CN107243895A - A kind of modularization SCARA robots - Google Patents
A kind of modularization SCARA robots Download PDFInfo
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- CN107243895A CN107243895A CN201710481584.2A CN201710481584A CN107243895A CN 107243895 A CN107243895 A CN 107243895A CN 201710481584 A CN201710481584 A CN 201710481584A CN 107243895 A CN107243895 A CN 107243895A
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- servomotor
- joint module
- modularization
- module
- rotating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of modularization SCARA robots, including for fixed installation pedestal, the installation pedestal top is connected with revolute joint module bottom, the revolute joint module top is connected with right angle connecting rod one end, the right angle connecting rod other end is connected with rotating and swinging joint module one end, and the rotating and swinging joint module other end is connected with double freedom articulationes cylindroideus module；The revolute joint module only one of which free degree and joint rotating shaft overlaps with self structure central shaft, the rotating and swinging joint module only one of which free degree and joint rotating shaft is mutually perpendicular to self structure central shaft, the double freedom articulationes cylindroideus inside modules are vertically provided with the screw mandrel for the composite screw motion for being axially moved or being rotated around its center axis or is axially moved and rotated around its center axis.Relative to prior art, the modularization SCARA robots of technical solution of the present invention have the advantages that good replaceability, are easy to control and using reliable and compact conformation.
Description
Technical field
The present invention relates to robot automation's technical field, more particularly to a kind of modularization SCARA robots.
Background technology
Now, robot technology has been achieved with tremendous expansion, because it has high degree of flexibility and favorable elasticity wide
It is general to be applied to industry-by-industry, but most robot systems of prior art are mainly for certain specific environment and occasion, because
This lacks corresponding function autgmentability and structural remodeling.
For the product line quickly substituted, generally require to change various types of robot systems, to meet production
Demand, therefore easily cause the serious waste of the resources of production and restrict the popularization and application of robot.
Therefore, multi-functional, easy structure, low cost are robot new system exploitation important goal, wherein modularization robot
It is effective solution, robot modularized can simplify manufactures and designs and maintenance cost, shortens the lead time, lowers
Development cost.
Domestic and international modularization SCARA robots are also fewer, a kind of inexpensive module developed with Institutes Of Technology Of Zhejiang
Change the SCARA robots (patent No.：201510245266.7) as representing, this robot solves SCARA to a certain extent
Robot reconstruction, but there are problems that more complicated, assembled in structure, and each joint module is used only for
It in the robot system of SCARA robot modelings, but cannot be used for constituting the robot system of other new configurations, therefore lack general
All over property and generality.
The content of the invention
The main object of the present invention is to propose a kind of good replaceability, be easy to control and using reliable and compact conformation
A kind of modularization SCARA robots, it is intended to solve modularization SCARA robots shortage generality and general technology is asked
Topic.
To achieve the above object, the present invention proposes a kind of modularization SCARA robots, including for fixed installation base
Seat, the installation pedestal top is connected with revolute joint module bottom, the revolute joint module top and right angle connecting rod one end
It is connected, the right angle connecting rod other end is connected with rotating and swinging joint module one end, the rotating and swinging joint module other end and double freedom
Articulationes cylindroideus module is spent to be connected；The revolute joint module only one of which free degree and joint rotating shaft and self structure central shaft phase
Mutually overlap, the rotating and swinging joint module only one of which free degree and joint rotating shaft is mutually perpendicular to self structure central shaft is described
Double freedom articulationes cylindroideus inside modules, which are vertically provided with, to be axially moved or rotates or be axially moved around its center axis
With the screw mandrel of the composite screw motion rotated around its center axis.
Preferably, revolute joint module includes the first upper shell and first lower house being separated from each other, first lower casing
Body bottom is connected with the installation pedestal top, and the first upper shell top is connected with described right angle connecting rod one end, and described
Once enclosure interior is fixedly linked provided with the first dividing plate of the first servo drive controller and first lower house internal upper part, and described the
Once enclosure interior is also equipped with the first servomotor electrically connected with first servo drive controller, first servo
Motor power output end is connected through first dividing plate with the first active roller gear, and first is provided with above first dividing plate
Harmonic speed reducer, the power intake of the first harmonic decelerator is actively round with described first provided with the first driven cylindrical gear
Stud wheel engaged transmission, the clutch end of the first harmonic decelerator is connected with the first upper shell.
