CN114474048A - Holding mechanism and SCARA robot capable of restraining tail end from shaking - Google Patents
Holding mechanism and SCARA robot capable of restraining tail end from shaking Download PDFInfo
- Publication number
- CN114474048A CN114474048A CN202111629717.9A CN202111629717A CN114474048A CN 114474048 A CN114474048 A CN 114474048A CN 202111629717 A CN202111629717 A CN 202111629717A CN 114474048 A CN114474048 A CN 114474048A
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- Prior art keywords
- clasping
- shaped limiting
- holding
- arc
- stretching
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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
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of SCARA robots and provides a holding mechanism and a SCARA robot capable of inhibiting the swinging of the tail end, wherein the holding mechanism comprises a fixed support, a left holding part, a stretching part, a connecting rod, an electromagnet part and a right holding part; the fixed support is symmetrically provided with lugs, the stretching part is respectively connected with the left holding part and the lugs, and the stretching part is respectively connected with the right holding part and the lugs; the electromagnet portion is arranged between the left enclasping portion and the right enclasping portion. According to the holding mechanism disclosed by the invention, after the screw rod is held tightly by the holding mechanism, the shaking amplitude of the screw rod can be reduced, so that the robot has smaller shaking after running to a target point, and the point position where the workpiece is grabbed and placed can be ensured to be more accurate under the condition that the production beat is not reduced. The invention can solve the problem of positioning accuracy of the SCARA robot under high load and high speed, and broadens the application places of the SCARA robot.
Description
Technical Field
The invention belongs to the technical field of SCARA robots, and particularly relates to a holding mechanism and a SCARA robot capable of inhibiting tail end shaking.
Background
In the 3C industry, SCARA (selective Compliance Assembly Robot) robots are applied more and more widely, and the requirements for speed and precision of SCARA robots are higher and higher. When the SCARA robot runs to a designated position at a high speed under a certain load, the tail end of the screw rod can shake due to overlarge inertia force, and the positioning precision of a high-speed occasion is affected. If the tail end of the electronic component is shaken in the application place of the insertion, the success rate of the insertion is low, and the insertion operation can be performed after the tail end is stabilized, which also causes the production beat of the product to be reduced and affects the production efficiency.
Chinese patent CN106737857A discloses a vibration suppression method for the end of a mechanical arm, which proposes to slow down the moving value of the mechanical arm until the acceleration is a safe acceleration when the acceleration is greater than or equal to a critical acceleration; when the amplitude is greater than or equal to critical amplitude, slow down the removal of arm until the amplitude is safe amplitude, but above-mentioned patent still can't solve under high-speed and the high load terminal when the arm moves to the assigned position and rock the problem.
Disclosure of Invention
In view of the above, the invention provides a holding mechanism and a SCARA robot capable of inhibiting the tail end from shaking.
The technical scheme of the invention is as follows:
a clasping mechanism comprises a fixed support, a left clasping part, a stretching part, a connecting rod, an electromagnet part and a right clasping part, wherein the fixed support is symmetrically provided with the left clasping part and the right clasping part, and the left clasping part and the right clasping part are arranged in a matched manner;
the fixed support is symmetrically provided with lugs, the stretching part is respectively connected with the left holding part and the lugs, and the stretching part is respectively connected with the right holding part and the lugs; the electromagnet portion is arranged between the left enclasping portion and the right enclasping portion.
Preferably, left side portion of clasping, right side portion of clasping accessible cylindric lock splice fix on fixing support, and through the fixed mode of splice, left side portion of clasping, right side portion of clasping still can carry out relative motion, guarantee that the elasticity is moderate can.
Preferably, the electromagnet portion is provided with a slotted hole, is fixed on a fixed support through screw connection, and is arranged in the middle of the left enclasping portion and the right enclasping portion, and under the running state of the robot, the electromagnet portion is in a power-off state, and under the tensile force action of the stretching portion, the left enclasping portion and the right enclasping portion are relatively opened, so that the screw rod can move up and down. When the lead screw is operated to a specified point, the electromagnet portion is communicated, the electromagnetic force of the electromagnet portion is larger than the tension of the spring, and the left holding portion and the right holding portion are matched to hold the lead screw tightly, so that the shaking of the lead screw is reduced.
