CN107336224A - A kind of electric control element integrated form SCARA robots - Google Patents
A kind of electric control element integrated form SCARA robots Download PDFInfo
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- CN107336224A CN107336224A CN201710036535.8A CN201710036535A CN107336224A CN 107336224 A CN107336224 A CN 107336224A CN 201710036535 A CN201710036535 A CN 201710036535A CN 107336224 A CN107336224 A CN 107336224A
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- joint
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- ball
- synchronous pulley
- control element
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of electric control element integrated form SCARA robots, including big arm mechanism, second joint transmission mechanism, small arm mechanism, the integrated base of electrical control cubicles and wrist transmission mechanism.The robot realizes the revolute function of terminal shaft using secondary synchronization V belt translation, and set up separately in transhipment department and put the realization transmission of temporary location part, in the case where end is without using harmonic speed reducer, the deceleration of terminal shaft is realized by secondary synchronization band, and fast ratio is more than harmonic speed reducer, the revolution rotating speed of terminal shaft is greatly improved, strengthens robot ability to work.The control element of robot is all integrated in robot body chassis interior by the base of robot using Integration Design, it is difficult to solve position of the electrical control cubicles in actual production line, eliminate robot control distribution cabling and arrange this process, drastically increase space availability ratio；Meanwhile indoor design is the two pieces of drawing structures in left and right, the debugging and maintenance and part replacement of being easy to robot work.
Description
Technical field
The present invention relates to industrial robot field, specifically a kind of electric control element integrated form SCARA robots.
Background technology
SCARA robots are four most wide shaft industrial robots of industrial robot field application.The robot is flat
Face direction stable movement, there is larger rigidity in vertical direction, can be widely applied to need efficient assembling, welding, carry,
Numerous occasions such as sealing.Its use substantially increases adaptability of the robot to complex task, while also reduces cost, carries
High working space utilization rate, it is significant that robot, which substitutes, to be realized to a variety of workplaces of modernization industry production line.
In recent years, SCARA robot products species both domestic and external is diversified all the more, it has also become one of study hotspot of robot field.
Cheng Ting exists《The design and motion of SCARA robots, dynamics research》Ball-screw and ball are devised in one text
Two axles of spline realize the revolution of robot end's axle and the wrist transmission mechanism of elevating function, and control the 3rd of leading screw rotation the
Joint motor is arranged in from the eminence with a certain distance from small arm mechanism plate.But such structure space utilization rate deficiency, wrist pass
The center of gravity of motivation structure is higher, have impact on the rigidity of wrist.In addition, the electrical control cubicles of current industrial robot are typically all used and independently set
, so there are electrical control cubicles and independently arrange that integration degree is not high in meter, the pattern independently arranged, the arrangement work of wiring cabling is heavy
Problem.Existing SCARA robot ends rotating speed is not high, and precision is poor.
The content of the invention
In view of the shortcomings of the prior art, the technical problem that the present invention intends to solve is to provide a kind of electric control element integrated form
SCARA robots.The robot architecture is compact, end rotating speed height, flexible movements, precision is high and electric control element is integrated into machine
On device human body.
