CN207373168U - A kind of rail structure applied to SCARA robots - Google Patents
A kind of rail structure applied to SCARA robots Download PDFInfo
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- CN207373168U CN207373168U CN201721067678.7U CN201721067678U CN207373168U CN 207373168 U CN207373168 U CN 207373168U CN 201721067678 U CN201721067678 U CN 201721067678U CN 207373168 U CN207373168 U CN 207373168U
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Abstract
The utility model discloses a kind of rail structure applied to SCARA robots, including：Pedestal, rotation large arm, rotation forearm, the first rotating device, the second rotating device, the 3rd rotary joint mechanism, the 4th rotating mechanism, grasping mechanism；The middle part of the rotation forearm sets the 3rd rotary joint mechanism and the 4th rotating mechanism, the 3rd rotary joint mechanism to include：3rd servomotor, planetary reducer, the first belt tightness adjustment mechanism, transmission gear A, transmission gear B；4th rotating mechanism includes：4th servomotor, the second belt tightness adjustment mechanism, transmission gear C and transmission gear D；Fixed frame is also fixedly connected on rotation forearm, track-type facilities are fixed on fixed frame, track-type facilities include：Rail mounting bracket, guide rail, slide, dynamic balance connecting plate, connecting seat；The utility model is designed by above-mentioned dynamic balance, using rail structure come load-bearing, is greatly improved robot end's load-bearing capacity.
Description
Technical field
The utility model is related to a kind of SCARA robots, especially a kind of rail structure applied to SCARA robots.
Background technology
SCARA robots are called and do selection compliance and put together machines arm, are a kind of specific types of circular cylindrical coordinate type
Industrial robot be also referred to as flapping articulation humanoid robot.The wrist part structure of current SCARA robots mainly uses ball
Leading screw spline shaft realizes the vertical lift of the 3rd axis and the horizontal rotation of the 4th axis, is limited to the work fallen behind domestic at present
Skill, the mode of supplly of ball-screw spline shaft is mainly import, and of high cost, delivery date is long, is unfavorable for the big of this kind of robot
Area promotes and applies.
To improve this present situation, numerous domestic scholar has also carried out Curve guide impeller to the wrist part structure of SCARA robots.
Leading screw, splined shaft, guide post are connected to by wrist part structure disclosed in CN203003891 and CN105500359 using triangular connecting plate
Below forearm, when the 3rd axis acts, mechanical interface is followed to lift jointly, it is necessary to occupy substantial amounts of working space, reduce robot
Flexibility and versatility.And upper two schemes of wrist part structure disclosed in CN105619395A are reasonable, however the structure of forearm
It is unfavorable for the installation arrangement of robot other parts, for example, to install the parts such as cylinder control valve door on supporting rod.In addition without
It is ball-screw spline one axle construction or ball screw assembly, ball spline pair and guide post split by SCARA robot wrists
Connection structure, the not yet explicitly adaptability of loading condition and operating mode.In heavy load, the operating mode of quick compound movement, it is necessary to
Movable joint and wrist part structure to current SCARA robots improve, to obtain enough rigidity and precision.
As shown in Figure 1, the SCARA robots of the prior art include：Engine base（5）, large arm（6）, forearm（7）With execution main shaft
（8）, large arm（6）, forearm（7）It is horizontally disposed, perform main shaft（8）It is arranged in vertical.In engine base（5）With large arm
（6）Between, large arm（6）With forearm（7）Between, forearm（7）With performing main shaft（8）Between respectively set the rotation of horizontal direction and close
Section, while also in forearm（7）With performing main shaft（8）Between the linear joint that vertical direction moves is set.
Three rotary joints are respectively the first rotary joint mechanism, the second rotary joint mechanism, the 3rd rotary joint mechanism,
One linear joint is the 4th linear joint mechanism.
As shown in Fig. 2, the first rotary joint mechanism, is arranged on engine base（5）With large arm（6）Between, including rotary joint A,
Driving mechanism A, engine base（5）Top and large arm（6）Inner end passes through the rotary joint A connections with horizontal degree of freedom, driving machine
Structure A is mounted on engine base（5）It is interior, large arm（6）It is rotated in the horizontal direction around engine base by driving mechanism A drivings.