Preferably, the rotating and swinging joint module includes the second back casing and the second procapsid being separated from each other, described second
Back casing one end is connected with the right angle connecting rod other end, and the second servo-drive control is fixedly connected with inside second back casing
The second servomotor electrically connected with second servo drive controller is also equipped with inside device processed, second back casing,
The clutch end of second servomotor is connected through second partition with the second drive bevel gear, in second procapsid
Portion is provided with second harmonic decelerator, and the power intake of the second harmonic decelerator is coaxially connected with the second driven wheel of differential
With the second drive bevel gear engaged transmission, the clutch end of the second harmonic decelerator and the second fore shell body phase
Even.
Preferably, the double freedom articulationes cylindroideus module includes the internal shell for being provided with cavity, and the case surface is set
There are several openings, the 3rd servo drive controller, the 3rd servo drive controller end are installed in the enclosure side
Portion is connected by the shell lateral opening with described second procapsid one end of the rotating and swinging joint module, the double freedom
Articulationes cylindroideus module, which is additionally provided with, passes vertically through the shell vertical opposed open and the screw mandrel for vertically moving and/or rotating up and down,
The enclosure is provided with transmission mechanism and coordinates the transmission screw mandrel, the transmission mechanism and the 3rd servo drive control
Device is electrically connected.
Preferably, the transmission mechanism include be fixed on the enclosure upper flange plate and with the 3rd servo-drive
3rd servomotor of controller electrical connection, the power output shaft end of the 3rd servomotor through the upper flange plate and with
First main synchronizing wheel is connected；The upper flange plate opposite side is connected with feed screw nut's fixed part, the feed screw nut rotation section with
First is connected from synchronizing wheel, and the first main synchronizing wheel is connected transmission with described first from synchronizing wheel with timing belt；The transmission
What mechanism also included being fixed on the enclosure lower flange and electrically connect with the 3rd servo drive controller the 4th watches
Take motor, the clutch end of the 4th servomotor is connected through the lower flange with the second main synchronizing wheel, it is described under
Ring flange opposite side is connected with splined nut fixed part, and the splined nut rotation section is connected with second from synchronizing wheel, and described
Two main synchronizing wheels are connected transmission with described second from synchronizing wheel with timing belt, and the screw mandrel is rotated also cross the feed screw nut
Portion center and splined nut rotation section center are vertically to move up and down.
Preferably, the power transmission shaft extreme direction of the 3rd servomotor and the 4th servomotor is opposite.
Preferably, the 3rd servomotor and the 4th servomotor respectively with for detecting angular displacement and angular speed
Photoelectric encoder connection, the 3rd servomotor and the 4th servomotor respectively with the decelerator for deceleration force amplifier
It is connected.
Preferably, the installation pedestal and the revolute joint module, the revolute joint module and the right angle connecting rod,
The right angle connecting rod passes through with the rotating and swinging joint module, the rotating and swinging joint module and the double freedom articulationes cylindroideus module
Snap ring clamping is connected.
Preferably, the right angle connecting rod medium position is right angle.
Relative to prior art, technical solution of the present invention has advantages below：
1) good replaceability.In technical solution of the present invention, modularization SCARA robots include the installation base being sequentially connected
Seat, revolute joint module, right angle connecting rod, rotating and swinging joint module and double freedom articulationes cylindroideus module.The part being sequentially connected
Between fastened by snap ring clamping, when some part therein break down or need it is newly-increased or when changing the function of realizing,
Only need to the part of failure being replaced or increase other workpieces or operational module to corresponding installation site simultaneously newly
And pass through snap ring clamping, you can realize corresponding replace and expanded function.Therefore the modularization SCARA machines of technical solution of the present invention
Device people has good replaceability and autgmentability relative to prior art, can meet different production technologies and product line
The demand of update, while effectively reduction production cost and raising operating efficiency.
2) it is easy to control and using reliable.In technical solution of the present invention, each operational module of modularization SCARA robots
Servo drive controller is provided with to control and drive servomotor to be operated, work is controlled then between each operational module
It is relatively independent, the independent control between each part causes modularization SCARA robots possessing good replaceability basis
On, the work between each operational module is mutually unaffected, therefore with preferable control performance and using reliable
Property.
