design and cannot guarantee that the robot has a more advanced technology.

Summary of the invention

The main object of the present invention is to provide a robot arm and a SCARA horizontal articulated robot having the same to solve the problem of low precision of the robot arm in the prior art.

In order to achieve the above object, according to an aspect of the invention, a mechanical arm is provided, comprising: a rotating arm; a cage, a cage connected to the rotating arm; a ball screw spline, the ball screw spline passing through the rotation The arm and the cage, the ball screw spline is rotatably disposed relative to the cage; the base, the base is disposed on the rotating arm, the base is located above the rotating arm; the driving portion, the driving portion is disposed on the base, and the driving portion Drive ball screw spline movement.

Further, the cage comprises: a support column, the first end of the support column is connected with the rotating arm; the support plate is connected with the second end of the support column, the support plate is located above the rotating arm, and the ball screw is splined Wear on the support plate.

Further, the support columns are plural, and the plurality of support columns are arranged along the axial interval of the ball screw splines.

Further, the susceptor includes: a first substrate, the first end of the first substrate is connected to the rotating arm; and the second substrate has a first end connected to the rotating arm and disposed opposite to the first substrate.

Further, the first substrate includes a first plate segment and a second plate segment, and the height of the first plate segment in the vertical direction is smaller than the height of the second plate segment in the vertical direction.

Further, the second substrate includes a third plate segment and a fourth plate segment, the height of the third plate segment in the vertical direction is smaller than the height of the fourth plate segment in the vertical direction, the first plate segment and the third plate segment In a relative arrangement, the first plate segment and the top of the third plate segment form a first mounting station for mounting the drive portion.

Further, the second plate segment is disposed opposite to the fourth plate segment, and the second plate segment and the top of the fourth plate segment form a second mounting station for mounting the driving portion.

Further, the driving part includes: a first driving motor, the first driving motor is disposed at the first mounting station; the second driving motor, the second driving motor is disposed at the second mounting station, and the first driving motor is located at the ball wire Between the bar spline and the second drive motor.

Further, the base further includes: a first mounting plate, the first mounting plate is connected to the first plate segment, the third plate segment, and/or the second mounting plate, the second mounting plate and the second plate segment, and the fourth The plate segments are connected.

Further, the robot arm further includes: a first transmission wheel, the first transmission wheel is disposed on the ball screw spline, the first transmission wheel is located between the support plate and the rotating arm; and the second transmission wheel is disposed on the second transmission wheel On the ball screw spline, the second drive wheel is located above the support plate.

Further, the mechanical arm further includes: a third transmission wheel, the third transmission wheel is axially connected to the output of the first drive motor; and the fourth transmission wheel is connected to the output of the second drive motor in an axial direction.

Further, the robot arm further includes: a first transmission belt, the first transmission belt is respectively sleeved on the first transmission wheel and the third transmission wheel, and/or the second transmission belt, and the second transmission belt is respectively sleeved on the second transmission wheel and the second transmission belt Four drive wheels.

According to another aspect of the present invention, a robot including a robot arm having the above-described robot arm is provided.

By applying the technical solution of the invention, a cage is arranged on the rotating arm, and the ball screw spline is connected with the cage, thereby effectively reducing the amplitude generated by the ball screw spline during the transmission process, and the machine is improved. The accuracy of the arm.

DRAWINGS

The accompanying drawings, which are incorporated in the claims of the claims In the drawing:

Figure 1 is a schematic view showing the structure of a first perspective of an embodiment of a robot arm according to the present invention;

Figure 2 is a block diagram showing the second perspective of the embodiment of the robot arm of Figure 1;

Figure 3 is a schematic view showing the structure of a third perspective of the embodiment of the robot arm of Figure 1;

4 is a block diagram showing the fourth perspective of the embodiment of the robot arm of FIG. 1.

Wherein, the above figures include the following reference numerals:

10. Rotating arm;

20, ball screw spline;

30, cage; 31, support column; 32, support plate;

40, a base; 41, a first substrate; 411, a first plate segment; 412, a second plate segment; 42, a second substrate; 421, a third plate segment; 422, a fourth plate segment; Board; 44, second mounting board;

50, a driving part; 51, a first driving motor; 52, a second driving motor;

61, a first transmission wheel; 62, a second transmission wheel; 63, a fourth transmission wheel;

71. The first transmission belt; 72, the second transmission belt.

Detailed ways

It should be noted that the embodiments in the present application and the features in the embodiments may be combined with each other without conflict. The invention will be described in detail below with reference to the drawings in conjunction with the embodiments.