Concrete structure is：Rotary joint A includes bearing sleeve（11）, bearing group（12）, driving mechanism A include servomotor
（13）, harmonic speed reducer（14）.Bearing sleeve（11）Pass through bearing group（12）Mounted on engine base（5）Top, bearing sleeve
（11）Upper end and large arm（6）Inner end connection is fixed；Servomotor（13）And harmonic speed reducer（14）Pass through connecting flange
（16）Mounted on the inside of engine base, servomotor（13）Output shaft and harmonic speed reducer（14）Wave producer connection input it is dynamic
Power, harmonic speed reducer（14）Flexbile gear pass through flexbile gear flange（15）With bearing sleeve（11）Lower end connection fix.Wherein, bearing
Group（12）The single-row tapered roller bearing used for double-row conical bearing or in pairs.
Second rotary joint mechanism（2）, as shown in figure 3, being arranged on large arm（6）With forearm（7）Between, including rotary joint
B, driving mechanism B, large arm（6）Outer end and forearm（7）Inner end pass through the rotary joint B connections with horizontal degree of freedom, drive
Motivation structure B is mounted on forearm（7）It is interior, forearm（7）And pass through transmission component B drivings in the horizontal direction around large arm（6）It rotates.
Concrete structure is that rotary joint B includes bearing sleeve（21）, bearing group（22）, driving mechanism B include servomotor
（23）, harmonic speed reducer（24）.Bearing sleeve（21）Pass through bearing group（22）Mounted on forearm（7）Bottom, bearing sleeve
（21）Lower end and large arm（6）Outer end connection is fixed；Servomotor（23）And harmonic speed reducer（24）It is fixed on forearm（7）It is interior
The top at end, servomotor（23）Output shaft and harmonic speed reducer（24）Wave producer connection input power, harmonic reduction
Device（24）Flexbile gear pass through flexbile gear flange（25）With bearing sleeve（21）Upper end connection fix.Wherein, bearing group（22）To be double
Row tapered roller bearing or the single-row tapered roller bearing used in pairs.
In order to smoothly realize to performing main shaft（8）Rotation driving and vertical lift, avoid rotation with vertical lift transport
Dynamic interferes, and performs main shaft（8）Using ball spline pair, the spline spiral shell including splined shaft and with splined shaft cooperation
It is female.
As shown in figure 4, the 3rd rotary joint mechanism, is arranged on forearm（7）On, including rotary joint, driving mechanism, perform
Main shaft（8）Splined nut by the rotary joint with horizontal degree of freedom be mounted on forearm outer end, driving mechanism be mounted on it is small
Arm（7）Middle part performs main shaft（8）It is driven by driving mechanism in 7 outer end rotation of forearm.
Concrete structure is that rotary joint includes spline flange（31）, bearing group（32）, driving mechanism include servomotor
（33）, planet-gear speed reducer（34）, active synchronization belt wheel（35）, driven synchronous pulley（36）And synchronous belt.Spline flange
（31）Pass through bearing group（32）It is built in forearm（7）Outer end performs main shaft（8）Splined nut and spline flange（31）Screw thread connects
It connects；Servomotor（33）And planet-gear speed reducer（34）It is fixed on forearm（7）Centre position, active synchronization belt wheel
（35）, driven synchronous pulley（36）Pass through synchronous band connection, active synchronization belt wheel（35）Mounted on planet-gear speed reducer（34）
Output shaft on, driven synchronous pulley（36）Pass through belt wheel flange（37）With spline flange（31）Connection is fixed.Wherein, bearing group
（32）For angular contact ball bearing group.
4th linear joint mechanism, is arranged on forearm（7）On, it is vertical driving mechanism, vertical driving mechanism is with performing master
Axis（8）Splined shaft pass through link block（9）The linkage of vertical direction is realized in connection.