3) compact conformation.In technical solution of the present invention, revolute joint module above under type carries out structure setting and returned
Turn, rotating and swinging joint module carries out structure setting in front and rear mode and carries out rotation, and double freedom articulationes cylindroideus inside modules collection
Into being provided with servo drive controller and corresponding servomotor, staggered setting by up-down structure so that double freedom is justified
Post joint module internal structure is compacter.Set between above-mentioned a variety of operational modules by compact structure and cause modularization
SCARA robots volume is smaller, and weight is lighter, so that with higher flexibility, while with cooperation between multiple operational modules
With, therefore the modularization SCARA robots of technical solution of the present invention have multiple frees degree, are applicable to different applied fields
Scape.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Structure according to these accompanying drawings obtains other accompanying drawings.
Fig. 1 is the contour structures schematic diagram of modularization SCARA robots of the present invention；
Fig. 2 is the internal structure schematic diagram of revolute joint module of the present invention；
Fig. 3 is the internal structure schematic diagram of rotating and swinging joint module of the present invention；
Fig. 4 is the internal structure schematic diagram of double freedom articulationes cylindroideus module of the present invention.
Drawing reference numeral explanation：
The realization, functional characteristics and advantage of the object of the invention will be described further referring to the drawings in conjunction with the embodiments.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art obtained under the premise of creative work is not made it is all its
His embodiment, belongs to the scope of protection of the invention.
If it is to be appreciated that related in the embodiment of the present invention directionality indicate (such as up, down, left, right, before and after ...),
Then directionality indicate to be only used for explain relative position relation under a certain particular pose (as shown in drawings) between each part,
Motion conditions etc., if the particular pose changes, directionality indicates also correspondingly therewith to change.
If in addition, relating to the description of " first ", " second " etc. in the embodiment of the present invention, being somebody's turn to do " first ", " second " etc.
Description be only used for describing purpose, and it is not intended that indicating or implying its relative importance or implicit indicate indicated skill
The quantity of art feature.Thus, " first " is defined, at least one spy can be expressed or be implicitly included to the feature of " second "
Levy.In addition, the technical scheme between each embodiment can be combined with each other, but must be with those of ordinary skill in the art's energy
Based on enough realizations, when the combination appearance of technical scheme is conflicting or can not realize it will be understood that the knot of this technical scheme
Conjunction is not present, also not within the protection domain of application claims.
The present invention proposes a kind of modularization SCARA robots.
Refer to Fig. 1 to Fig. 4, the modularization SCARA robots of the embodiment of the present invention, including for stuck-module
The installation pedestal 1 of SCARA robots, the top of installation pedestal 1 is connected with the bottom of revolute joint module 2, revolute joint module 2
Top is connected with the one end of right angle connecting rod 3, and the other end of right angle connecting rod 3 is connected with the one end of rotating and swinging joint module 4, rotating and swinging joint module 4
The other end is connected with double freedom articulationes cylindroideus module 6.In the present embodiment, the only one of which free degree of revolute joint module 2 and pass
Nodal axisn line overlaps with self structure central shaft, the only one of which free degree of rotating and swinging joint module 4 and joint rotating shaft and itself knot
Structure central shaft is mutually perpendicular to, and is vertically provided with and is axially moved or around its center inside double freedom articulationes cylindroideus module 6
The screw mandrel 601 that axis is rotated or axial movement and the composite screw around the rotation of its center axis are moved.
Refer in Fig. 2, the embodiment of the present invention, revolute joint module 2 includes the first upper shell 21 that is separated from each other and the
One lower house 22, the bottom of first lower house 21 is connected by snap ring 5 with the top clamping of mounting seat 1, and first upper shell 21 passes through
Snap ring 5 is connected with one end clamping of right angle connecting rod 3, and the inside of first lower house 22 is provided with the first servo drive controller 27 and first
First dividing plate 28 of the internal upper part of lower house 21 is fixedly linked, and is also equipped with inside first lower house 22 and the first servo drive control
The first servomotor 26 that device 27 is electrically connected, the clutch end of the first servomotor 26 is actively round through the first dividing plate 28 and first
Stud wheel 25 is connected, and the top of the first dividing plate 28 is provided with first harmonic decelerator 23, the power intake of first harmonic decelerator 23
Provided with the first driven cylindrical gear 24 and the engaged transmission of the first active roller gear 25, the power output of first harmonic decelerator 23
End is connected with first upper shell 21.
