CN204209684U - The high speed SCARA robot that full fixed electrical machinery drives - Google Patents
The high speed SCARA robot that full fixed electrical machinery drives Download PDFInfo
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- CN204209684U CN204209684U CN201420596741.6U CN201420596741U CN204209684U CN 204209684 U CN204209684 U CN 204209684U CN 201420596741 U CN201420596741 U CN 201420596741U CN 204209684 U CN204209684 U CN 204209684U
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- 210000000245 forearm Anatomy 0.000 claims abstract description 78
- 230000005540 biological transmission Effects 0.000 claims abstract description 35
- 230000033001 locomotion Effects 0.000 claims abstract description 6
- 230000003068 static effect Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 210000002310 elbow joint Anatomy 0.000 description 1
- 210000000323 shoulder joint Anatomy 0.000 description 1
- 210000003857 wrist joint Anatomy 0.000 description 1
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Abstract
The utility model relates to the high speed SCARA robot that full fixed electrical machinery drives.The robot that object is to provide should have that structure is simple, accurate positioning and the high feature of operating efficiency.Technical scheme is: the high speed SCARA robot that full fixed electrical machinery drives, comprise support, group of motors, the large arm that can be positioned at horizontally rotating on support, can be positioned at horizontally rotating large arm front end forearm, not only can horizontally rotate but also can be positioned at vertical motion forearm front end screw mandrel, for transmitting the transmission mechanism that group of motors power moves to drive large arm, forearm and screw mandrel; It is characterized in that: described group of motors comprise the first motor for driving large arm to rotate, for drive forearm to rotate the second motor, for the 3rd motor that drives screw mandrel to be elevated and the 4th motor for driving screw mandrel to rotate; Described first motor, the second motor, the 3rd motor and the 4th motor are all fixed in support and (all keep static in working order).
Description
Technical field
The utility model relates to SCARA robotics, the high speed SCARA robot of specifically a kind of full fixed electrical machinery driving.
Background technology
SCARA robot has that parts are few, the feature of failure rate is low and reliable operation, has become most widely used a kind of assembly robot.SCARA robot realizes horizontal and vertical motion by the cooperation of large arm, forearm, screw mandrel, servomotor and various joint (shoulder joint, elbow joint and wrist joint).And the large arm of SCARA robot and forearm are all equipped with servomotor, increase the weight of the weight of mechanical arm, in order to ensure the positioning precision of mechanical arm tail end, must the movement velocity (weight of mechanical arm and inertia can affect the motion of mechanical arm) of controller mechanical arm, because this reducing the operating efficiency of robot.
Utility model content
The purpose of this utility model overcomes the deficiency in above-mentioned background technology, provides the high speed SCARA robot that a kind of full fixed electrical machinery drives, and this robot should have that structure is simple, accurate positioning and the high feature of operating efficiency.
The technical solution of the utility model is: the high speed SCARA robot that full fixed electrical machinery drives, comprise support, group of motors, the large arm that can be positioned at horizontally rotating on support, can be positioned at horizontally rotating large arm front end forearm, not only can horizontally rotate but also can be positioned at vertical motion forearm front end screw mandrel, for transmitting the transmission mechanism that group of motors power moves to drive large arm, forearm and screw mandrel; It is characterized in that:
Described group of motors comprise the first motor for driving large arm to rotate, for drive forearm to rotate the second motor, for the 3rd motor that drives screw mandrel to be elevated and the 4th motor for driving screw mandrel to rotate; Described first motor, the second motor, the 3rd motor and the 4th motor are all fixed in support and (all keep static in working order);
Described transmission mechanism is included in the first transmission group transmitting power between the first motor and large arm, the second transmission group transmitting power between the second motor and forearm, the 3rd is transmitting the 3rd transmission group of power between motor and screw mandrel, transmitting the 4th transmission group of power the 4th between motor and screw mandrel.
Described first transmission group comprise be rotatably positioned large arm and and support in large arm rotating shaft and between large arm rotating shaft and the first machine shaft, transmit the large arm band wheels of power.
Described second transmission group comprises the first forearm rotating shaft be rotatably positioned in large arm and support, the second forearm rotating shaft be rotatably positioned in large arm and forearm, transmits the first forearm band wheels of power and between the first forearm rotating shaft and the second forearm rotating shaft, transmit the second forearm band wheels of power between the first forearm rotating shaft and the second machine shaft.
