CN113715013B - Acceleration mechanism of SCARA robot and SCARA robot with same - Google Patents
Acceleration mechanism of SCARA robot and SCARA robot with same Download PDFInfo
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- CN113715013B CN113715013B CN202111296658.8A CN202111296658A CN113715013B CN 113715013 B CN113715013 B CN 113715013B CN 202111296658 A CN202111296658 A CN 202111296658A CN 113715013 B CN113715013 B CN 113715013B
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- transmission
- synchronous pulley
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- speed reducer
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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
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides an acceleration mechanism of a SCARA robot and the SCARA robot with the acceleration mechanism, which relate to the technical field of industrial robots and aim to solve the technical problem that the working efficiency of a SCARA mechanical arm is low due to the fact that the rotating arm of the traditional SCARA robot is slow in the rotating process; the rotating body is connected with the base, and a first speed reducer and a second speed reducer are arranged in the rotating body; the transmission unit comprises a first transmission assembly and a second transmission assembly; the gear transmission assembly comprises a power gear, a first transmission gear and a second transmission gear which are in transmission connection in sequence, and the power gear is connected with a first power device; the first transmission gear is connected with a first speed reducer through a first transmission assembly, and the first speed reducer is connected with a first transmission shaft; the second transmission gear is connected with a second speed reducer through a second transmission assembly, and the second speed reducer is connected with a second transmission shaft.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a speed increasing mechanism of a SCARA robot and the SCARA robot with the speed increasing mechanism.
Background
With the development of science and technology, industrial automation urgently needs a large number of proper assembly robots to improve production efficiency and quality, so that production cost is reduced, and resource consumption is reduced.
A SCARA (Selective Compliance Assembly Robot Arm) Robot is a Robot applied to Assembly work, has three rotary joints, and is suitable for planar positioning.
The applicant has found that the prior art has at least the following technical problems:
traditional SCARA robot passes through the cooperation of motor, drive assembly, speed reducer, makes the pivot on the rotor arm rotate, and the rotor arm is at rotatory in-process, and speed is slower, leads to SCARA robotic arm's work efficiency lower from this.
Disclosure of Invention
The invention aims to provide a speed increasing mechanism of a SCARA robot and the SCARA robot with the speed increasing mechanism, and aims to solve the technical problem that in the prior art, a rotating shaft on a rotating arm rotates through the cooperation of a motor, a transmission assembly and a speed reducer of the traditional SCARA robot, and the rotating arm is slow in speed in the rotating process, so that the working efficiency of a SCARA mechanical arm is low. The technical effects that can be produced by the preferred technical scheme in the technical schemes provided by the invention are described in detail in the following.
In order to achieve the purpose, the invention provides the following technical scheme:
the invention provides a speed increasing mechanism of a SCARA robot, which comprises:
a first power unit;
the rotating body is connected with the base, and a first speed reducer and a second speed reducer are arranged inside the rotating body;
the transmission unit comprises a first transmission assembly and a second transmission assembly;
the gear transmission assembly comprises a power gear, a first transmission gear and a second transmission gear which are in transmission connection in sequence, wherein the power gear is connected with the first power device; the first transmission gear is connected with the first speed reducer through a first transmission assembly, and the first speed reducer is connected with a first transmission shaft and used for driving the rotating main body to move; the second transmission gear is connected with the second speed reducer through a second transmission assembly, and the second speed reducer is connected with a second transmission shaft and used for driving the first rotating arm to rotate.
Preferably, the first transmission assembly comprises a first synchronous pulley, a second synchronous pulley and a first synchronous belt connected to the first synchronous pulley and the second synchronous pulley, wherein:
the first synchronous belt wheel is connected with a gear shaft of the first transmission gear, and the second synchronous belt wheel is connected with the first speed reducer.
Preferably, the second transmission assembly comprises a third synchronous pulley, a fourth synchronous pulley and a second synchronous belt connected to the third synchronous pulley and the fourth synchronous pulley, wherein:
the third synchronous belt wheel is connected with a gear shaft of the second transmission gear, and the fourth synchronous belt wheel is connected with the second speed reducer.