The technical scheme that the present invention solves the technical problem is to provide a kind of electric control element integrated form SCARA robots,
Including big arm mechanism, second joint transmission mechanism and small arm mechanism；It is characterized in that the robot is also integrated including electrical control cubicles
Base and wrist transmission mechanism；One end of the big arm mechanism is arranged on the integrated base of electrical control cubicles, the other end and forearm machine
Structure connects；Second joint transmission mechanism and wrist transmission mechanism are installed on the small arm mechanism；The integrated bottom of electrical control cubicles
Seat is connected with wrist transmission mechanism；
The integrated base of electrical control cubicles is including on the first joint motor, the first joint speed reducer mounting flange plate, base
Panel, front of chassis plate, base plate, base side panel, base rear board, driver installing plate, three-stage linear slide rail, drive
Dynamic device, electric control element installing plate and electric control element；The overall structure of the integrated base of electrical control cubicles is by submounts plate, base
Front panel, base plate, two pieces of base side panels are connected with base rear board and surrounded；First joint motor is arranged on first
On joint speed reducer mounting flange plate, its output shaft is connected with big arm mechanism；The first joint speed reducer mounting flange plate with
Submounts plate connects；The three-stage linear slide rail is made up of the outside track and middle slide rail of both sides；The outside track of both sides leads to
Slide rail connection among crossing；The outside track of side is connected with submounts plate or base plate, the outside track and driver of opposite side
Installing plate or electric control element installing plate are connected, and driver is provided with the driver installing plate；The electric control element installing plate
On electric control element is installed；
The wrist transmission mechanism includes the 3rd joint transmission mechanism, the 4th joint transmission mechanism and precision ball screw rolling
Spline axle；The precision ball screw ball spline shaft passes through ball-screw mother, ball-screw mother flanged plate, the second timing belt
Wheel, the 6th synchronous pulley, small arm mechanism and ball spline are female, thereon with vertical groove and spiral grooves, respectively with ball wire
Thick stick is female or ball spline mother coordinates；
3rd joint assembly include the 3rd joint motor, the 3rd joint motor mounting flange, the 3rd articular branches fagging,
3rd joint synchronous belt wheel group, micro electromagnetic brake, brake mounting board, brake installation column, ball-screw are female, ball
Mother lead screw flanged plate and ball-screw mother law orchid pillar；The 3rd joint synchronous belt wheel group includes the first synchronous pulley, first
Timing belt, the second synchronous pulley；3rd joint motor is connected on the 3rd joint motor mounting flange；3rd joint motor
Output shaft pass through the 3rd joint motor mounting flange, the first synchronous pulley is installed thereon, its end and micro electromagnetic are braked
Device connects；The 3rd articular branches fagging is arranged on small arm mechanism, and the 3rd joint motor mounting flange is arranged on the 3rd joint
In supporting plate；The micro electromagnetic brake is arranged on brake mounting board, and brake mounting board is installed vertical by brake
Post is fixed on the 3rd joint motor mounting flange；The ball-screw mother is inside and outside coil structures, and outer ring is fixed on ball-screw
On female flanged plate, inner ring is bonded with the vertical groove on precision ball screw ball spline shaft, and inner ring passes through ball-screw mother law
Blue plate is connected with the second synchronous pulley；The ball-screw mother flanged plate is fixed on forearm machine by ball-screw mother law orchid pillar
On structure；First synchronous pulley passes through the first synchronous band connection, passing power with the second synchronous pulley；
4th joint transmission mechanism includes the 4th joint motor, the 4th joint motor mounting flange plate, the 4th joint
Supporting plate, the 4th joint first order synchronous pulley group, temporary location part, the 4th joint second level synchronous pulley group and ball flower
Key is female；The temporary location part includes temporary location bearing installing plate, angular contact ball bearing group, temporary location axle, middle list
First support column, temporary location bearing lower shoe；The 4th joint first order synchronous pulley group includes the 3rd synchronous pulley, second
Timing belt and the 4th synchronous pulley；4th joint second level synchronous pulley group includes the 5th synchronous pulley, the 3rd timing belt
With the 6th synchronous pulley；4th joint motor is connected on the 4th joint motor mounting flange plate；4th joint motor
Output shaft passes through the 4th joint motor mounting flange plate, is provided with the 3rd synchronous pulley thereon；The 4th articular branches fagging peace
On small arm mechanism, the 4th joint motor mounting flange plate is arranged on the 4th articular branches fagging；The temporary location bearing
Lower shoe is arranged in the deep gouge of small arm mechanism；The temporary location bearing lower shoe centre position is disposed with angular contact ball bearing
Group；The temporary location bearing installing plate centre position is disposed with angular contact ball bearing group；The temporary location bearing installing plate
It is connected by temporary location support column with temporary location bearing lower shoe；The inner ring and temporary location of two angular contact ball bearing groups
The both ends connection of axle；The 4th synchronous pulley and the 5th synchronous pulley are installed on the temporary location axle；3rd timing belt
Wheel passes through the second synchronous band connection with the 4th synchronous pulley；The ball spline mother is inside and outside coil structures, and outer ring is fixed on forearm
In mechanism, inner ring is bonded with the spiral grooves on precision ball screw ball spline shaft, and inner ring is same through small arm mechanism and the 6th
Walk belt wheel connection.