Concrete structure is：Vertical driving mechanism includes ball screw（41）, screw flange（42）, servomotor（43）, it is main
Dynamic synchronous pulley（44）, driven synchronous pulley（45）And synchronous belt, ball screw（41）Nut and screw flange（42）Screw thread
Connection, screw flange（42）Pass through bearing group（49）Mounted on forearm（7）Middle part；Active synchronization belt wheel（44）, driven synchronous belt
Wheel（45）Pass through synchronous band connection, active synchronization belt wheel（44）Mounted on servomotor（43）Output shaft on, driven synchronous belt
Wheel（45）Pass through belt wheel flange（46）With screw flange（42）Connection is fixed.Vertical driving mechanism further includes guidance set, so as to
It improves and performs main shaft（8）Operation precision during work, and it is correspondingly improved the rigidity of mechanism.It includes guide post（47）, linear bearing
（48）, guide post（47）It is vertically arranged, guide post（47）Outer suit and forearm（7）The fixed linear bearing in middle part（48）, guide post（47）
Lower end with being connected ball screw（41）Screw rod and execution main shaft（8）The link block of splined shaft（9）It is fixed.Wherein, bearing group
（49）For angular contact ball bearing group.
The prior art is primarily present following technological deficiency：1st, ball screw spline shaft is of high cost, delivery date is long, is unfavorable for
SCARA robots are widely applied；
2nd, no matter SCARA robot wrists are ball screw spline one axle construction or ball wire bar pair, ball spline
The adaptability for loading 25KG operating modes is not known in secondary and guide post Split connection structure.In 25KG heavy loads, quick compound movement
Operating mode in, it is necessary to be improved to the movable joint and wrist part structure of current SCARA robots, with obtain enough rigidity and
Precision.
The content of the invention
The purpose of this utility model is to provide a kind of rail structures applied to SCARA robots, can effectively carry
The load capacity of high SCARA robots.
The utility model is achieved through the following technical solutions：
A kind of sliding track mechanism applied to SCARA robots, including：Pedestal, rotation large arm, rotation forearm, the first rotation
Device, the second rotating device, the 3rd rotary joint mechanism, the 4th rotating mechanism, grasping mechanism；
The pedestal is arranged in vertical, and has speed reducer and the first rotating device, the deceleration in the pedestal
Machine is connected with the first rotating device, one end of the first rotating device connection rotation large arm；
The rotation large arm is horizontally disposed, the company that described one end for rotating large arm passes through the activity of the first rotating device
It is connected on pedestal, therefore the rotation large arm can be rotated around pedestal；
The top connection of the other end of the rotation large arm rotates the end of forearm, is set on the end of the rotation forearm
Second rotation assembling device.
The middle part of the rotation forearm sets the 3rd rotary joint mechanism and the 4th rotating mechanism, the 3rd rotary joint
Mechanism includes：3rd servomotor, planetary reducer, the first belt tightness adjustment mechanism, transmission gear A, transmission gear B；Institute
It states the 3rd servomotor, planetary reducer, belt tightness adjustment mechanism, transmission gear A and transmission gear B and is located at rotation forearm
Top, the lower section connection planetary reducer of the 3rd servomotor, i.e., the power output shaft of described 3rd servomotor pass through
Planetary reducer, power output end connects transmission gear A, the transmission gear A by belt connection transmission gear B, described
Planetary reducer is fixed on the first belt tightness adjustment mechanism.
First belt tightness adjustment mechanism includes：The support plate being vertically fixed on rotation forearm, the support plate
Upper setting sliding equipment is fixedly connected with fixed plate on the sliding equipment, planetary reducer is fixedly connected in the fixed plate.
Change the position of the 3rd servomotor, planetary reducer and transmission gear A by sliding equipment, you can change transmission
Spacing between gear A and transmission gear B, so as to adjust the elastic of connection transmission gear A and the belt of transmission gear B.
4th rotating mechanism includes：4th servomotor, the second belt tightness adjustment mechanism, transmission gear C and biography
Moving gear D；4th servomotor is fixed on the second belt tightness adjustment mechanism, and the power of the 4th servomotor is defeated
Output terminal connection the transmission gear C, the transmission gear C of shaft connects transmission gear D by belt.
Second belt tightness adjustment mechanism is identical with the structure of the first belt tightness adjustment mechanism, the belt tension
Adjusting mechanism includes：It is fixed on the support plate rotated on forearm, sliding equipment is set in the support plate, the sliding equipment is consolidated
Surely fixed plate is connected, the 4th servomotor is fixedly connected in the fixed plate.