Described 3rd transmission group comprise the first lift shaft be rotatably positioned in large arm and support, the second lift shaft be rotatably positioned in large arm and forearm, transmit between the first lift shaft and the 3rd machine shaft power the first take off and landing strip wheels, between the first lift shaft and the second lift shaft, transmit the second take off and landing strip wheels of power, between the second lift shaft and screw mandrel, transmit the 3rd take off and landing strip wheels of power.
Described 4th transmission group comprise the first rotating shaft be rotatably positioned in large arm and support, the second rotating shaft be rotatably positioned in large arm and forearm, transmit between the first rotating shaft and the 4th machine shaft power the first rotating band wheels, between the first lift shaft and the second rotating shaft, transmit the second rotating band wheels of power, between the second rotating shaft and screw mandrel, transmit the 3rd rotating band wheels of power.
Described first forearm rotating shaft, the first lift shaft and the first rotating shaft are the hollow shaft being coaxially set on large arm rotating shaft outside; Described second lift shaft and the second rotating shaft are the hollow shaft being coaxially set on the second forearm rotating shaft outside.
The beneficial effects of the utility model are:
The utility model is by the Combination application of rational space layout and hollow sleeve and odontoid belt, the motor being used for driving large arm, forearm and screw mandrel to move all is fixed in support, greatly reduce the weight of mechanical arm, reduce the rotary inertia of mechanical arm, improve the speed limit of large arm and forearm, the support weight simultaneously increased also enhances overall rigidity and stability to a certain extent; Therefore the utility model have that structure is simple, rigidity is high, inertia is little, the characteristic such as fast of moving, higher positioning precision can not only be ensured, can realize again running up, effectively improve machine task efficiency.
Accompanying drawing explanation
Fig. 1 is perspective view of the present utility model.
Fig. 2 is plan structure schematic diagram of the present utility model.
Fig. 3 is the F-F sectional structure schematic diagram of Fig. 2.
Fig. 4 is the J-J sectional structure schematic diagram of Fig. 2.
Detailed description of the invention
Below in conjunction with Figure of description, the utility model is described in further detail, but the utility model is not limited to following examples.
As shown in Figure 1, the high speed SCARA robot that full fixed electrical machinery drives, comprises support 11, large arm 12, forearm 13, screw mandrel 14, complete fixing group of motors and transmission mechanism; Described large arm can be positioned on support with horizontally rotating, and forearm can be positioned at large arm front end (right direction of Fig. 3) with horizontally rotating, and screw mandrel not only can horizontally rotate but also can be positioned at forearm front end (right direction of Fig. 3) vertical lifting.
Described group of motors comprises the first motor 21, second motor 22, the 3rd motor 23 and the 4th motor 24; First motor rotates for driving large arm, second motor rotates for driving forearm, 3rd motor is elevated for driving screw mandrel, and the 4th motor rotates for driving screw mandrel, and above-mentioned four motors are all fixed in support (all keeping static in working order) simultaneously.
Described transmission mechanism moves to drive large arm, forearm and screw mandrel for transmitting group of motors power, comprises the first transmission group, the second transmission group, the 3rd transmission group and the 4th transmission group.
First transmission group:
Described first transmission group transmits power between the first motor and large arm, comprises the large arm band wheels be arranged in support and the large arm rotating shaft 31 that can be positioned at rotationally around vertical axis in large arm and support; Described large arm pivoted upper end and large arm is fixed and lower end is rotatably positioned in support;
Described large arm band wheels transmit power between large arm rotating shaft and the first motor, comprise the first electrical machine belt pulley 21-1 be fixed on the first motor output shaft, be fixed on the large arm rotating shaft belt wheel 31-1 of large arm rotating shaft lower end and be sleeved on the first conveyer belt 51 on the first electrical machine belt pulley and large arm rotating shaft belt wheel 31-1.
Second transmission group:
Described second transmission group transmits power between the second motor and forearm, comprises the first forearm rotating shaft 32 that can be positioned at rotationally around vertical axis in large arm and support, the second forearm rotating shaft 41 that can be positioned at rotationally around vertical axis in large arm and forearm, is arranged on the first forearm band wheels in support and is arranged on the second forearm band wheels in large arm; Described first little arm pivoted lower end is rotatably positioned in support and upper end is rotatably positioned in large arm, and the second little arm pivoted upper end is rotatably positioned in large arm and lower end and forearm are fixed;
First forearm band wheels transmit power between the second motor and the first forearm rotating shaft, comprise the second electrical machine belt pulley 22-1 be fixed on the second motor output shaft, be fixed on the first forearm rotating shaft of the first forearm rotating shaft lower end under belt wheel 32-1 and the first forearm conveyer belt 52 under being sleeved on the second electrical machine belt pulley and the first forearm rotating shaft on belt wheel;
Second forearm band wheels transmit power between the first forearm rotating shaft and the second forearm rotating shaft, comprise the first forearm rotating shaft upper belt-wheel 32-2 being fixed on the first forearm rotating shaft upper end, the second forearm rotating shaft upper belt-wheel 41-2 being fixed on the second forearm rotating shaft upper end, the second forearm conveyer belt 53 be sleeved on the first forearm rotating shaft upper belt-wheel and the second forearm rotating shaft upper belt-wheel.