The driver is four-in-one servo-driver；The electric control element is Switching Power Supply, NUC adapters, NUC miniature
Main frame, relay, air switch and DIN guide rails.
Compared with prior art, beneficial effect of the present invention is：
(1) robot realizes returning for terminal shaft (i.e. precision ball screw ball spline shaft) using secondary synchronization V belt translation
Rotating function, and set up separately in transhipment department and put the realization transmission of temporary location part, in the case where end is without using harmonic speed reducer, according to
The deceleration of terminal shaft is realized by secondary synchronization band, and fast ratio is more than harmonic speed reducer, and the revolution for greatly improving terminal shaft turns
Speed, strengthen robot ability to work；This form structure is compact, and space availability ratio is higher, also makes whole wrist transmission mechanism
Center of gravity is lower, is advantageous to improve the rigidity of robot wrist.
(2) base of robot is designed as the integrated base of electrical control cubicles, using Integration Design that the control of robot is first
Part is all integrated in robot body chassis interior, solves position difficulty of the electrical control cubicles in actual production line, eliminates
Robot control distribution cabling arranges this process, drastically increases space availability ratio；Meanwhile indoor design is two pieces of left and right
Drawing structure, the debugging and maintenance and part replacement for being easy to robot work.
(3) structure for being built into robot body base is combined with installing plate using three-stage linear slide rail, driver with
Necessary electric control element installation on a mounting board, constitutes the structure of drawer-like pull, facilitates the tune of electric control element in base
Examination maintenance and change, realize the integrated of electrical control cubicles element and body.
(4) motor mounting flange, the connection hole position of temporary location bearing lower shoe are both designed as U type slot, convenient synchronous
Tensioning process during with installation, also allow for adjusting the tensile force of timing belt according to application requirement.
(5) gearratio of secondary synchronization V belt translation can be adjusted by changing synchronous pulley group within the specific limits,
So as to control the extreme value of end rotating speed.
Brief description of the drawings
Fig. 1 is a kind of three-dimensional normal axomometric drawing of embodiment of electric control element integrated form SCARA robots of the present invention；
Fig. 2 is a kind of master of the integrated base of the electrical control cubicles of embodiment of electric control element integrated form SCARA robots of the present invention
Depending on structural representation；
Fig. 3 is a kind of the vertical of integrated base of the electrical control cubicles of embodiment of electric control element integrated form SCARA robots of the present invention
Body normal axomometric drawing；
Fig. 4 is a kind of drive of the integrated base of the electrical control cubicles of embodiment of electric control element integrated form SCARA robots of the present invention
Three-dimensional normal axomometric drawing when dynamic device installing plate is extracted out；
Fig. 5 is a kind of electricity of the integrated base of the electrical control cubicles of embodiment of electric control element integrated form SCARA robots of the present invention
Control three-dimensional normal axomometric drawing when detail assembly panel is extracted out；
Fig. 6 is a kind of joint of wrist transmission mechanism the 3rd of embodiment of electric control element integrated form SCARA robots of the present invention
The three-dimensional normal axomometric drawing of transmission mechanism；
Fig. 7 is a kind of joint of wrist transmission mechanism the 4th of embodiment of electric control element integrated form SCARA robots of the present invention
The three-dimensional normal axomometric drawing of transmission mechanism；
Fig. 8 is that a kind of assembling of the temporary location part of embodiment of electric control element integrated form SCARA robots of the present invention is quick-fried
Fried figure；(in figure：A, the integrated base of electrical control cubicles；B, big arm mechanism；C, second joint transmission mechanism；D, wrist transmission mechanism；E、
Small arm mechanism；A01, the first joint motor；A02, ventilating board；A03, the first joint speed reducer mounting flange plate；On A04, base
Panel；A05, front of chassis plate；A06, base plate；A07, base side panel；A08, DIN guide rail；A09, driver installing plate；
A10, three-stage linear slide rail；A11, four-in-one servo-driver；A12, electric control element installing plate；A13, Switching Power Supply；A14、
NUC adapters；A15, NUC micromainframe；A16, relay；A17, air switch；D01, the 3rd joint motor；D02, the 3rd are closed
Save motor mounting flange；D03, the 3rd articular branches fagging；D04, the 3rd joint synchronous belt wheel group；D0401, the first synchronous pulley；
D0402, the first timing belt；D0403, the second synchronous pulley；D05, micro electromagnetic brake；D06, brake mounting board；D07、
Brake installs column；D08, ball-screw are female；D09, the 4th joint motor；D10, the 4th joint motor mounting flange plate；
D11, the 4th articular branches fagging；D12, the 4th joint first order synchronous pulley group；D1201, the 4th synchronous pulley；D1202, second
Timing belt；D13, temporary location bearing installing plate；D14, angular contact ball bearing group；D15, temporary location axle；D16, temporary location
Support column；D17, temporary location bearing lower shoe；D18, the 4th joint second level synchronous pulley group；D1801, the 5th timing belt
Wheel；D1802, the 3rd timing belt；D1803, the 6th synchronous pulley；D19, ball spline are female；D20, ball-screw mother's flanged plate；
D21, ball-screw mother law orchid pillar；D22, precision ball screw ball spline shaft)
Embodiment
The specific embodiment of the present invention is given below.Specific embodiment is only used for that the present invention is further described, unlimited
The application scope of the claims processed.