Preferably, the gear ratio of the first transmission gear and the second transmission gear and the reduction ratio of the first speed reducer and the second speed reducer are set to be 1: 1.
A SCARA robot with a speed increasing mechanism comprises the speed increasing mechanism of the SCARA robot.
Preferably, the device further comprises a first rotating arm, a second rotating arm and an actuating mechanism, and the transmission unit further comprises a third transmission assembly, wherein:
the first rotating arm comprises the second transmission shaft, and the second transmission shaft is connected with the second speed reducer;
the second rotating arm comprises a third transmission shaft, and the third transmission shaft is in transmission connection with the second transmission shaft through a third transmission assembly;
the actuating mechanism is arranged on the second rotating arm and comprises a spline shaft and a spline nut matched with the spline shaft.
Preferably, the third transmission assembly comprises a fifth synchronous pulley, a sixth synchronous pulley and a third synchronous belt connected to the fifth synchronous pulley and the sixth synchronous pulley, wherein:
the fifth synchronous belt wheel is connected with the second transmission shaft, and the sixth synchronous belt wheel is connected with the third transmission shaft.
Preferably, the power transmission unit further comprises a second power device and a third power device, and the power transmission unit further comprises a fourth transmission assembly and a fifth transmission assembly, wherein:
the second power device is positioned in the first rotating arm, and the second power device is connected with the spline shaft through a fourth transmission assembly and is used for realizing the movement of the actuating mechanism in the vertical direction;
the third power device is located in the second rotating arm and connected with the spline nut through a fifth transmission assembly and used for achieving rotation of the executing mechanism.
Preferably, the fourth transmission assembly comprises a first transmission mechanism and a second transmission mechanism, wherein:
the first transmission mechanism is arranged to comprise a seventh synchronous pulley, an eighth synchronous pulley and a fourth synchronous belt connected to the seventh synchronous pulley and the eighth synchronous pulley, the seventh synchronous pulley is connected with the second power device, and the eighth synchronous pulley is connected with the third transmission shaft;
the second transmission mechanism is arranged to comprise a ninth synchronous pulley, a tenth synchronous pulley and a fifth synchronous belt connected to the ninth synchronous pulley and the tenth synchronous pulley, the ninth synchronous pulley is connected with the third transmission shaft, and the tenth synchronous pulley is connected with the spline nut.
Preferably, the fifth transmission assembly comprises an eleventh synchronous pulley, a twelfth synchronous pulley and a sixth synchronous belt connected to the eleventh synchronous pulley and the twelfth synchronous pulley, wherein:
the eleventh synchronous belt wheel is connected with the third power device, and the twelfth synchronous belt wheel is connected with the spline shaft.
The invention provides an acceleration mechanism of a SCARA robot and the SCARA robot with the acceleration mechanism, wherein a power gear, a first transmission gear and a second transmission gear are arranged and sequentially meshed and connected in a transmission manner, the first transmission gear and the second transmission gear are respectively connected with a first speed reducer and a second speed reducer through a first transmission assembly and a second transmission assembly, and a base is fixed.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a speed increasing mechanism of the SCARA robot;
FIG. 2 is a schematic view of the structure of the inside of the rotating body of FIG. 1;
FIG. 3 is a schematic structural diagram of a SCARA robot with a speed increasing mechanism according to the invention;
fig. 4 is a schematic view of the internal transmission structure of fig. 3.