Furthermore, the left holding part and the right holding part are both metal holding parts, so that the electromagnet part can play a role.
Further, the left clasping portion comprises a first main body, one end of the first main body is provided with a first connecting portion, and the other end of the first main body is provided with a first connecting block; the first main part is provided with a first arc-shaped limiting part.
Further, the right enclasping portion comprises a second main body, one end of the second main body is provided with a second connecting portion, and the other end of the second main body is provided with a second connecting block; the second main part is provided with a second arc-shaped limiting part.
In the present invention, one end of the first connecting block is connected to the stretching portion, and one end of the second connecting block is connected to the stretching portion.
Furthermore, the first arc-shaped limiting part and the second arc-shaped limiting part are oppositely arranged to form a circular area which can be connected with the screw rod in a matched mode.
Further, the first connecting block is connected with the second connecting block in a matched mode.
Further, cam-shaped limiting blocks are symmetrically arranged in the first arc-shaped limiting part; cam-shaped limiting blocks are symmetrically arranged in the second arc-shaped limiting part.
Further, the stretching portion is a spring stretching portion.
Furthermore, a connecting rod is arranged on the fixed support.
Further, the number of the connecting rods is 3-5. Preferably, the number of the connecting rods is 3, so that a stable triangular structure can be formed.
Further, the electromagnetic control device also comprises a control module in the prior art, and the control module is connected with the electromagnet part. The electromagnetic force can automatically control and adjust the current according to the feedback of the sensor of the control module, so that the adjustment of the electromagnetic force is realized. Particularly, the electromagnetic force control is not required to be accurately carried out, and the electromagnetic force is ensured to be large enough to enable the iron to embrace the screw rod.
The invention also provides an SCARA robot capable of inhibiting the tail end from shaking, which comprises the holding mechanism, a robot base, a large rotating arm and a small rotating arm, wherein the robot base, the large rotating arm and the small rotating arm are sequentially connected, and the holding mechanism is matched and connected with the small rotating arm.
Furthermore, the rotary small arm is provided with a screw rod, and the screw rod is respectively connected with the left holding part and the right holding part in a matched manner.
Furthermore, a groove is formed in the screw rod. The groove is connected with the cam-shaped limiting block in a matched mode, the groove and the cam-shaped limiting block are mutually adaptive in shape, and when the screw rod stops in a high-speed rotating state, the screw rod can be tightly held through the structure to prevent sliding.
Preferably, the surfaces of the first arc-shaped limiting part and the cam-shaped limiting block are sequentially provided with a buffer layer and an anti-skid layer; the surfaces of the second arc-shaped limiting part and the cam-shaped limiting block are sequentially provided with a buffer layer and an anti-skid layer; the abrasion of the screw rod can be effectively reduced. The buffer layer and the anti-slip layer can be realized by the prior art in the field.
According to the invention, the holding mechanism is additionally arranged on the screw rod, when the SCARA robot runs to a specified point, the holding mechanism holds the screw rod, so that the structural rigidity of the tail end of the screw rod is improved, and the shaking of the tail end of the screw rod is reduced.
The working principle of the invention is as follows:
a fixed support of the clasping mechanism is fixedly connected to a rotary small arm of the SCARA robot through a connecting rod. The left holding part and the right holding part are mutually matched and hinged on the fixed support. Spring one end connects respectively on fixing support's the lug, the other end is connected on the first connecting block of portion of clasping in the left side and the second connecting block of portion of clasping in the right side, electro-magnet portion is placed in the middle of portion of clasping in the left side and the portion of clasping in the right side, do not switch on when electro-magnet portion, under the non-electromagnetic state, tensile portion exists the pulling force, portion of clasping in the left side and the portion of clasping in the right side pull open, it is in the state of opening to make the portion of clasping in the left side and the portion of clasping in the right side, the rotation of lead screw does not receive the influence of clasping the mechanism this moment, the robot can move according to the traffic route that plans.