It is to be noted that the terminology used herein is for the purpose of describing particular embodiments, and is not intended to limit the exemplary embodiments. As used herein, the singular " " " " " " There are features, steps, operations, devices, components, and/or combinations thereof.

It should be noted that the terms "first", "second", and the like in the specification and claims of the present application are used to distinguish similar objects, and are not necessarily used to describe a specific order or order. It is to be understood that the terms so used are interchangeable as appropriate, such that the embodiments of the invention described herein can be implemented, for example, in a sequence other than those illustrated or described herein. In addition, the terms "comprises" and "comprises" and "the" and "the" are intended to cover a non-exclusive inclusion, for example, a process, method, system, product, or device that comprises a series of steps or units is not necessarily limited to Those steps or units may include other steps or units not explicitly listed or inherent to such processes, methods, products or devices.

For convenience of description, spatially relative terms such as "above", "above", "on top", "above", etc., may be used herein to describe as in the drawings. The spatial positional relationship of one device or feature to other devices or features. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation of the device described. For example, if the device in the figures is inverted, the device described as "above other devices or configurations" or "above other devices or configurations" will be positioned "below other devices or configurations" or "at Under other devices or configurations." Thus, the exemplary term "above" can include both "over" and "under". The device can also be positioned in other different ways (rotated 90 degrees or at other orientations) and the corresponding description of the space used herein is explained accordingly.

Exemplary embodiments in accordance with the present application will now be described in more detail with reference to the accompanying drawings. However, the exemplary embodiments may be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. It is to be understood that the embodiments are provided so that this disclosure will be thorough and complete, and the concept of the exemplary embodiments will be fully conveyed to those skilled in the art, in which The thicknesses of the layers and regions are denoted by the same reference numerals, and the description thereof will be omitted.

In conjunction with Figures 1 through 4, a robotic arm is provided in accordance with an embodiment of the present invention.

As shown in FIG. 1, in particular, the robot arm includes a rotating arm 10, a ball screw spline 20 and a retainer 30, a base 40, and a driving portion 50. The base 40 is disposed on the rotating arm 10, and the driving portion 50 is disposed on the base 40. The holder 30 is disposed on the rotating arm 10. The ball screw splines 20 pass through the swivel arm 10 and the retainer 30, respectively, and the ball screw splines 20 are rotatably disposed relative to the retainer 30.

In the embodiment, the cage is arranged on the rotating arm, and the ball screw spline is connected with the cage, thereby effectively reducing the amplitude generated by the ball screw spline during the transmission process, and the robot arm is improved. Precision. The base is arranged on the rotating arm, and two motors are mounted and fixed by the motor board. The base structure is simple, the processing performance is good, and the processing precision can be achieved. At the same time, the base and the two motor mounting plates form a firm rectangular frame with good structural rigidity, which can ensure the high precision requirements of the transmission.

The holder 30 includes a support post 31 and a support plate 32. The first end of the support post 31 is coupled to the rotating arm 10. The support plate 32 is connected to the second end of the support column 31. The support plate 32 is located above the rotating arm 10, and the ball screw spline 20 is disposed on the support plate 32. This arrangement can increase the stability of the ball screw spline and improve the accuracy of the robot arm.

In order to improve the stability and reliability of the cage, the support columns 31 are provided in plurality, and the plurality of support columns 31 are disposed along the axial interval of the ball screw splines 20.

In order to improve the stability of the driving portion mounting, the robot arm is also provided with a base 40. The base 40 is disposed on the rotating arm 10, and the base 40 is located above the rotating arm 10. The driving portion 50 is disposed on the base 40. The driving portion 50 drives the ball screw spline 20 to move up or down in the vertical direction, or the driving portion 50 drives the ball screw spline 20 to perform a rotating motion while being upward. Or move down.

Specifically, the susceptor 40 includes a first substrate 41 and a second substrate 42. The first end of the first substrate 41 is coupled to the rotating arm 10. The first end of the second substrate 42 is connected to the rotating arm 10 and disposed opposite to the first substrate 41.

Further, the first substrate 41 includes a first plate segment 411 and a second plate segment 412, and the height of the first plate segment 411 in the vertical direction is smaller than the height of the second plate segment 412 in the vertical direction. The second substrate 42 includes a third plate segment 421 and a fourth plate segment 422. The height of the third plate segment 421 in the vertical direction is smaller than the height of the fourth plate segment 422 in the vertical direction, and the first plate segment 411 and the first plate segment 411 The three plate segments 421 are oppositely disposed, and the first plate segment 411 and the top of the third plate segment 421 form a first mounting station for mounting the driving portion 50. The second plate segment 412 is disposed opposite the fourth plate segment 422, and the second plate segment 412 and the top of the fourth plate segment 422 form a second mounting station for mounting the driving portion 50. The use of the plate-shaped substrate can effectively reduce the weight of the substrate, that is, reduce the carrying capacity of the rotating arm, thereby improving the flexibility of the robot arm and improving the accuracy of the robot arm.