Refer in Fig. 3, the embodiment of the present invention, rotating and swinging joint module 4 includes the second back casing 41 for being separated from each other and the
Two procapsids 42, one end of the second back casing 41 is connected with the other end of right angle connecting rod 3 by the clamping of snap ring 5, the second procapsid 42
One end is connected with double freedom articulationes cylindroideus module 6 by the clamping of snap ring 5, and being fixedly connected with second inside the second back casing 41 watches
Take the second servo for being also equipped with electrically connecting with the second servo drive controller 43 inside drive control device 43, the second back casing 41
Motor 44, the clutch end of the second servomotor 44 is connected through second partition 48 with the second drive bevel gear 45, before second
Second harmonic decelerator 47 is installed inside housing 42, the power intake of second harmonic decelerator 47 be coaxially connected with second from
The engaged transmission of 46 and second drive bevel gear of dynamic bevel gear 45, the clutch end of second harmonic decelerator 47 and the second procapsid
42 are connected.
Refer in Fig. 4, the embodiment of the present invention, double freedom articulationes cylindroideus module 6 includes the internal shell for being provided with cavity
602, the surface of shell 602 is open provided with several, and the interior side of shell 602 installs the 3rd servo drive controller 614, and the 3rd watches
The end of drive control device 614 is taken to be connected with one end of the second procapsid 42 of rotating and swinging joint module 4 by the lateral opening of shell 602,
Double freedom articulationes cylindroideus module 6, which is additionally provided with, to be passed vertically through shell about 602 and vertical opposed open and vertically moves and/or rotate
Screw mandrel 601, transmission mechanism is installed inside shell 602 and coordinates drive lead screw 601, transmission mechanism and the 3rd servo drive control
Device 614 is electrically connected.In the present embodiment, transmission mechanism includes being fixed on the inside upper flange plate 605 of shell 602 and driven with the 3rd servo
The 3rd servomotor 615 that movement controller 614 is electrically connected, the power output shaft end of the 3rd servomotor 615 passes through upper flange plate
605 and it is connected with the first main synchronizing wheel 616；The opposite side of upper flange plate 605 is connected with feed screw nut's fixed part 604, feed screw nut
Rotation section 606 is connected with first from synchronizing wheel 603, and the first main synchronizing wheel 616 and first is from synchronizing wheel 603 with the phase of timing belt 611
Even it is driven；Transmission mechanism also includes being fixed on the inside lower flange 609 of shell 602 and electric with the 3rd servo drive controller 614
4th servomotor 613 of connection, the clutch end of the 4th servomotor 613 is main synchronous with second through lower flange 609
Wheel 612 be connected, the opposite side of lower flange 609 is connected with splined nut fixed part 608, splined nut rotation section 607 and second from
Synchronizing wheel 610 is connected, and the second main synchronizing wheel 612 is connected transmission with second from synchronizing wheel 610 with timing belt 611, and screw mandrel 601 is simultaneously
Through the center of feed screw nut rotation section 606 and the center of splined nut rotation section 607 vertically to move up and down.
In the present embodiment, the power transmission shaft extreme direction of the 3rd servomotor 615 and the 4th servomotor 613 is opposite.
In the present embodiment, the 3rd servomotor 615 and the 4th servomotor 613 respectively with for detecting angular displacement and angle speed
The photoelectric encoder connection of degree, the 3rd servomotor 615 and the 4th servomotor 613 respectively with the decelerator for deceleration force amplifier
It is connected.
Refer in Fig. 1 to Fig. 4, the embodiment of the present invention, the revolute joint modules 2 of modularization SCARA robots need around
When self structure central axis is rotated, outwards output is dynamic for the first servomotor of the first servo drive controller 27 control 26
Power, the first servomotor 26 drives the first active roller gear 25 to be rotated, the engaged transmission of the first active roller gear 25 the
One driven cylindrical gear 24, power intake input power from the first driven cylindrical gear 24 to first harmonic decelerator 23, and
The clutch end driving first upper shell 21 of first harmonic decelerator 23 is rotated, so that first upper shell 21 is relative
First lower house 22 is rotated on the central axis of revolute joint module 2, so that on the first of revolute joint module 2
Housing 21 rotates around the structure centre axis of revolute joint module 2 and exports convolution active force to right angle connecting rod 3.