The invention provides a kind of electric control element integrated form SCARA robots (referring to Fig. 1-8, abbreviation robot), including
The integrated base A of electrical control cubicles, big arm mechanism B, second joint transmission mechanism C, wrist transmission mechanism D and small arm mechanism E；It is described big
Arm mechanism B one end is arranged on the integrated base A of electrical control cubicles, and the other end is connected with small arm mechanism E；On the small arm mechanism E
Second joint transmission mechanism C and wrist transmission mechanism D are installed；The integrated base A of electrical control cubicles passes through bunch pipe and wrist
Transmission mechanism D connections, bunch pipe is interior to have the pipelines such as power line, encoder line and tracheae；
The integrated base A of electrical control cubicles includes the first joint motor A01, ventilating board A02, the installation of the first joint speed reducer
Flanged plate A03, submounts plate A04, front of chassis plate A05, base plate A06, base side panel A07, base rear board (figure
In be not drawn into), driver installing plate A09, three-stage linear slide rail A10, four-in-one servo-driver A11, electric control element installation
Plate A12, Switching Power Supply A13, NUC adapter A14, NUC micromainframe A15, relay A16, air switch A17 and DIN guide rail
A08；The integrated base A of electrical control cubicles is in cube structure, and outside overall structure is by submounts plate A04, front of chassis plate
A05, base plate A06, two pieces of base side panel A07 are connected with base rear board and surrounded；Two pieces of base side plate A07 upper and lower side
It is connected respectively by bolt with base plate A06 and submounts plate A04；The front of chassis plate A05 is fixed on by screw
On base side plate A07 leading flank；The base rear board is fixed on by screw on base side plate A07 trailing flank；It is described
First joint motor A01 is arranged on the first joint speed reducer mounting flange plate A03, and its output shaft is connected with big arm mechanism B；Institute
The first joint speed reducer mounting flange plate A03 is stated to be connected with submounts plate A04 by bolt；First joint motor A01's is defeated
Shaft is arranged on submounts plate A04 axis；The three-stage linear slide rail A10 is slided by the outside track of both sides and centre
Rail forms；The outside track of both sides is connected by middle slide rail；The outside track of side and submounts plate A04 or base plate A06
Connection, the outside track of opposite side are connected with driver installing plate A09 or electric control element installing plate A12 so that driver installing plate
A09 and electric control element installing plate A12 can skid off the integrated base A of electrical control cubicles along three-stage linear slide rail A10；The driver
Four-in-one servo-driver A11 is installed on installing plate A09；Switching Power Supply is installed on the electric control element installing plate A12
A13, NUC adapter A14, NUC micromainframe A15, relay A16, air switch A17 and DIN guide rail A08, are realized automatically controlled
Element is integrated in the integrated base A of electrical control cubicles；Automatically controlled button is arranged on base rear board；The ventilating board A02 is arranged on
On front of chassis plate A05 ventilation mesh, for guiding air circulation and radiating；
The wrist transmission mechanism D includes the 3rd joint transmission mechanism, the 4th joint transmission mechanism and precision ball screw
Ball spline shaft D22；3rd joint transmission mechanism can realize precision ball screw ball spline shaft D22 vertical lift work(
Energy；4th joint transmission mechanism realizes precision ball screw ball spline shaft D22 revolute function；The precise ball silk
Thick stick ball spline shaft D22 is through ball-screw mother D08, ball-screw mother's flanged plate D20, the second synchronous pulley D0403, the 6th same
Walk belt wheel D1803, small arm mechanism E and ball spline mother D19, thereon with vertical groove and spiral grooves, respectively with ball wire
Thick stick mother D08 or ball spline mother D19 coordinates；