When the robot runs to a specified point, the electromagnet part is immediately electrified through signal control, the electromagnetic force generated by the electromagnet part is larger than the tension of the spring, the left enclasping part and the right enclasping part are cooperatively enclasped, and the screw rod and the enclasping mechanism form a whole at the moment, which is equivalent to increase the rigidity of the screw rod and reduce the shaking of the screw rod. In addition, the magnitude of the electromagnetic force can be adjusted by adjusting the current passing through the electromagnet part.
The left enclasping portion and the right enclasping portion are in a cam shape with the contact area of the lead screw, the SCARA lead screw is provided with a groove, the shapes of the left enclasping portion and the right enclasping portion are mutually matched, when the electromagnet portion is electrified, the two enclasping portions are attracted and enclasped tightly, the groove is embedded with the cam-shaped limiting block, through the mode, even if the lead screw rotates at a high speed and moves to a specified point to stop, the enclasping lead screw can be well enclasping when the lead screw is enclasped tightly, the fact that the lead screw cannot slide is ensured, and the positioning precision of the lead screw is improved.
Compared with the prior art, the invention has the following beneficial effects:
according to the holding mechanism disclosed by the invention, after the screw rod is held tightly by the holding mechanism, the shaking amplitude of the screw rod can be reduced, so that the robot has less shaking after running to a target point, and the point position for placing a workpiece can be more accurate. The invention can solve the problem of positioning accuracy of the SCARA robot under high load and high speed, and broadens the application places of the SCARA robot.
Drawings
FIG. 1 is a schematic structural view of a clasping mechanism of the present invention;
FIG. 2 is a schematic structural view of a clasping mechanism of the present invention;
FIG. 3 is a schematic view of a portion of a clasping mechanism of the present invention;
FIG. 4 is a schematic view of a portion of a clasping mechanism of the present invention;
FIG. 5 is a schematic structural diagram of the SCARA robot of the present invention;
wherein, 1 is a fixed support, 2 is a left holding part, 3 is a stretching part, 4 is a connecting rod, 5 is an electromagnet part, 6 is a right holding part, 7 is a cam-shaped limiting block, 8 is a SCARA robot, and 10 is a holding mechanism; 11 is a protrusion, 21 is a first body, 22 is a first connection part, 23 is a first connection block, 24 is a first arc-shaped limit part, 61 is a second body, 62 is a second connection part, 63 is a second connection block, 64 is a second arc-shaped limit part, 81 is a robot base, 82 is a rotary big arm, 83 is a rotary small arm, and 84 is a screw rod.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
A clasping mechanism 10 comprises a fixed support 1, a left clasping part 2, a stretching part 3, a connecting rod 4, an electromagnet part 5 and a right clasping part 6, wherein the fixed support is symmetrically provided with the left clasping part and the right clasping part which are arranged in a matched manner;
the fixed support is symmetrically provided with lugs 11, the stretching part is respectively connected with the left holding part and the lugs, and the stretching part is respectively connected with the right holding part and the lugs; the electromagnet portion is arranged between the left enclasping portion and the right enclasping portion.
Preferably, left side portion of clasping, right side portion of clasping accessible cylindric lock splice fix on fixing support, and through the fixed mode of splice, left side portion of clasping, right side portion of clasping still can carry out relative motion, guarantee that the elasticity is moderate can.
Preferably, open slotted hole (not mark) in the electro-magnet portion, fix on fixing support through the screw connection to the setting is held tightly the portion in a left side, the middle of the portion is held tightly in the right side, and under the running state of robot, electro-magnet portion is in the outage state, and under the pulling force effect of tensile portion, the portion is held tightly in a left side, the portion is held tightly in the right side and is opened relatively, makes the lead screw can move from top to bottom. When the lead screw is operated to a specified point, the electromagnet portion is communicated, the electromagnetic force of the electromagnet portion is larger than the tension of the spring, and the left holding portion and the right holding portion are matched to hold the lead screw tightly, so that the shaking of the lead screw is reduced.
Furthermore, the left holding part and the right holding part are both metal holding parts, so that the electromagnet part can play a role.