In the embodiment of the present invention, the second procapsid 42 of the rotating and swinging joint module 4 of modularization SCARA robots needs relatively
When second back casing 41 carries out rotation, the second servomotor of the second servo drive controller 43 control 44 outwards exports power, the
Two servomotors 44 drive the second drive bevel gear 45 to be rotated, and the engaged transmission second of the second drive bevel gear 45 is from mantle tooth
Wheel 46 is rotated, the second driven wheel of differential 46 transmits power to second harmonic decelerator 47, and second harmonic decelerator 47 is moved
Power output end shows as second so as to drive the second procapsid 42 to be rotated around the central axis of the second driven wheel of differential 46
Procapsid 42 carries out swinging motion relative to the second back casing 41.
The working method of screw mandrel 601 of the double freedom articulationes cylindroideus module 6 of the embodiment of the present invention is included around its central axis
Line rotates, rotated along the rectilinear movement of its center axis, around its center axis and moved linearly along its center axis compound
Screw.
When the screw mandrel 601 of the embodiment of the present invention rotated around its center axis, the 3rd servo drive controller 614
Controlling the 3rd servomotor 615, outwards output power is so as to drive the first main synchronizing wheel 616 to rotate, and the first main synchronizing wheel 616 is led to
The driving of timing belt 611 first is crossed to rotate from synchronizing wheel 603.Because first from synchronizing wheel 603 and the phase of feed screw nut rotation section 606
Even, so that first is rotated from the drive screw nut rotation portion 606 of synchronizing wheel 603.Similarly, as the 3rd servo-drive
Outwards output power is so as to drive the second main synchronizing wheel 612 to be rotated for the servomotor 615 of the control of controller 614 the 4th, and second
Main synchronizing wheel 612 is rotated by the driving of timing belt 611 second from synchronizing wheel 610.Because second from synchronizing wheel 610 and splined nut
Rotation section 607 is connected, so that second is rotated from the driving splined nut of synchronizing wheel 610 rotation section 607.Work as feed screw nut
Rotation section 606 and splined nut rotation section 607 carry out rotation so as to drive screw 601 with the rotating speed of formed objects and equidirectional
Center line around itself is rotated.In addition, the 3rd servo drive controller 614 controls the 3rd servomotor 615 and the 4th to watch
Take motor 613 to reversely rotate simultaneously, you can realize that screw mandrel 601 is rotated with opposite direction of rotation around its center axis.
When the screw mandrel 601 of the embodiment of the present invention needs to move linearly along its center axis, the 3rd servo drive control
Device 614 controls the 3rd servomotor 6015 to drive the first main synchronizing wheel 616 to be rotated, and the first main synchronizing wheel 616 passes through synchronization
The transmission of band 611 first rotates from synchronizing wheel 603, and then causes first to drive feed screw nut rotation section 606 to revolve from synchronizing wheel 603
Turn.At the same time, the 3rd servo drive controller 614 controls the 4th servomotor 613 to remain static, and finally causes spline
Nut rotation portion 607 is also at inactive state so that screw mandrel 601 only does edge under the effect of contraction of splined nut rotation section 607
Its center axis moves linearly.In addition, the 3rd servomotor controller 614 controls the 3rd servomotor 615 inversely to be revolved
Turn, be that screw mandrel 601 can be achieved in the opposite direction along its center axis shaft to moving by corresponding drive mechanism.
When the screw mandrel 601 of the embodiment of the present invention needs rotate around its center axis and along its center axis straight line
During the screw that movement is combined, the 3rd servo drive controller 614 controls the 3rd servomotor 615 to drive the first main synchronizing wheel
616 are rotated, and the first main synchronizing wheel 616 is rotated by the driving of timing belt 611 second from synchronizing wheel 610, and then causes second
Feed screw nut rotation section 606 is driven to rotate from synchronizing wheel 610, at the same time, the 3rd servo drive controller 614 control the 4th is watched
Taking motor 613 drives the second main synchronizing wheel 612 to rotate, and the second main synchronizing wheel 612 drives second from synchronizing wheel by timing belt 611
610 rotations, and then cause second to drive splined nut rotation section 607 to rotate from synchronizing wheel 610, but in order to realize screw mandrel 601
, it is necessary to which the 3rd servo drive controller 614 controls the 3rd servomotor 615 and the 4th respectively when moving in a screwing motion manner
Servomotor 613 is rotated with different rotating speeds but identical direction of rotation respectively, so that the upper and lower part of screw mandrel 601 point
Not by different size of rotation driving active force so that screw mandrel 601 with around its center axis rotate and along itself
The compound screwing motion manner of central axis rectilinear movement is operated.