As shown in FIG. 1, the driving portion 50 includes a first driving motor 51 and a second driving motor 52. The first drive motor 51 is disposed at the first installation station. The second drive motor 52 is disposed at a second mounting station, and the first drive motor 51 is located between the ball screw spline 20 and the second drive motor 52. Such an arrangement can increase the mounting stability of the first drive motor 51 and the second drive motor 52. The base is arranged on the rotating arm, and two motors are mounted and fixed by the motor board. The base structure is simple, the processing performance is good, and the processing precision can be achieved. At the same time, the base and the two motor mounting plates form a firm rectangular frame with good structural rigidity, which can ensure the high precision requirements of the transmission.

As shown in FIGS. 2 and 3, in order to improve the stability and reliability of the first drive motor 51 and the second drive motor 52 mounted on the substrate, the base 40 is also provided with a first mounting plate 43 and a second mounting plate 44. . The first mounting plate 43 is connected to the first plate segment 411 and the third plate segment 421, and the second mounting plate 44 is connected to the second plate segment 412 and the fourth plate segment 422. The first drive motor 51 is mounted on the first mounting plate 43 and the second drive motor 52 is mounted on the second mounting plate 44.

In order to improve the accuracy of the movement of the robot arm, the mechanical arm is also provided with a first transmission wheel 61, a second transmission wheel 62, a third transmission wheel, and a fourth transmission wheel 63. The first transmission wheel 61 is disposed on the ball screw spline 20, and the first transmission wheel 61 is located between the support plate 32 and the rotating arm 10. The second transmission wheel 62 is disposed on the ball screw spline 20, and the second transmission wheel 62 is located above the support plate 32. The third transmission wheel is axially coupled to the output of the first drive motor 51; the fourth transmission wheel 63 is axially coupled to the output of the second drive motor 52. The mechanical arm further includes a first transmission belt 71 and a second transmission belt 72. The first transmission belts 71 are respectively sleeved on the first transmission wheel 61 and the third transmission wheel. The second transmission belts 72 are respectively sleeved on the second transmission wheel 62 and the fourth transmission wheel 63.

The robot arm of the above embodiment can also be used in the field of robotics, that is, according to another aspect of the present invention, a robot is provided. The robot includes a robot arm which is the robot arm in the above embodiment. Specifically, the robotic arm includes a rotating arm 10, a ball screw spline 20, and a retainer 30. The holder 30 is disposed on the rotating arm 10. The ball screw splines 20 pass through the swivel arm 10 and the retainer 30, respectively, and the ball screw splines 20 are rotatably disposed relative to the retainer 30.

In the embodiment, the cage is arranged on the rotating arm, and the ball screw spline is connected with the cage, thereby effectively reducing the amplitude generated by the ball screw spline during the transmission process, and the robot arm is improved. Precision.

Specifically, the robot is a SCARA robot, and the robot end mechanism of the prior art has a large weight, which is extremely disadvantageous for high speed and high precision. In the application process, the end structure part does not reach the optimal design, and the operation precision of the robot cannot be guaranteed.

The mechanical arm adopting the application has the advantages of simple structure, good processing performance and high precision of actuation. With this robot arm, the two motors can be assembled into a rectangular frame with good rigidity. Ensure the overall accuracy of the robot arm.

In the prior art, two motors at the end of the rotating arm of the SCARA robot are equipped with motor seats, respectively fixing the two electrodes, the fixing method increases the number of parts, increases the bearing capacity of the rotating arm, and improves the The processing difficulty of the robot arm.

In the present application, a SCARA (horizontal articulated robot) robotic arm structure is provided. The arm structure includes: a rotating arm, a base, a cage, and a ball screw spline. The base is disposed on the rotating arm, and the retainer is disposed on the rotating arm. The ball screw splines pass through the swivel arm and the cage, respectively. The base is arranged on the rotating arm, and two motors are mounted and fixed by the motor board. The base structure is simple, the processing performance is good, and the processing precision can be achieved. At the same time, the base and the two motor mounting plates form a firm rectangular frame with good structural rigidity, which can ensure the high precision requirements of the transmission.