Further, the left clasping portion comprises a first main body 21, one end of the first main body is provided with a first connecting portion 22, and the other end of the first main body is provided with a first connecting block 23; the first body is provided with a first arc-shaped limiting part 24.
Further, the right enclasping portion comprises a second main body 61, one end of the second main body is provided with a second connecting portion 62, and the other end of the second main body is provided with a second connecting block 63; the second body is provided with a second arc-shaped limiting part 64.
In the present invention, one end of the first connecting block is connected to the stretching portion, and one end of the second connecting block is connected to the stretching portion.
Furthermore, the first arc-shaped limiting part and the second arc-shaped limiting part are oppositely arranged to form a circular area which can be connected with the screw rod in a matched mode.
Further, the first connecting block is connected with the second connecting block in a matched mode.
Further, cam-shaped limiting blocks 7 are symmetrically arranged in the first arc-shaped limiting part; cam-shaped limiting blocks 7 are symmetrically arranged in the second arc-shaped limiting part.
Further, the stretching portion is a spring stretching portion.
Furthermore, a connecting rod is arranged on the fixed support.
Further, the number of the connecting rods is 3-5. Preferably, the number of the connecting rods is 3, so that a stable triangular structure can be formed.
Further, the device also comprises a control module (not labeled) in the prior art, and the control module is connected with the electromagnet part. The electromagnetic force can automatically control and adjust the current according to the feedback of the sensor of the control module, so that the adjustment of the electromagnetic force is realized. Particularly, the electromagnetic force control is not required to be accurately carried out, and the electromagnetic force is ensured to be large enough to enable the iron to embrace the screw rod.
Example 2
The utility model provides a can restrain SCARA robot 8 that terminal rocked, includes embodiment 1's the mechanism of holding tightly, still includes robot base 81, rotatory big arm 82, rotatory forearm 83, robot base, rotatory big arm, rotatory forearm connect gradually, hold the mechanism of holding tightly and be connected with the cooperation of rotatory forearm.
Further, the rotary small arm is provided with a screw rod 84, and the screw rod is respectively connected with the left holding part and the right holding part in a matching manner.
Furthermore, a groove (not marked) is arranged on the screw rod. The groove is connected with the cam-shaped limiting block in a matched mode, the groove and the cam-shaped limiting block are mutually adaptive in shape, and when the screw rod stops in a high-speed rotating state, the screw rod can be tightly held through the structure to prevent sliding.
Preferably, the surfaces of the first arc-shaped limiting part and the cam-shaped limiting block are sequentially provided with a buffer layer (not marked) and an anti-skid layer (not marked); the surfaces of the second arc-shaped limiting part and the cam-shaped limiting block are sequentially provided with a buffer layer (not marked) and an anti-skid layer (not marked); the abrasion of the screw rod can be effectively reduced. The buffer layer and the anti-slip layer can be realized by the prior art in the field.
According to the invention, the holding mechanism is additionally arranged on the screw rod, when the SCARA robot runs to a specified point, the holding mechanism holds the screw rod, so that the structural rigidity of the tail end of the screw rod is improved, and the shaking of the tail end of the screw rod is reduced.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art. It should be noted that the technical features not described in detail in the present invention can be implemented by any prior art.
Claims (15)
1. A clasping mechanism is characterized by comprising a fixed support, a left clasping part, a stretching part, a connecting rod, an electromagnet part and a right clasping part, wherein the fixed support is symmetrically provided with the left clasping part and the right clasping part;
the fixed support is symmetrically provided with lugs, the stretching part is respectively connected with the left holding part and the lugs, and the stretching part is respectively connected with the right holding part and the lugs;
the electromagnet portion is arranged between the left enclasping portion and the right enclasping portion.
2. The clasping mechanism as claimed in claim 1, wherein the left clasping portion and the right clasping portion are both metal clasping portions.
3. The clasping mechanism as claimed in claim 2, wherein the left clasping portion comprises a first body, one end of which is provided with a first connecting portion and the other end of which is provided with a first connecting block; the first main part is provided with a first arc-shaped limiting part.