3rd joint assembly includes the 3rd joint motor D01, the 3rd joint motor mounting flange D02, the 3rd joint
Supporting plate D03, the 3rd joint synchronous belt wheel group D04, micro electromagnetic brake D05, brake mounting board D06, brake installation
Column D07, ball-screw mother D08, ball-screw mother's flanged plate D20 and ball-screw mother law orchid pillar D21；3rd joint
Synchronous pulley group D04 includes the first synchronous pulley D0401, the first timing belt D0402, the second synchronous pulley D0403；Described 3rd
Joint motor D01 is located at small arm mechanism E centre position to the rear, and the 3rd joint motor mounting flange is connected to by fastening bolt
On D02；3rd joint motor D01 output shaft passes through the 3rd joint motor mounting flange D02, is provided with the first timing belt thereon
D0401 is taken turns, its end is connected with micro electromagnetic brake D05；The 3rd articular branches fagging D03 is arranged on forearm by bolt
On mechanism E, the 3rd joint motor mounting flange D02 is arranged on the 3rd articular branches fagging D03 by bolt；The micro electromagnetic
Brake D05 is arranged on brake mounting board D06 by screw, and brake mounting board D06 installs column D07 by brake
It is fixed on the 3rd joint motor mounting flange D02；The 3rd joint motor mounting flange D02 and the 3rd articular branches fagging
Bolt at D03 bolt connection is U-shaped through hole by hole, and the tensioning for the 3rd joint synchronous belt wheel group D04 is arranged；It is described
Ball-screw mother D08 is inside and outside coil structures, and outer ring is fixed on ball-screw mother's flanged plate D20, and it is internal special that inner ring passes through
Roll structure is bonded with the vertical groove on precision ball screw ball spline shaft 22, and inner ring passes through ball-screw mother's flanged plate
D20 is connected with the second synchronous pulley D0403；When rotary power is transferred to ball-screw mother D08 by the second synchronous pulley D0403
Inner ring when, be fitted in ball on inner ring by the vertical groove of precision ball screw ball spline shaft 22 by power transmission extremely
On precision ball screw ball spline shaft 22, so as to realize the function of the ball screw part of precision ball screw ball spline；
The ball-screw mother flanged plate D20 is fixed on small arm mechanism E by ball-screw mother law orchid pillar D21；First timing belt
Wheel D0401 is connected with the second synchronous pulley D0403 by the first timing belt D0402, passing power；First synchronous pulley D0401
The number of teeth is 50, and the second synchronous pulley D0403 numbers of teeth are also 50, therefore the 3rd joint synchronous belt wheel group D04 gearratios are 1:1；It is logical
The braking function for crossing brake D05 realizes the situation for preventing that precision ball screw ball spline shaft D22 from falling by deadweight during power-off；
4th joint transmission mechanism includes the 4th joint motor D09, the 4th joint motor mounting flange plate D10, the
Four articular branches fagging D11, the 4th joint first order synchronous pulley group D12, temporary location part, the 4th joint second level timing belt
Wheel group D18 and ball spline mother D19；The temporary location part includes temporary location bearing installing plate D13, angular contact ball bearing
Group D14, temporary location axle D15, temporary location support column D16, temporary location bearing lower shoe D17；4th joint first
Level synchronous pulley group D12 includes the 3rd synchronous pulley (being stopped in figure by D11), the second timing belt D1202 and the 4th synchronous pulley
D1201；The 4th joint second level synchronous pulley group D18 include the 5th synchronous pulley D1801, the 3rd timing belt D1802 and
6th synchronous pulley D1803；4th joint transmission mechanism is located at small arm mechanism E right positions；The 4th joint electricity
Machine D09 is connected on the 4th joint motor mounting flange plate D10 by fastening bolt；4th joint motor D09 output shaft is worn
The 4th joint motor mounting flange plate D10 is crossed, the 3rd synchronous pulley is installed thereon；The 4th articular branches fagging D11 passes through