Likewise, change the position of the 4th servomotor, transmission gear C by sliding equipment, you can change transmission gear C
The distance between transmission gear D, so as to adjust the elastic of connection transmission gear C and the belt of transmission gear D.
Preferably, in the space between the belt between the transmission gear A, connection transmission gear A, B and transmission gear B
Accommodate transmission gear C, connection transmission gear C, D belt and transmission gear D so that transmission gear A, B, C, D are with being connected transmission
The belt of gear A, the belt of B and connection transmission gear C, D forms nested structure all in same level.
A fixed frame is also fixedly connected on the rotation forearm, track-type facilities are fixed on the fixed frame, it is described to lead
Rail device includes：Rail mounting bracket, guide rail, slide, dynamic balance connecting plate, connecting seat；The rail mounting bracket is fixed on
On the fixed frame, through hole is also provided on the fixed frame, the left side of the rail mounting bracket sets reinforcing rib, should add
Strengthening tendons is integrally formed with rail mounting bracket, setting guide groove on the right side of the rail mounting bracket, movable on the guide groove to connect
Slide is connect, the slide carries out vertical up and down motion along guide groove, connecting seat, the connecting seat are fixedly connected on the right side of the slide
Right side is fixedly connected with dynamic balance connecting plate, and the dynamic balance connecting plate has screw position hole close to one end of slide, away from slide
One end have flower key position hole.
The lower end in screw position hole sets nut, and ball screw is through the nut and passes through the through hole on fixed frame,
Finally it is fixedly connected with transmission gear D.Rotating transmission gear D drives ball screw to rotate, nut can carry out accordingly upwards or
It moves downward, since the nut is fixed on dynamic balance connecting plate, so dynamic balance connecting plate can be transported up or down
It is dynamic.
The colored key position hole is fixedly connected with spline, and the guide fixing bracket carries out movement up or down, the flower
Key can also carry out movement up or down with guide fixing bracket.
The spline also extends through transmission gear B and rotation forearm, is arranged at below rotation forearm.
Preferably, cylinder valve seat, the stacking of this vertical direction are fixedly connected at the reinforcing rib of the guide rail upper left
Design can less parts horizontal duty amount, so as to compared with skinny device volume.
Preferably, the spline is hollow spline, and the tracheae drawn at cylinder valve seat reaches spline bottom through splined interior
The grasping mechanism at end, this design can also reduce tracheae occupied space to a certain extent so that the hiding of path of tracheae arrangement.
When the load of SCARA robots carrying 25KG, the gravity value of the load is acted directly on spline and screw, and
The force value is disperseed a part of unbalance loading to dynamic balance connecting plate by spline and screw, at this point, dynamic balance connecting plate is to be fixedly connected
On connecting seat, the connecting seat is fixedly connected with slide, and the slide is caught in guide rail, therefore the offset loading force is dispersed in plane
On the guide rail of shape, and guide rail is connected with guide fixing bracket, and rail brackets and reinforcing rib are integral structures, are finally fixed by guide rail
Stent supports the offset loading force.
The utility model has the advantage of designed by above-mentioned dynamic balance, using rail structure come load-bearing, be greatly improved
Robot end's load-bearing capacity, experiments verify that, the weight of 25KG and below 25KG can be loaded.
Description of the drawings
Fig. 1 is the structure diagram of SCARA robots in the prior art；
Fig. 2 is the sectional view of the pedestal of SCARA robots and the first rotating mechanism in the prior art；
Fig. 3 is the partial cutaway view of the second rotating mechanism of SCARA robots in the prior art；
Fig. 4 is the 3rd rotary joint mechanism of SCARA robots and the 4th linear joint mechanism part section in the prior art
Figure；
Fig. 5 is the structural scheme of mechanism of the utility model embodiment；
Fig. 6 is the rotation forearm structure schematic diagram of the utility model embodiment；
Fig. 7 is the rotation forearm partial structural diagram of the utility model embodiment；
Fig. 8 is the guide rail of the utility model embodiment and the structure diagram of guide rails fixing support.