3rd transmission group:
Described 3rd transmission group transmits power the 3rd between motor and screw mandrel, comprises the 3rd take off and landing strip wheels (for controlling screw mandrel vertical lifting) that can be positioned at large arm and the first lift shaft 33 in support rotationally around vertical axis, can be positioned at large arm and the second lift shaft 42 in forearm rotationally, be connected the first take off and landing strip wheels of the first lift shaft and the 3rd motor, be connected the second take off and landing strip wheels of the first lift shaft and the second lift shaft, be connected the second lift shaft and screw mandrel around vertical axis; The lower end of described first lift shaft is rotatably positioned in support and upper end is rotatably positioned in large arm, and the upper end of the second lift shaft is rotatably positioned in large arm and lower end is rotatably positioned in forearm;
First take off and landing strip wheels transmit power between the 3rd motor and the first lift shaft, comprise the 3rd electrical machine belt pulley 23-1 be fixed on the 3rd motor output shaft, be fixed on the first lift shaft of the first lift shaft lower end under belt wheel 33-1, be sleeved on first under the 3rd electrical machine belt pulley and the first lift shaft on belt wheel and be elevated conveyer belt 54;
Second take off and landing strip wheels transmit power between the first lift shaft and the second lift shaft, comprise the first lift shaft upper belt-wheel 33-2 being fixed on the first lift shaft upper end, the second lift shaft upper belt-wheel 42-2 being fixed on the second lift shaft upper end, be sleeved on second on the first lift shaft upper belt-wheel and the second lift shaft upper belt-wheel and be elevated conveyer belt 55;
3rd take off and landing strip wheels transmit power between screw mandrel and the second lift shaft, comprise belt wheel 42-1, the screw mandrel upper belt-wheel 14-1 (being installed with the nut sleeve matched with screw mandrel in this belt wheel) be arranged on screw mandrel under the second lift shaft being fixed on the second lift shaft lower end, be sleeved on the second lift shaft under belt wheel and screw mandrel upper belt-wheel the 3rd be elevated conveyer belt 56;
Described screw mandrel upper belt-wheel and screw mandrel form ball screw assembly.
4th transmission group:
Described 4th transmission group transmits power the 4th between motor and screw mandrel, comprises the 3rd rotating band wheels (rotating around vertical axis for controlling screw mandrel) that can be positioned at large arm and the first rotating shaft 34 in support rotationally around vertical axis, can be positioned at large arm and the second rotating shaft 43 in forearm rotationally, be connected the first rotating band wheels of the first rotating shaft and the 4th motor, be connected the second rotating band wheels of the first rotating shaft and the second rotating shaft, be connected the second rotating shaft and screw mandrel around vertical axis; The lower end of described first rotating shaft is rotatably positioned in support and upper end is rotatably positioned in large arm, and the upper end of the second rotating shaft is rotatably positioned in large arm and lower end is rotatably positioned in forearm;
First rotating band wheels transmit power between the 4th motor and the first rotating shaft, comprise the 4th electrical machine belt pulley 24-1 be fixed on the 4th motor output shaft, be fixed on the first rotating shaft of the first rotating shaft lower end under belt wheel 34-1, be sleeved on the first carousel 57 on belt wheel under the 4th electrical machine belt pulley and the first rotating shaft;
Second rotating band wheels transmit power between the first rotating shaft and the second rotating shaft, comprise the first rotating shaft upper belt-wheel 34-2 being fixed on the first rotating shaft upper end, the second rotating shaft upper belt-wheel 43-2 being fixed on the second rotating shaft upper end, the second carousel 58 be sleeved on the first rotating shaft upper belt-wheel and the second rotating shaft upper belt-wheel;
3rd rotating band wheels transmit power between screw mandrel and the second rotating shaft, belt wheel 14-2 under the screw mandrel comprise belt wheel 43-1 under the second rotating shaft being fixed on the second rotating shaft lower end, being arranged on screw mandrel, are sleeved on belt wheel 4 and the 3rd carousel 59 on belt wheel under screw mandrel under the second rotating shaft; Under screw mandrel, belt wheel and screw mandrel form ball spline pair.