In the figure: 1. a first rotation arm; 2. a second rotating arm; 3. a base; 4. an actuator; 5. a speed increasing mechanism; 6. a first speed reducer; 7. a second speed reducer; 8. a second power unit; 9. a third power unit; 10. a first transmission assembly; 11. a second drive shaft; 20. a second transmission assembly; 21. a third drive shaft; 30. a third transmission assembly; 41. a spline shaft; 42. a spline nut; 50. a fifth transmission assembly; 51. a first power unit; 52. a rotating body; 53. a gear drive assembly; 101. a first timing pulley; 102. a second timing pulley; 103. a first synchronization belt; 201. a third synchronous pulley; 202. a fourth timing pulley; 203. a second synchronous belt; 301. a fifth timing pulley; 302. a sixth timing pulley; 303. a third synchronous belt; 401. a first transmission mechanism; 402. a second transmission mechanism; 501. an eleventh timing pulley; 502. a twelfth timing pulley; 503. a sixth synchronous belt; 521. a first drive shaft; 531. a first drive gear; 532. a second transmission gear; 533. a power gear; 4011. a seventh timing pulley; 4012. an eighth timing pulley; 4013. a fourth synchronous belt; 4021. a ninth timing pulley; 4022. a tenth timing pulley; 4023. and a fifth synchronous belt.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.
The invention provides a speed increasing mechanism of a SCARA robot, wherein FIG. 1 is a schematic structural diagram of the embodiment, and as shown in FIG. 1, the speed increasing mechanism 5 comprises a first power device 51, a rotating body 52, a transmission unit and a gear transmission assembly 53.
Fig. 2 is a schematic structural view of the inside of the rotating body in the present embodiment, and as shown in fig. 2, the rotating body 52 is connected to the base 3, and the inside of the rotating body 52 is provided with a first speed reducer 6 and a second speed reducer 7;
a transmission unit comprising a first transmission assembly 10 and a second transmission assembly 20;
the gear transmission assembly 53 comprises a power gear 533, a first transmission gear 531 and a second transmission gear 532 which are sequentially connected in a transmission manner, wherein the power gear 533 is connected with the first power device 51; the first transmission gear 531 is connected to the first speed reducer 6 through the first transmission assembly 10, and the first speed reducer 6 is connected to the first transmission shaft 521 and is used for driving the rotating main body 52 to move; the second transmission gear 532 is connected to the second speed reducer 7 through the second transmission assembly 20, and the second speed reducer 7 is connected to the second transmission shaft 11, and is used for driving the first rotation arm 1 to rotate.
Through setting up power gear 533, first drive gear 531 and second drive gear 532 and drive the connection in proper order, because first drive gear 531 meshes with second drive gear 532, so the direction of rotation of first drive gear 531 and second drive gear 532 is opposite, and first drive gear 531, second drive gear 532 pass through first drive assembly 10 and second drive assembly 20 respectively again and connect first speed reducer 6 and second speed reducer 7 to base 3 is fixed motionless, for base 3 promptly, the direction of rotation of rotating main body 52 is the same with the direction of rotation of second drive gear 532. From this, the turned angle through first drive gear 531 and second drive gear 532 produces the stack on secondary drive shaft 11, and the motor rotates the number of turns unchangeable promptly, and secondary drive shaft 11's turned angle is original twice to the realization is under the prerequisite that does not increase the motor revolution, through the acceleration rate of this acceleration mechanism, compares in traditional structure, can make SCARA robot's slew velocity faster.
As an alternative embodiment, the first transmission assembly 10 includes a first synchronous pulley 101, a second synchronous pulley 102, and a first synchronous belt 103 connected to the first synchronous pulley 101 and the second synchronous pulley 102.
The first synchronous pulley 101 is connected to a gear shaft of the first transmission gear 531, and the second synchronous pulley 102 is connected to the first speed reducer 6.
As an alternative embodiment, the second transmission assembly 20 includes a third timing pulley 201, a fourth timing pulley 202, and a second timing belt 203 connected to the third timing pulley 201 and the fourth timing pulley 202. The third synchronous pulley 201 is connected with a gear shaft of the second transmission gear 532, and the fourth synchronous pulley 202 is connected with the second speed reducer 7.
As an alternative embodiment, the gear ratio of the first transmission gear 531 and the second transmission gear 532 and the reduction ratio of the first speed reducer 6 to the second speed reducer 7 are set to 1: 1. In actual use, other gear ratios and reduction ratios can be set according to use requirements so as to meet different use requirements.