Bolt is arranged on small arm mechanism E, and the 4th joint motor mounting flange plate D10 is arranged on the 4th articular branches fagging by bolt
On D11；4th articular branches fagging D11 height is less than the 3rd articular branches fagging D03 so that the 3rd joint transmission mechanism with
4th joint transmission mechanism forms form transmission up and down staggeredly；The number of teeth of 3rd synchronous pulley is 20, the 4th synchronous pulley
The D1201 number of teeth is 60, gearratio 1:3；The temporary location bearing lower shoe D17 is arranged in small arm mechanism E deep gouge,
Deep gouge bottom surface be used to fixing temporary location bearing lower shoe D17 bolt be designed as by hole it is U-shaped by hole and the length of deep gouge
Degree is greater than temporary location bearing lower shoe D17, and such design can conveniently realize the tensioning function of temporary location part；Institute
State temporary location bearing lower shoe D17 centre positions and be disposed with angular contact ball bearing group D14；The temporary location bearing installing plate
D13 centre positions are disposed with angular contact ball bearing group D14；The temporary location bearing installing plate D13 is supported by temporary location
Post D16 is connected with temporary location bearing lower shoe D17；Two angular contact ball bearing group D14 inner ring is with temporary location axle D15's
Both ends connect, and realize temporary location axle D15 revolution and bear axial direction, the ability of radial load；The temporary location axle D15
On the 4th synchronous pulley D1201 and the 5th synchronous pulley D1801 is installed, realize transmission；3rd synchronous pulley and the 4th
Synchronous pulley D1201 realizes transmission by the second timing belt D1202 connections；The ball spline mother D19 is inside and outside coil structures,
Outer ring is fixed on small arm mechanism E, and inner ring passes through on internal special roll structure and precision ball screw ball spline shaft 22
Spiral grooves fitting, inner ring is connected through small arm mechanism E with the 6th synchronous pulley D1803；When rotary power is same by the 6th
When step belt wheel D1803 is transferred to ball spline mother D19 inner ring, the ball being fitted on inner ring passes through precision ball screw ball
The spiral grooves of splined shaft 22 are by power transmission to precision ball screw ball spline shaft 22, so as to realize precision ball screw
The function of the ball spline part of ball spline；The 5th synchronous pulley D1801 number of teeth is 24, the 6th synchronous pulley D1803's
The number of teeth is 72, gearratio 1:3, such 4th joint transmission mechanism resultant gear ratio is 1:9.
The accurate rolling being made up of precision ball screw ball spline shaft D22, ball-screw mother D08 and ball spline mother D19
Ballscrew ball spline is existing commercially available prod.
The operation principle and workflow of electric control element integrated form SCARA robots of the present invention be：During beginning, the 3rd joint
Motor D01 is rotated forward, and drives the first timing belt D0402 rotations, power is transferred into the second timing belt by the first timing belt D0402
D0403 is taken turns, the second synchronous pulley D0403 drives ball-screw mother D08 rotations, realizes precision ball screw ball spline shaft D22
Ascending motion；Similarly conversely, the 3rd joint motor D01 is inverted, precision ball screw ball spline shaft D22 decline fortune is realized
It is dynamic.4th joint motor D09 is rotated forward, and the 4th joint first order synchronous pulley group D12 rotations is driven, by temporary location part
Transmission process is same by power transmission to the 4th joint second level synchronous pulley group, the 6th of the 4th joint second level synchronous pulley group
Step belt wheel D1803 reaches power on ball spline mother D19, so as to drive precision ball screw ball spline shaft D22 clockwise
Rotation；Similarly conversely, the 4th joint motor D09 reversions drive precision ball screw ball spline shaft D22 rotate counterclockwises.
The present invention does not address part and is applied to prior art.