Described large arm rotating shaft, the first forearm rotating shaft, the first lift shaft and the first rotating shaft are coaxially arranged, and the first forearm rotating shaft, the first lift shaft and the first rotating shaft are the hollow shaft be sleeved on successively from inside to outside in large arm rotating shaft; Described second forearm rotating shaft, the second lift shaft and the second rotating shaft are coaxially arranged, and the second lift shaft and the second rotating shaft are be sleeved on the hollow shaft in the second forearm rotating shaft from inside to outside successively; In above-mentioned band wheels, belt wheel all adopts profile of tooth belt wheel, and conveyer belt all adopts odontoid belt.
Claims (6)
1. the high speed SCARA robot that drives of full fixed electrical machinery, comprise support (11), group of motors, the large arm (12) that can be positioned at horizontally rotating on support, can be positioned at horizontally rotating large arm front end forearm (13), not only can horizontally rotate but also can be positioned at vertical motion forearm front end screw mandrel (14), for transmitting the transmission mechanism that group of motors power moves to drive large arm, forearm and screw mandrel; It is characterized in that:
Described group of motors comprise the first motor (21) for driving large arm to rotate, for drive forearm to rotate the second motor (22), for the 3rd motor (23) that drives screw mandrel to be elevated and the 4th motor (24) for driving screw mandrel to rotate; Described first motor, the second motor, the 3rd motor and the 4th motor are all arranged in support;
Described transmission mechanism is included in the first transmission group transmitting power between the first motor and large arm, the second transmission group transmitting power between the second motor and forearm, the 3rd is transmitting the 3rd transmission group of power between motor and screw mandrel, transmitting the 4th transmission group of power the 4th between motor and screw mandrel.
2. the high speed SCARA robot that drives of full fixed electrical machinery according to claim 1, is characterized in that: described first transmission group comprise be rotatably positioned large arm and and support in large arm rotating shaft (31) and between large arm rotating shaft and the first machine shaft, transmit the large arm band wheels of power.
3. the high speed SCARA robot of full fixed electrical machinery driving according to claim 2, is characterized in that: described second transmission group comprises the first forearm rotating shaft (32) be rotatably positioned in large arm and support, the second forearm rotating shaft (41) be rotatably positioned in large arm and forearm, transmits the first forearm band wheels of power and between the first forearm rotating shaft and the second forearm rotating shaft, transmit the second forearm band wheels of power between the first forearm rotating shaft and the second machine shaft.
4. the high speed SCARA robot of full fixed electrical machinery driving according to claim 3, it is characterized in that: described 3rd transmission group comprises the first lift shaft (33) be rotatably positioned in large arm and support, be rotatably positioned the second lift shaft (42) in large arm and forearm, the first take off and landing strip wheels of power are transmitted between the first lift shaft and the 3rd machine shaft, the second take off and landing strip wheels of power are transmitted between the first lift shaft and the second lift shaft, the 3rd take off and landing strip wheels of power are transmitted between the second lift shaft and screw mandrel.
5. the high speed SCARA robot of full fixed electrical machinery driving according to claim 4, it is characterized in that: described 4th transmission group comprises the first rotating shaft (34) be rotatably positioned in large arm and support, be rotatably positioned the second rotating shaft (43) in large arm and forearm, the first rotating band wheels of power are transmitted between the first rotating shaft and the 4th machine shaft, the second rotating band wheels of power are transmitted between the first lift shaft and the second rotating shaft, the 3rd rotating band wheels of power are transmitted between the second rotating shaft and screw mandrel.