In Fig. 1：5th, pedestal；6th, large arm；7th, forearm；8th, main shaft is performed；
In Fig. 2：11st, bearing sleeve；12nd, bearing group；13rd, servomotor；14th, harmonic speed reducer；15th, flexbile gear flange；16、
Flange；
In Fig. 3：21st, bearing sleeve；22nd, bearing group；23rd, servomotor；24th, harmonic speed reducer；25th, flexbile gear flange；
In Fig. 4：Link block；31st, spline flange；32nd, bearing group；33rd, servomotor；34th, planet-gear speed reducer；35、
Active synchronization belt wheel；36th, driven synchronous pulley；37th, belt wheel flange；41st, ball screw；42nd, screw flange；43rd, servomotor；
44th, active synchronization belt wheel；45th, driven synchronous pulley；46th, belt wheel flange；47th, guide post；48th, linear bearing；49th, bearing group；
In Fig. 5：51st, pedestal；52nd, large arm is rotated；53rd, forearm is rotated；54th, the second rotating device；55th, the 3rd rotary joint
Mechanism；56th, the 4th rotating mechanism；57th, grasping mechanism；
In Fig. 6：551st, the 3rd servomotor；552nd, planetary reducer；553rd, the first belt tightness adjustment mechanism；554th, prop up
Fagging；555th, fixed plate；556th, transmission gear A；557th, transmission gear B；558th, belt；561st, the 4th servomotor；562nd,
Two belt tightness adjustment mechanisms；563rd, support plate；564th, fixed plate；
In Fig. 7：565th, transmission gear C；566th, transmission gear D；601st, guide rail；602nd, dynamic balance connecting plate；603rd, screw；
604th, spline；
In Fig. 8：6011st, guide fixing bracket；6012nd, reinforcing rib；6013rd, guide groove；6014th, slide；6015th, connecting seat.
Specific embodiment
The technical solution of the utility model is described further below in conjunction with the accompanying drawings.
As viewed in figures 5-8, a kind of rail structure applied to SCARA robots, including：Pedestal 51, rotation large arm 52, rotation
Turn forearm 53, the first rotating device, the second rotating device 54, the 3rd rotary joint mechanism 55, the 4th rotating mechanism 56, gripper
Structure 57；
The pedestal 51 is arranged in vertical, and has speed reducer and the first rotating device in the pedestal, described to subtract
Fast machine is connected with the first rotating device, one end of the first rotating device connection rotation large arm 52；
The rotation large arm is horizontally disposed, the company that described one end for rotating large arm passes through the activity of the first rotating device
It is connected on pedestal, therefore the rotation large arm can be rotated around pedestal；
The top connection of the other end of the rotation large arm rotates the end of forearm 53, is set on the end of the rotation forearm
Put the second rotating device 54.
Referring again to shown in Fig. 5-8, the middle part of the rotation forearm sets the 3rd rotary joint mechanism and the 4th rotating machine
Structure, the 3rd rotary joint mechanism include：3rd servomotor 551, planetary reducer 552, the first belt tension adjust machine
Structure 553, transmission gear A556, transmission gear B558；3rd servomotor 551, planetary reducer 552, belt tension tune
Mechanism 553, transmission gear A556 and transmission gear B558 are saved under the top of rotation forearm 53, the 3rd servomotor
Side's connection planetary reducer 552, i.e., the power output shaft of described 3rd servomotor pass through planetary reducer, power output end
It connects transmission gear A, the transmission gear A and transmission gear B is connected by belt, the planetary reducer is fixed on the first belt
On elasticity adjusting mechanism.
First belt tightness adjustment mechanism includes：The support plate 554 being vertically fixed on rotation forearm, the support
Sliding equipment on plate is set, fixed plate 555 is fixedly connected on the sliding equipment, planetary reduction gear is fixedly connected in the fixed plate
Machine.
Change the position of the 3rd servomotor, planetary reducer and transmission gear A by sliding equipment, you can change transmission
Spacing between gear A and transmission gear B, so as to adjust the elastic of the belt 558 of transmission gear A and transmission gear B is connected.