Claims (9)
1. a kind of electric control element integrated form SCARA robots, including big arm mechanism, second joint transmission mechanism and small arm mechanism；
It is characterized in that the robot also includes the integrated base of electrical control cubicles and wrist transmission mechanism；One end installation of the big arm mechanism
On the integrated base of electrical control cubicles, the other end is connected with small arm mechanism；Second joint driver is installed on the small arm mechanism
Structure and wrist transmission mechanism；The integrated base of electrical control cubicles is connected with wrist transmission mechanism；
The integrated base of electrical control cubicles include the first joint motor, the first joint speed reducer mounting flange plate, submounts plate,
Front of chassis plate, base plate, base side panel, base rear board, driver installing plate, three-stage linear slide rail, driver,
Electric control element installing plate and electric control element；The overall structure of the integrated base of electrical control cubicles is by submounts plate, front of chassis
Plate, base plate, two pieces of base side panels are connected with base rear board and surrounded；First joint motor is arranged on the first joint
On decelerator mounting flange plate, its output shaft is connected with big arm mechanism；The first joint speed reducer mounting flange plate and base
Top panel connects；The three-stage linear slide rail is made up of the outside track and middle slide rail of both sides；The outside track of both sides is in
Between slide rail connect；The outside track of side is connected with submounts plate or base plate, and outside track and the driver of opposite side are installed
Plate or electric control element installing plate are connected, and driver is provided with the driver installing plate；Pacify on the electric control element installing plate
Equipped with electric control element；
The wrist transmission mechanism includes the 3rd joint transmission mechanism, the 4th joint transmission mechanism and precision ball screw ball flower
Key axle；The precision ball screw ball spline shaft through ball-screw mother, ball-screw mother flanged plate, the second synchronous pulley,
6th synchronous pulley, small arm mechanism and ball spline are female, female with ball-screw respectively thereon with vertical groove and spiral grooves
Or the female cooperation of ball spline；
3rd joint assembly includes the 3rd joint motor, the 3rd joint motor mounting flange, the 3rd articular branches fagging, the 3rd
Joint synchronous belt wheel group, micro electromagnetic brake, brake mounting board, brake installation column, ball-screw are female, ball-screw
Female flanged plate and ball-screw mother law orchid pillar；The 3rd joint synchronous belt wheel group includes the first synchronous pulley, first synchronously
Band, the second synchronous pulley；3rd joint motor is connected on the 3rd joint motor mounting flange；3rd joint motor it is defeated
Shaft passes through the 3rd joint motor mounting flange, is provided with the first synchronous pulley thereon, and its end connects with micro electromagnetic brake
Connect；The 3rd articular branches fagging is arranged on small arm mechanism, and the 3rd joint motor mounting flange is arranged on the 3rd joint support
On plate；The micro electromagnetic brake is arranged on brake mounting board, and brake mounting board is installed column by brake and consolidated
It is scheduled on the 3rd joint motor mounting flange；The ball-screw mother is inside and outside coil structures, and outer ring is fixed on ball-screw mother law
On blue plate, inner ring is bonded with the vertical groove on precision ball screw ball spline shaft, and inner ring passes through ball-screw mother's flanged plate
It is connected with the second synchronous pulley；The ball-screw mother flanged plate is fixed on small arm mechanism by ball-screw mother law orchid pillar
On；First synchronous pulley passes through the first synchronous band connection, passing power with the second synchronous pulley；
4th joint transmission mechanism includes the 4th joint motor, the 4th joint motor mounting flange plate, the 4th joint support
Plate, the 4th joint first order synchronous pulley group, temporary location part, the 4th joint second level synchronous pulley group and ball spline
It is female；The temporary location part includes temporary location bearing installing plate, angular contact ball bearing group, temporary location axle, temporary location
Support column, temporary location bearing lower shoe；The 4th joint first order synchronous pulley group includes the 3rd synchronous pulley, second same
Walk band and the 4th synchronous pulley；4th joint second level synchronous pulley group include the 5th synchronous pulley, the 3rd timing belt and
6th synchronous pulley；4th joint motor is connected on the 4th joint motor mounting flange plate；4th joint motor it is defeated
Shaft passes through the 4th joint motor mounting flange plate, is provided with the 3rd synchronous pulley thereon；The 4th articular branches fagging installation
On small arm mechanism, the 4th joint motor mounting flange plate is arranged on the 4th articular branches fagging；Under the temporary location bearing
Bottom plate is arranged in the deep gouge of small arm mechanism；The temporary location bearing lower shoe centre position is disposed with angular contact ball bearing
Group；The temporary location bearing installing plate centre position is disposed with angular contact ball bearing group；The temporary location bearing installing plate
It is connected by temporary location support column with temporary location bearing lower shoe；The inner ring and temporary location of two angular contact ball bearing groups
The both ends connection of axle；The 4th synchronous pulley and the 5th synchronous pulley are installed on the temporary location axle；3rd timing belt
Wheel passes through the second synchronous band connection with the 4th synchronous pulley；The ball spline mother is inside and outside coil structures, and outer ring is fixed on forearm
In mechanism, inner ring is bonded with the spiral grooves on precision ball screw ball spline shaft, and inner ring is same through small arm mechanism and the 6th
Walk belt wheel connection.