In addition to the above, it should be noted that "one embodiment", "another embodiment", "an embodiment" and the like referred to in the specification refers to a specific feature, structure or structure described in connection with the embodiment. Features are included in at least one embodiment of the general description of the application. The appearance of the same expression in various places in the specification does not necessarily refer to the same embodiment. Further, when a particular feature, structure, or feature is described in conjunction with any embodiment, it is claimed that such features, structures, or characteristics are also included in the scope of the invention.

In the above embodiments, the descriptions of the various embodiments are different, and the details that are not detailed in a certain embodiment can be referred to the related descriptions of other embodiments.

The above description is only the preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes can be made to the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and scope of the present invention are intended to be included within the scope of the present invention.

Claims

A robotic arm characterized by comprising:

Rotating arm (10);

a cage (30), the cage (30) being coupled to the rotating arm (10);

a ball screw spline (20) passing through the rotating arm (10) and the retainer (30), respectively, the ball screw spline (20) opposite The cage (30) is rotatably disposed;

a base (40), the base (40) is disposed on the rotating arm (10), the base (40) is located above the rotating arm (10);

a driving portion (50), the driving portion (50) is disposed on the base (40), and the driving portion (50) drives the ball screw spline (20) to move.
The robotic arm of claim 1 wherein said retainer (30) comprises:

a support column (31), the first end of the support column (31) is connected to the rotating arm (10);

a support plate (32) connected to a second end of the support column (31), the support plate (32) being located above the rotating arm (10), the ball wire A bar spline (20) is disposed on the support plate (32).
The robot arm according to claim 2, wherein said support columns (31) are plural, and a plurality of said support columns (31) are arranged along an axial interval of said ball screw splines (20) .
The robotic arm of claim 2 wherein said base (40) comprises:

a first substrate (41), the first end of the first substrate (41) is connected to the rotating arm (10);

a second substrate (42), the first end of the second substrate (42) being connected to the rotating arm (10) and disposed opposite the first substrate (41).
The robot arm according to claim 4, wherein the first substrate (41) comprises a first plate segment (411) and a second plate segment (412), the edge of the first plate segment (411) The height in the vertical direction is smaller than the height of the second plate segment (412) in the vertical direction.
The robot arm according to claim 5, wherein said second substrate (42) comprises a third plate segment (421) and a fourth plate segment (422), and the edge of said third plate segment (421) The height in the vertical direction is smaller than the height of the fourth plate segment (422) in the vertical direction, and the first plate segment (411) is disposed opposite to the third plate segment (421), the first plate The segment (411) and the top of the third plate segment (421) form a first mounting station for mounting the drive portion (50).
The robot arm according to claim 6, wherein said second plate segment (412) is disposed opposite said fourth plate segment (422), said second plate segment (412) and said fourth portion The top of the plate section (422) forms a second mounting station for mounting the drive portion (50).
The robot arm according to claim 7, wherein the driving portion (50) comprises:

a first driving motor (51), the first driving motor (51) being disposed at the first mounting station;

a second driving motor (52), the second driving motor (52) is disposed at the second mounting station, and the first driving motor (51) is located at the ball screw spline (20) Between the second drive motor (52).
The robot arm according to claim 7, wherein the base (40) further comprises:

a first mounting plate (43) connected to the first plate segment (411), the third plate segment (421), and/or

A second mounting plate (44) is coupled to the second plate segment (412) and the fourth plate segment (422).
The robotic arm of claim 8 wherein said robotic arm further comprises:

a first transmission wheel (61), the first transmission wheel (61) is disposed on the ball screw spline (20), and the first transmission wheel (61) is located at the support plate (32) Between the rotating arms (10);

a second transmission wheel (62), the second transmission wheel (62) is disposed on the ball screw spline (20), and the second transmission wheel (62) is located above the support plate (32) .
The robotic arm of claim 10, wherein the robotic arm further comprises:

a third transmission wheel, the third transmission wheel being axially connected to an output of the first drive motor (51);

A fourth transmission wheel (63), the fourth transmission wheel (63) being axially coupled to an output of the second drive motor (52).
The robotic arm of claim 11 wherein said robotic arm further comprises:

a first transmission belt (71), the first transmission belt (71) is respectively sleeved on the first transmission wheel (61) and the third transmission wheel, and/or

The second transmission belt (72) is sleeved on the second transmission wheel (62) and the fourth transmission wheel (63), respectively.
A SCARA horizontal articulated robot comprising a robotic arm, characterized in that the robotic arm is the robotic arm according to any one of claims 1 to 12.