4th rotating mechanism 56 includes：4th servomotor 561, the second belt tightness adjustment mechanism 562, driving cog
Take turns C565 and transmission gear D566；4th servomotor 561 is fixed on the second belt tightness adjustment mechanism 56, and described
Output terminal connection the transmission gear C, the transmission gear C of the power output shaft of four servomotors connect transmission gear by belt
D。
Second belt tightness adjustment mechanism is identical with the structure of the first belt tightness adjustment mechanism, the belt tension
Adjusting mechanism includes：It is fixed on the support plate 563 rotated on forearm, the sliding equipment being arranged on above support plate, the slip
Mechanism is fixedly connected with the 4th servomotor 561 by fixed plate 564.
Likewise, change the position of the 4th servomotor, transmission gear C by sliding equipment, you can change transmission gear C
The distance between transmission gear D, so as to adjust the elastic of connection transmission gear C and the belt of transmission gear D.
The space content between belt and transmission gear B between the transmission gear A, connection transmission gear A, B, which is received, to be had
Transmission gear C, connection transmission gear C, D belt and transmission gear D so that transmission gear A, B, C, D are with being connected transmission gear A, B
Belt and connection transmission gear C, D belt all in same level, form nested structure.
A fixed frame 568 is also fixedly connected on the rotation forearm, track-type facilities are fixed on the fixed frame, it is described
Track-type facilities include：Rail mounting bracket 6011, guide rail 601, slide 6014, dynamic balance connecting plate 602, connecting seat 6015；Institute
It states rail mounting bracket to be fixed on the fixed frame, through hole, the rail mounting bracket is also provided on the fixed frame
Left side reinforcing rib is set, which is integrally formed with rail mounting bracket, setting on the right side of the rail mounting bracket
Guide groove 6013 is flexibly connected slide 6014 on the guide groove 6013, and the slide carries out vertical up and down motion along guide groove, described
Connecting seat 6015 is fixedly connected on the right side of slide, dynamic balance connecting plate 602 is fixedly connected on the right side of the connecting seat, the dynamic balance connects
Fishplate bar has screw position hole close to one end of slide, and one end away from slide has flower key position hole.
The lower end in screw position hole sets nut, and ball screw is through the nut and passes through the through hole on fixed frame,
Most transmission gear D is fixedly connected finally.Rotating transmission gear D drives ball screw to rotate, nut can carry out accordingly upwards or
It moves downward, since the nut is fixed on guide fixing bracket, so guide fixing bracket can be transported up or down
It is dynamic.
The colored key position hole is fixedly connected with spline, and the guide fixing bracket carries out movement up or down, the flower
Key can also carry out movement up or down with guide fixing bracket.
The spline also extends through transmission gear B and rotation forearm, is arranged at below rotation forearm.
It is fixedly connected with cylinder valve seat at the reinforcing rib of the guide rail upper left, the stack design of this vertical direction can be compared with
The horizontal duty amount of few component, so as to the volume compared with skinny device.
The spline is hollow spline, and the tracheae drawn at cylinder valve seat reaches grabbing for spline bottom through splined interior
Mechanism is taken, this design can also reduce tracheae occupied space to a certain extent so that the hiding of path of tracheae arrangement.
As Figure 7-8, when the load of SCARA robots carrying 25KG, the gravity value of the load acts directly on flower
On key and screw, and the force value is disperseed a part of unbalance loading to dynamic balance connecting plate by spline and screw, at this point, dynamic balance connects
Plate is stationarily connected on connecting seat, and the connecting seat is fixedly connected with slide, and the slide is caught in guide rail, therefore the offset loading force
It is dispersed on planar guide rail, and guide rail and guide fixing bracket are integral structures, are finally supported by guide fixing bracket
The offset loading force.
And traditional SCARA robots are to support offset loading force by columned supporting rod, the supporting rod is not only relatively thin,
And supporting rod is point and the contact put with corner block, is unfavorable for the scattered of offset loading force, therefore, supporting rod can not work long hours
In 25KG load conditions.
And guide rail structure can sustain the force value well, therefore, guide rail structure long-time be in 25KG heavy loads when,
Work can be smoothed out, the service life of guide rail structure will not be influenced.