Fig. 3 is a schematic structural diagram of the SCARA robot according to the present embodiment, and as shown in fig. 3, the SCARA robot includes the speed increasing mechanism 5 of the SCARA robot, a first rotating arm 1, a second rotating arm 2, and an actuator 4, and the transmission unit further includes a third transmission assembly 30.
Fig. 4 is a schematic diagram of a transmission structure of the present embodiment, and as shown in fig. 4, the first rotating arm 1 includes the second transmission shaft 11, and the second transmission shaft 11 is connected to the second speed reducer 7; the second rotating arm 2 comprises a third transmission shaft 21, and the third transmission shaft 21 is in transmission connection with the second transmission shaft 11 through a third transmission assembly 30; the actuator 4 is disposed on the second rotating arm 2 and includes a spline shaft 41 and a spline nut 42 engaged with the spline shaft 41.
As an alternative embodiment, the third transmission assembly 30 includes a fifth timing pulley 301, a sixth timing pulley 302, and a third timing belt 303 connected to the fifth timing pulley 301 and the sixth timing pulley 302. The fifth synchronous pulley 301 is connected to the second transmission shaft 11, and the sixth synchronous pulley 302 is connected to the third transmission shaft 21.
As an alternative embodiment, the power transmission unit further comprises a second power device 8 and a third power device 9, and the power transmission unit further comprises a fourth power transmission assembly and a fifth power transmission assembly 50.
The second power device 8 is located in the first rotating arm 1, and the second power device 8 is connected with the spline shaft 41 through a fourth transmission assembly and used for realizing the movement of the actuating mechanism 4 in the vertical direction;
specifically, the fourth transmission assembly includes a first transmission mechanism 401 and a second transmission mechanism 402, and the first transmission mechanism 401 and the second transmission mechanism 402 cooperate to realize the vertical movement of the actuator 4.
The first transmission mechanism 401 includes a seventh synchronous pulley 4011, an eighth synchronous pulley 4012, and a fourth synchronous belt 4013 connected to the seventh synchronous pulley 4011 and the eighth synchronous pulley 4012, wherein the seventh synchronous pulley 4011 is connected to the second power device 8, and the eighth synchronous pulley 4012 is connected to the third transmission shaft 21;
the second transmission mechanism 402 includes a ninth timing pulley 4021, a tenth timing pulley 4022, and a fifth timing belt 4023 connected to the ninth timing pulley 4021 and the tenth timing pulley 4022, the ninth timing pulley 4021 is connected to the third transmission shaft 21, and the tenth timing pulley 4022 is connected to the spline nut 42.
The third power device 9 is located in the second rotating arm 2, and the third power device 9 is connected with the spline nut 42 through the fifth transmission assembly 50, so as to realize the rotation of the actuating mechanism 4.
Specifically, the fifth transmission assembly 50 includes an eleventh timing pulley 501, a twelfth timing pulley 502, and a sixth timing belt 503 connected to the eleventh timing pulley 501 and the twelfth timing pulley 502.
Among them, the eleventh timing pulley 501 is connected to the third power unit 9, and the twelfth timing pulley 502 is connected to the spline shaft 41.