Refer in Fig. 1 to Fig. 4, the embodiment of the present invention, modularization SCARA robots include the installation pedestal being sequentially connected
1st, revolute joint module 2, right angle connecting rod 3, rotating and swinging joint module 4 and double freedom articulationes cylindroideus module 6.The portion being sequentially connected
Fastened between part by the clamping of snap ring 5, when some part therein breaks down or needs newly-increased or changes the function of realizing
When, it is only necessary to the module of failure is replaced or increase other workpieces or operational module to corresponding installation site newly
And pass through the clamping of snap ring 5, you can realize corresponding replace and expanded function.Therefore the modularization in the embodiment of the present invention
SCARA robots have good replaceability and autgmentability relative to prior art, can meet different production technology and production
The demand that product production line updates, while effectively reduction production cost and raising operating efficiency.
In the embodiment of the present invention, each operational module of modularization SCARA robots is provided with servo drive controller
To control and drive servomotor to be operated, between each operational module control work be then it is relatively independent, each part it
Between independent control cause modularization SCARA robots on the basis of possessing good replaceability, between each operational module
Work is mutually unaffected, therefore with preferable control performance and uses reliability.
In the embodiment of the present invention, the under type of revolute joint module more than 2 carries out structure setting and turned round, rotating and swinging joint mould
Block 4 carries out structure setting in front and rear mode and carries out rotation, and double freedom articulationes cylindroideus module 6 is internally integrated and is provided with servo
Drive control device and corresponding servomotor, are staggered setting by up-down structure so that in double freedom articulationes cylindroideus module 6
Portion's structure is compacter.Set between above-mentioned a variety of operational modules by compact structure and cause modularization SCARA machine human bodies
Product is smaller, and weight is lighter, so that with higher flexibility, while mating reaction between multiple operational modules, therefore the present invention
Modularization SCARA robots in embodiment have multiple frees degree, are applicable to different application scenarios.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the scope of the invention, it is every at this
Under the design of invention, the equivalent structure transformation made using description of the invention and accompanying drawing content, or directly/it is used in indirectly
He is included in the scope of patent protection of the present invention related technical field.
Claims (9)
1. a kind of modularization SCARA robots, it is characterised in that including for fixed installation pedestal, the installation pedestal top
End is connected with revolute joint module bottom, and the revolute joint module top is connected with right angle connecting rod one end, the right angle connecting rod
The other end is connected with rotating and swinging joint module one end, the rotating and swinging joint module other end and double freedom articulationes cylindroideus module phase
Even；The revolute joint module only one of which free degree and joint rotating shaft overlaps with self structure central shaft, the rotation
The joint module only one of which free degree and joint rotating shaft is mutually perpendicular to self structure central shaft, the double freedom articulationes cylindroideus
Inside modules, which are vertically provided with, to be axially moved or is rotated around its center axis or is axially moved and around its center axis
The screw mandrel of the composite screw motion of rotation.
2. such as claim 1 modularization SCARA robots, it is characterised in that revolute joint module includes first be separated from each other
Upper shell and first lower house, the first lower house bottom are connected with the installation pedestal top, the first upper shell top
End is connected with described right angle connecting rod one end, and the first servo drive controller and first lower house are provided with inside the first lower house
First dividing plate of internal upper part is fixedly linked, and is also equipped with inside the first lower house and first servo drive controller electricity
First servomotor of connection, the first servomotor clutch end passes through first dividing plate and the first active Cylinder Gear
Wheel is connected, and first harmonic decelerator is provided with above first dividing plate, and the power intake of the first harmonic decelerator is provided with
First driven cylindrical gear and the first active roller gear engaged transmission, the clutch end of the first harmonic decelerator
It is connected with the first upper shell.
3. such as claim 2 modularization SCARA robots, it is characterised in that the rotating and swinging joint module includes what is be separated from each other
Second back casing and the second procapsid, described second back casing one end are connected with the right angle connecting rod other end, after described second
Enclosure interior is fixedly connected with inside the second servo drive controller, second back casing and is also equipped with and second servo
Second servomotor of drive control device electrical connection, the clutch end of second servomotor passes through second partition and second
Drive bevel gear is connected, and is provided with second harmonic decelerator inside second procapsid, the second harmonic decelerator it is dynamic
Power input is coaxially connected with the second driven wheel of differential and the second drive bevel gear engaged transmission, and the second harmonic slows down
The clutch end of device is connected with second procapsid.