4. The clasping mechanism as claimed in claim 3, wherein the right clasping portion comprises a second body, one end of the second body is provided with a second connecting portion, and the other end of the second body is provided with a second connecting block; the second main part is provided with a second arc-shaped limiting part.
5. The clasping mechanism as defined in claim 4, wherein the first arc-shaped limiting portion and the second arc-shaped limiting portion are disposed opposite to each other.
6. The clasping mechanism as in claim 4, wherein the first connecting block is cooperatively connected with the second connecting block.
7. The clasping mechanism as claimed in claim 4, wherein cam-shaped limiting blocks are symmetrically arranged in the first arc-shaped limiting part; cam-shaped limiting blocks are symmetrically arranged in the second arc-shaped limiting part.
8. The clasping mechanism of claim 1, wherein the stretching portion is a spring stretching portion.
9. The clasping mechanism as in claim 1, wherein a connecting rod is provided on the fixed support.
10. The clasping mechanism of claim 9 wherein the number of connecting rods is 3-5.
11. The clasping mechanism of claim 1, further comprising a control module, wherein the control module is connected to the electromagnet portion.
12. A SCARA robot capable of inhibiting the shaking of the tail end, which is characterized by comprising the holding mechanism as claimed in any one of claims 7 to 11, and further comprising a robot base, a large rotating arm and a small rotating arm, wherein the robot base, the large rotating arm and the small rotating arm are sequentially connected, and the holding mechanism is connected with the small rotating arm in a matching manner.
13. The SCARA robot capable of suppressing end shake according to claim 12, wherein the rotary small arm is provided with a screw rod, and the screw rods are respectively connected with the left holding part and the right holding part in a matching manner.
14. The SCARA robot of claim 13, wherein the screw rod is provided with a groove.
15. The SCARA robot of claim 14, wherein the groove is cooperatively connected with a cam-like stop block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111629717.9A CN114474048A (en) | 2021-12-28 | 2021-12-28 | Holding mechanism and SCARA robot capable of restraining tail end from shaking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111629717.9A CN114474048A (en) | 2021-12-28 | 2021-12-28 | Holding mechanism and SCARA robot capable of restraining tail end from shaking |
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| Publication Number | Publication Date |
|---|---|
| CN114474048A true CN114474048A (en) | 2022-05-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111629717.9A Pending CN114474048A (en) | 2021-12-28 | 2021-12-28 | Holding mechanism and SCARA robot capable of restraining tail end from shaking |
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| CN (1) | CN114474048A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2632620A1 (en) * | 1988-06-08 | 1989-12-15 | Leroy Somer | Electromagnetic brake with clamping jaws |
| CN205529813U (en) * | 2016-01-25 | 2016-08-31 | 长安大学 | Phase place of being applied to stepless amplitude modulation device of vibrated roller keeps ware |
| CN206702629U (en) * | 2017-03-29 | 2017-12-05 | 东莞市朝祥五金制品有限公司 | A kind of anti-skidding handware fixture |
| CN212946727U (en) * | 2020-08-17 | 2021-04-13 | 东莞市迪奥数控设备有限公司 | Improved elastic cutter claw structure |
| CN113601492A (en) * | 2021-08-18 | 2021-11-05 | 珠海格力电器股份有限公司 | Robot arm assembly and robot |
-
2021
- 2021-12-28 CN CN202111629717.9A patent/CN114474048A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2632620A1 (en) * | 1988-06-08 | 1989-12-15 | Leroy Somer | Electromagnetic brake with clamping jaws |
| CN205529813U (en) * | 2016-01-25 | 2016-08-31 | 长安大学 | Phase place of being applied to stepless amplitude modulation device of vibrated roller keeps ware |
| CN206702629U (en) * | 2017-03-29 | 2017-12-05 | 东莞市朝祥五金制品有限公司 | A kind of anti-skidding handware fixture |
| CN212946727U (en) * | 2020-08-17 | 2021-04-13 | 东莞市迪奥数控设备有限公司 | Improved elastic cutter claw structure |
| CN113601492A (en) * | 2021-08-18 | 2021-11-05 | 珠海格力电器股份有限公司 | Robot arm assembly and robot |
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