Through setting up second power device 8 and third power device 9 and setting respectively on second rotor arm 2 and first rotor arm 1, with power device's gravity dispersion, compare with current SCARA robot structure, reduced second rotor arm 2's inertia by a wide margin, cooperation acceleration rate mechanism's use can promote the rotational speed by a wide margin to improve SCARA robot's work efficiency.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (8)
1. The utility model provides a speed increasing mechanism of SCARA robot which characterized in that: the method comprises the following steps:
a first power unit;
the rotating body is connected with the base, and a first speed reducer and a second speed reducer are arranged inside the rotating body; the base is fixed, and the output end of the first speed reducer is connected with the base;
the transmission unit comprises a first transmission assembly and a second transmission assembly;
the gear transmission assembly comprises a power gear, a first transmission gear and a second transmission gear which are in transmission connection in sequence, wherein the power gear is connected with the first power device; the first transmission gear is connected with the first speed reducer through a first transmission assembly, and the first speed reducer is connected with a first transmission shaft and used for driving the rotating main body to move; the second transmission gear is connected with the second speed reducer through a second transmission assembly, and the second speed reducer is connected with a second transmission shaft and used for driving the first rotating arm to rotate;
the rotating main body is fixedly connected with the first power device;
the first transmission assembly comprises a first synchronous pulley, a second synchronous pulley and a first synchronous belt connected to the first synchronous pulley and the second synchronous pulley, wherein:
the first synchronous belt wheel is connected with a gear shaft of the first transmission gear, and the second synchronous belt wheel is connected with the first speed reducer;
the second transmission assembly comprises a third synchronous pulley, a fourth synchronous pulley and a second synchronous belt connected to the third synchronous pulley and the fourth synchronous pulley, wherein:
the third synchronous belt wheel is connected with a gear shaft of the second transmission gear, and the fourth synchronous belt wheel is connected with the second speed reducer.
2. The speed increasing mechanism of a SCARA robot according to claim 1, characterized in that: the gear ratio of the first transmission gear to the second transmission gear and the reduction ratio of the first speed reducer to the second speed reducer are both set to be 1: 1.
3. A SCARA robot with a speed increasing mechanism is characterized in that: speed increasing mechanism comprising a SCARA robot according to claim 1 or 2.
4. A SCARA robot with speed increasing mechanism according to claim 3, further comprising a first rotating arm, a second rotating arm and an actuator, said transmission unit further comprising a third transmission assembly, wherein:
the first rotating arm comprises the second transmission shaft, and the second transmission shaft is connected with the second speed reducer;
the second rotating arm comprises a third transmission shaft, and the third transmission shaft is in transmission connection with the second transmission shaft through a third transmission assembly;
the actuating mechanism is arranged on the second rotating arm and comprises a spline shaft and a spline nut matched with the spline shaft.
5. A SCARA robot having a speed increasing mechanism according to claim 4, characterized in that: the third transmission assembly comprises a fifth synchronous pulley, a sixth synchronous pulley and a third synchronous belt connected to the fifth synchronous pulley and the sixth synchronous pulley, wherein:
the fifth synchronous belt wheel is connected with the second transmission shaft, and the sixth synchronous belt wheel is connected with the third transmission shaft.
6. A SCARA robot having a speed increasing mechanism according to claim 4 or 5, characterized in that: still include second power device and third power device, the transmission unit still includes fourth transmission assembly and fifth transmission assembly, wherein:
the second power device is positioned in the first rotating arm, and the second power device is connected with the spline shaft through a fourth transmission assembly and is used for realizing the movement of the actuating mechanism in the vertical direction;
the third power device is located in the second rotating arm and connected with the spline nut through a fifth transmission assembly and used for achieving rotation of the executing mechanism.
7. A SCARA robot having a speed increasing mechanism according to claim 6, characterized in that: the fourth transmission assembly comprises a first transmission mechanism and a second transmission mechanism, wherein:
the first transmission mechanism is arranged to comprise a seventh synchronous pulley, an eighth synchronous pulley and a fourth synchronous belt connected to the seventh synchronous pulley and the eighth synchronous pulley, the seventh synchronous pulley is connected with the second power device, and the eighth synchronous pulley is connected with the third transmission shaft;
the second transmission mechanism is arranged to comprise a ninth synchronous pulley, a tenth synchronous pulley and a fifth synchronous belt connected to the ninth synchronous pulley and the tenth synchronous pulley, the ninth synchronous pulley is connected with the third transmission shaft, and the tenth synchronous pulley is connected with the spline nut.