6. the high speed SCARA robot of full fixed electrical machinery driving according to claim 5, is characterized in that: described first forearm rotating shaft, the first lift shaft and the first rotating shaft are the hollow shaft being coaxially set on large arm rotating shaft outside; Described second lift shaft and the second rotating shaft are the hollow shaft being coaxially set on the second forearm rotating shaft outside.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420596741.6U CN204209684U (en) | 2014-10-15 | 2014-10-15 | The high speed SCARA robot that full fixed electrical machinery drives |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420596741.6U CN204209684U (en) | 2014-10-15 | 2014-10-15 | The high speed SCARA robot that full fixed electrical machinery drives |
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| CN204209684U true CN204209684U (en) | 2015-03-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201420596741.6U Active CN204209684U (en) | 2014-10-15 | 2014-10-15 | The high speed SCARA robot that full fixed electrical machinery drives |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104708624A (en) * | 2015-04-02 | 2015-06-17 | 中山展域智能科技有限公司 | Transmission mechanism for coaxially and indirectly driving arm of multi-joint robot |
| CN104816296A (en) * | 2015-05-11 | 2015-08-05 | 东莞市顺如电子科技有限公司 | Rear motor mechanical arm and forming method |
| CN104908029A (en) * | 2015-05-14 | 2015-09-16 | 浙江理工大学 | Low-cost modularized SCARA robot |
| CN104924299A (en) * | 2015-07-09 | 2015-09-23 | 中国电子科技集团公司第二十一研究所 | SCARA mechanical arm group suitable for narrow movement space |
| CN105818164A (en) * | 2016-05-25 | 2016-08-03 | 张家港市德昶自动化科技有限公司 | Foldable multi-joint manipulator |
| CN106003009A (en) * | 2016-06-15 | 2016-10-12 | 广东工业大学 | Separation shaft synchronous driving manipulator |
| CN106426124A (en) * | 2016-09-18 | 2017-02-22 | 青岛海豚智能装备有限公司 | Plane joint robot with length of arms capable of being adjusted |
| CN106584441A (en) * | 2015-10-19 | 2017-04-26 | 沈阳新松机器人自动化股份有限公司 | Heavy load mechanical hand mechanism |
| CN106628094A (en) * | 2016-12-12 | 2017-05-10 | 浙江海洋大学 | Air-based water production device using LNG powered ship for recovering cooling and heating energy |
| CN107671836A (en) * | 2017-10-26 | 2018-02-09 | 上海新时达机器人有限公司 | A kind of plane articulation robot |
| CN108550546A (en) * | 2018-06-01 | 2018-09-18 | 昀智科技（北京）有限责任公司 | A kind of high-precision telescopic mechanical arm |
| CN108927795A (en) * | 2017-05-22 | 2018-12-04 | 沈阳新松机器人自动化股份有限公司 | A kind of flexible driving mechanism arm and control system |
| WO2019109330A1 (en) * | 2017-12-08 | 2019-06-13 | Abb Schweiz Ag | Robot of scara type and method for manufacturing the robot |
-
2014
- 2014-10-15 CN CN201420596741.6U patent/CN204209684U/en active Active
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104708624A (en) * | 2015-04-02 | 2015-06-17 | 中山展域智能科技有限公司 | Transmission mechanism for coaxially and indirectly driving arm of multi-joint robot |
| CN104816296A (en) * | 2015-05-11 | 2015-08-05 | 东莞市顺如电子科技有限公司 | Rear motor mechanical arm and forming method |
| CN104908029A (en) * | 2015-05-14 | 2015-09-16 | 浙江理工大学 | Low-cost modularized SCARA robot |
| CN104924299A (en) * | 2015-07-09 | 2015-09-23 | 中国电子科技集团公司第二十一研究所 | SCARA mechanical arm group suitable for narrow movement space |
| CN106584441A (en) * | 2015-10-19 | 2017-04-26 | 沈阳新松机器人自动化股份有限公司 | Heavy load mechanical hand mechanism |
| CN105818164A (en) * | 2016-05-25 | 2016-08-03 | 张家港市德昶自动化科技有限公司 | Foldable multi-joint manipulator |
| CN106003009B (en) * | 2016-06-15 | 2018-05-18 | 广东工业大学 | A kind of separated axis synchrodrive tool hand |
| CN106003009A (en) * | 2016-06-15 | 2016-10-12 | 广东工业大学 | Separation shaft synchronous driving manipulator |
| CN106426124A (en) * | 2016-09-18 | 2017-02-22 | 青岛海豚智能装备有限公司 | Plane joint robot with length of arms capable of being adjusted |
| CN106628094A (en) * | 2016-12-12 | 2017-05-10 | 浙江海洋大学 | Air-based water production device using LNG powered ship for recovering cooling and heating energy |
| CN108927795A (en) * | 2017-05-22 | 2018-12-04 | 沈阳新松机器人自动化股份有限公司 | A kind of flexible driving mechanism arm and control system |
| CN107671836A (en) * | 2017-10-26 | 2018-02-09 | 上海新时达机器人有限公司 | A kind of plane articulation robot |
| WO2019109330A1 (en) * | 2017-12-08 | 2019-06-13 | Abb Schweiz Ag | Robot of scara type and method for manufacturing the robot |
| CN108550546A (en) * | 2018-06-01 | 2018-09-18 | 昀智科技（北京）有限责任公司 | A kind of high-precision telescopic mechanical arm |
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