4. such as claim 3 modularization SCARA robots, it is characterised in that the double freedom articulationes cylindroideus module includes interior
Portion is provided with the shell of cavity, and the case surface is open provided with several, and the 3rd servo-drive is installed in the enclosure side
Controller, the 3rd servo drive controller end passes through described in the shell lateral opening and the rotating and swinging joint module
Second procapsid one end is connected, and the double freedom articulationes cylindroideus module is additionally provided with that to pass vertically through the shell vertical relative up and down
The screw mandrel for being open and vertically moving and/or rotating, the enclosure is provided with transmission mechanism and coordinates the transmission screw mandrel, described
Transmission mechanism is electrically connected with the 3rd servo drive controller.
5. such as claim 4 modularization SCARA robots, it is characterised in that the transmission mechanism includes being fixed on the shell
Internal upper flange plate and the 3rd servomotor electrically connected with the 3rd servo drive controller, the 3rd servomotor
Power output shaft end is connected through the upper flange plate and with the first main synchronizing wheel；The upper flange plate opposite side and feed screw nut
Fixed part be connected, the feed screw nut rotation section is connected with first from synchronizing wheel, the first main synchronizing wheel and described first from
Synchronizing wheel is connected with timing belt to be driven；The transmission mechanism also includes being fixed on the enclosure lower flange and with described the
4th servomotor of three servo drive controllers electrical connection, the clutch end of the 4th servomotor passes through the laxative remedy
Blue disk is connected with the second main synchronizing wheel, and the lower flange opposite side is connected with splined nut fixed part, and the splined nut turns
Dynamic portion is connected with second from synchronizing wheel, and the second main synchronizing wheel is connected transmission, institute with described second from synchronizing wheel with timing belt
Screw mandrel is stated also cross feed screw nut rotation section center and splined nut rotation section center vertically to move up and down.
6. such as claim 5 modularization SCARA robots, it is characterised in that the 3rd servomotor and the 4th servo
The power transmission shaft extreme direction of motor is opposite.
7. such as claim 5 modularization SCARA robots, it is characterised in that the 3rd servomotor and the 4th servo
Motor respectively with for detecting that the photoelectric encoder of angular displacement and angular speed is connected, the 3rd servomotor and the described 4th is watched
Motor is taken respectively with the decelerator for deceleration force amplifier to be connected.
8. such as claim 1 modularization SCARA robots, it is characterised in that the installation pedestal and the revolute joint module,
The revolute joint module and the right angle connecting rod, the right angle connecting rod and the rotating and swinging joint module, the rotating and swinging joint mould
Block is connected with the double freedom articulationes cylindroideus module by snap ring clamping.
9. such as claim 1 modularization SCARA robots, it is characterised in that the right angle connecting rod medium position is right angle.
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| CN108381540A (en) * | 2018-05-15 | 2018-08-10 | 哈尔滨理工大学 | A kind of space self-reorganization robot elbow turns cell |
| CN108406842A (en) * | 2018-05-15 | 2018-08-17 | 哈尔滨理工大学 | A kind of twin worm formula spatial cell robot rotary articulation |
| CN108908315A (en) * | 2018-09-17 | 2018-11-30 | 深圳市越疆科技有限公司 | Forearm and articulated robot |
| CN109895080A (en) * | 2019-04-25 | 2019-06-18 | 珠海格力电器股份有限公司 | Small arm structure of SCARA robot and SCARA robot |
| CN112548997A (en) * | 2020-12-11 | 2021-03-26 | 深圳市越疆科技有限公司 | Lightweight desktop mechanical arm base and lightweight desktop mechanical arm |
| CN112963424A (en) * | 2021-03-11 | 2021-06-15 | 凯木源(上海)化学材料有限公司 | Anchor bolt and manufacturing method thereof |
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| CN112959293A (en) * | 2021-03-23 | 2021-06-15 | 广东工业大学 | Modular double-wheel claw line patrol robot |
| CN113212587A (en) * | 2021-04-06 | 2021-08-06 | 广东工业大学 | Modular wheel-foot dual-purpose robot |
| CN113212587B (en) * | 2021-04-06 | 2024-04-26 | 广东工业大学 | Modular wheel-foot dual-purpose robot |
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