Claims (3)
1. a kind of rail structure applied to SCARA robots, including：Pedestal, rotation large arm, rotation forearm, the first rotating dress
It puts, the second rotating device, the 3rd rotary joint mechanism, the 4th rotating mechanism, grasping mechanism；The pedestal is vertically set
It puts, there is speed reducer and the first rotating device in the pedestal, the speed reducer is connected with the first rotating device, and described first
One end of rotating device connection rotation large arm；The rotation large arm is horizontally disposed, and one end of the rotation large arm passes through
The activity of first rotating device is connected on pedestal, therefore the rotation large arm can be rotated around pedestal；The rotation
The top connection of the other end of large arm rotates the end of forearm, and the second rotating device is set on the end of the rotation forearm,
It is characterized in that：The middle part of the rotation forearm sets the 3rd rotary joint mechanism and the 4th rotating mechanism, and the 3rd rotation is closed
Section mechanism includes：3rd servomotor, planetary reducer, the first belt tightness adjustment mechanism, transmission gear A, transmission gear B；
3rd servomotor, planetary reducer, belt tightness adjustment mechanism, transmission gear A and transmission gear B are located at rotation forearm
Top, the lower section connection planetary reducer of the 3rd servomotor, i.e., the power output shaft of described 3rd servomotor wears
Planetary reducer is crossed, power output end connects transmission gear A, the transmission gear A and connects transmission gear B, institute by belt
Planetary reducer is stated to be fixed on the first belt tightness adjustment mechanism；
4th rotating mechanism includes：4th servomotor, the second belt tightness adjustment mechanism, transmission gear C and driving cog
Take turns D；4th servomotor is fixed on the second belt tightness adjustment mechanism, the power output shaft of the 4th servomotor
Output terminal connection transmission gear C, the transmission gear C pass through belt and connect transmission gear D；
A fixed frame is also fixedly connected on the rotation forearm, track-type facilities, the guide rail dress are fixed on the fixed frame
Put including：Rail mounting bracket, guide rail, slide, dynamic balance connecting plate, connecting seat；The rail mounting bracket is fixed on described
On fixed frame, through hole is also provided on the fixed frame, the left side of the rail mounting bracket sets reinforcing rib, the reinforcing rib
It is integrally formed with rail mounting bracket, guide groove on the right side of the rail mounting bracket is set, is flexibly connected and slides on the guide groove
Seat, the slide carry out vertical up and down motion along guide groove, and connecting seat, the connecting seat right side are fixedly connected on the right side of the slide
Dynamic balance connecting plate is fixedly connected with, the dynamic balance connecting plate has screw position hole close to one end of slide, and one away from slide
End has flower key position hole.
2. the rail structure according to claim 1 applied to SCARA robots, which is characterized in that above the guide rail
Cylinder valve seat is fixedly connected at the reinforcing rib in left side.
3. the rail structure according to claim 1 applied to SCARA robots, which is characterized in that during the spline is
Empty spline, the tracheae drawn at cylinder valve seat reach the grasping mechanism of spline bottom through splined interior.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721067678.7U CN207373168U (en) | 2017-08-24 | 2017-08-24 | A kind of rail structure applied to SCARA robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721067678.7U CN207373168U (en) | 2017-08-24 | 2017-08-24 | A kind of rail structure applied to SCARA robots |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207373168U true CN207373168U (en) | 2018-05-18 |
Family
ID=62342089
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721067678.7U Expired - Fee Related CN207373168U (en) | 2017-08-24 | 2017-08-24 | A kind of rail structure applied to SCARA robots |
Country Status (1)
| Country | Link |
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| CN (1) | CN207373168U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108544482A (en) * | 2018-05-29 | 2018-09-18 | 上海达野智能科技有限公司 | SCARA robots |
| CN108789485A (en) * | 2018-09-07 | 2018-11-13 | 济南昊中自动化有限公司 | A kind of plate high speed transfer robot |
-
2017
- 2017-08-24 CN CN201721067678.7U patent/CN207373168U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108544482A (en) * | 2018-05-29 | 2018-09-18 | 上海达野智能科技有限公司 | SCARA robots |
| CN108789485A (en) * | 2018-09-07 | 2018-11-13 | 济南昊中自动化有限公司 | A kind of plate high speed transfer robot |
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Granted publication date: 20180518 Termination date: 20200824 |