8. The SCARA robot with speed increasing mechanism according to claim 7, characterized in that: the fifth transmission assembly comprises an eleventh synchronous pulley, a twelfth synchronous pulley and a sixth synchronous belt connected to the eleventh synchronous pulley and the twelfth synchronous pulley, wherein:
the eleventh synchronous belt wheel is connected with the third power device, and the twelfth synchronous belt wheel is connected with the spline shaft.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111296658.8A CN113715013B (en) | 2021-11-04 | 2021-11-04 | Acceleration mechanism of SCARA robot and SCARA robot with same |
| DE112022000154.2T DE112022000154T5 (en) | 2021-11-04 | 2022-04-12 | Accelerating mechanism for a SCARA robot and SCARA robot with such an accelerating mechanism |
| PCT/CN2022/086265 WO2023077721A1 (en) | 2021-11-04 | 2022-04-12 | Speed increasing mechanism for scara robot, and scara robot having speed increasing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111296658.8A CN113715013B (en) | 2021-11-04 | 2021-11-04 | Acceleration mechanism of SCARA robot and SCARA robot with same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113715013A CN113715013A (en) | 2021-11-30 |
| CN113715013B true CN113715013B (en) | 2022-01-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111296658.8A Active CN113715013B (en) | 2021-11-04 | 2021-11-04 | Acceleration mechanism of SCARA robot and SCARA robot with same |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN113715013B (en) |
| DE (1) | DE112022000154T5 (en) |
| WO (1) | WO2023077721A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113715013B (en) * | 2021-11-04 | 2022-01-25 | 辰星（天津）自动化设备有限公司 | Acceleration mechanism of SCARA robot and SCARA robot with same |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4722616B2 (en) * | 2005-08-11 | 2011-07-13 | 東芝機械株式会社 | Industrial robot |
| CN101758497B (en) * | 2010-01-05 | 2011-05-11 | 浙江大学 | Charging and blanking robot of punch press |
| CN103100810A (en) * | 2012-12-03 | 2013-05-15 | 马鞍山市恒毅机械制造有限公司 | Mechanical arm for welding robot |
| CN105041993A (en) * | 2015-07-16 | 2015-11-11 | 南京埃斯顿机器人工程有限公司 | Reduction gear for SCARA industrial robot |
| CN206677953U (en) * | 2017-01-16 | 2017-11-28 | 王晶红 | A kind of horizontal articulated SCARA types cooperation robot |
| CN108161919A (en) * | 2017-08-24 | 2018-06-15 | 深圳汉邦自动化设备有限公司 | A kind of method and device for the SCARA robots for improving load capacity |
| CN208681588U (en) * | 2017-08-24 | 2019-04-02 | 深圳汉邦自动化设备有限公司 | A kind of belt tightness adjustment mechanism applied to SCARA robot |
| WO2019109330A1 (en) * | 2017-12-08 | 2019-06-13 | Abb Schweiz Ag | Robot of scara type and method for manufacturing the robot |
| CN210939251U (en) * | 2019-09-19 | 2020-07-07 | 苏州铂电自动化科技有限公司 | Spline and screw rod integrated shaft type SCARA robot |
| CN212312032U (en) * | 2020-03-26 | 2021-01-08 | 深圳市卓博机器人有限公司 | Three-axis and four-axis joint structure of SCARA robot and SCARA robot |
| CN111844003A (en) * | 2020-07-15 | 2020-10-30 | 珠海格力电器股份有限公司 | SCARA robot |
| CN113715013B (en) * | 2021-11-04 | 2022-01-25 | 辰星（天津）自动化设备有限公司 | Acceleration mechanism of SCARA robot and SCARA robot with same |
-
2021
- 2021-11-04 CN CN202111296658.8A patent/CN113715013B/en active Active
-
2022
- 2022-04-12 DE DE112022000154.2T patent/DE112022000154T5/en active Pending
- 2022-04-12 WO PCT/CN2022/086265 patent/WO2023077721A1/en unknown
Also Published As
| Publication number | Publication date |
|---|---|
| DE112022000154T5 (en) | 2023-08-17 |
| CN113715013A (en) | 2021-11-30 |
| WO2023077721A1 (en) | 2023-05-11 |
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