2. electric control element integrated form SCARA robots according to claim 1, it is characterised in that the first joint motor it is defeated
Shaft is arranged on the axis of submounts plate.
3. electric control element integrated form SCARA robots according to claim 1, it is characterised in that electric button is arranged in bottom
On seat rear board.
4. electric control element integrated form SCARA robots according to claim 1, it is characterised in that the driver is four conjunctions
One servo-driver；The electric control element be Switching Power Supply, NUC adapters, NUC micromainframes, relay, air switch and
DIN guide rails.
5. electric control element integrated form SCARA robots according to claim 1, it is characterised in that the electrical control cubicles are integrated
Base also includes ventilating board, and ventilating board is arranged on the ventilation mesh of front of chassis plate.
6. electric control element integrated form SCARA robots according to claim 1, it is characterised in that the 3rd joint motor
Bolt at the bolt connection of mounting flange and the 3rd articular branches fagging is U-shaped through hole by hole, for the 3rd joint synchronous band
The tensioning arrangement of wheel group.
7. electric control element integrated form SCARA robots according to claim 1, it is characterised in that the 4th articular branches fagging
Highly it is less than the 3rd articular branches fagging, so that the 3rd joint transmission mechanism is formed with the 4th joint transmission mechanism and interlocked up and down
Form transmission.
8. electric control element integrated form SCARA robots according to claim 1, it is characterised in that deep gouge bottom surface is used to fix
The bolt of temporary location bearing lower shoe be designed as by hole it is U-shaped by hole, for realizing the tensioning function of temporary location part.
9. electric control element integrated form SCARA robots according to claim 1, it is characterised in that two pieces of base side plates it is upper
Lower end is connected by bolt with base plate and submounts plate respectively；The front of chassis plate is fixed on the front side of base side plate
On face；The base rear board is fixed on the trailing flank of base side plate.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710036535.8A CN107336224A (en) | 2017-01-18 | 2017-01-18 | A kind of electric control element integrated form SCARA robots |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710036535.8A CN107336224A (en) | 2017-01-18 | 2017-01-18 | A kind of electric control element integrated form SCARA robots |
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| Publication Number | Publication Date |
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| CN107336224A true CN107336224A (en) | 2017-11-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| Country | Link |
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| CN107972020A (en) * | 2017-11-30 | 2018-05-01 | 珠海格力节能环保制冷技术研究中心有限公司 | Horizontal articulated industrial robot |
| CN108748123A (en) * | 2018-09-10 | 2018-11-06 | 珠海格力电器股份有限公司 | Robot linking arm and robot with it |
| CN109500796A (en) * | 2019-01-15 | 2019-03-22 | 济宁职业技术学院 | A kind of automated machine tool maintaining robot |
| CN110065053A (en) * | 2019-05-30 | 2019-07-30 | 珠海格力电器股份有限公司 | Robot forearm structure and robot |
| CN110666784A (en) * | 2018-07-03 | 2020-01-10 | 日本电产三协株式会社 | Industrial robot |
| CN110757483A (en) * | 2019-11-08 | 2020-02-07 | 珠海格力智能装备有限公司 | Embedded type injection molding manipulator control cabinet mounting structure |
| CN111775139A (en) * | 2019-04-03 | 2020-10-16 | 库卡机器人(广东)有限公司 | Robot |
| CN112847320A (en) * | 2021-02-23 | 2021-05-28 | 西双版纳望旺生物科技有限公司 | Horizontal four-joint robot |
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Application publication date: 20171110 |