CN105500338A - Double-arm SCARA (selective compliance assembly robot arm) industrial robot - Google Patents
Double-arm SCARA (selective compliance assembly robot arm) industrial robot Download PDFInfo
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- CN105500338A CN105500338A CN201610002522.4A CN201610002522A CN105500338A CN 105500338 A CN105500338 A CN 105500338A CN 201610002522 A CN201610002522 A CN 201610002522A CN 105500338 A CN105500338 A CN 105500338A
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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
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Abstract
The invention discloses a double-arm SCARA (selective compliance assembly robot arm) industrial robot. The double-arm SCARA industrial robot comprises a base component, a shoulder and arm component, big arm components, small arm components and tail end execution components, wherein the shoulder and arm component is arranged on the base component, two big arm components are arranged at the two ends of the shoulder and arm component respectively, the small arm components are arranged at the tail ends of the big arm components, and the tail end execution components are arranged at the front ends of the small arm components. The double-arm SCARA industrial robot has the advantages that space utilization rate is high, working efficiency is high, time is saved, the effect that a left arm and a right arm work cooperatively is achieved due to arrangement that the two small arms are connected to one big arm, and the effect of executing four freedom degrees of the tail ends is achieved due to cooperative use of the ball screw nut pair and a spline.
Description
Technical field
The present invention relates to Industrial Robot Technology field, particularly relate to a kind of both arms SCARA industrial robot.
Background technology
SCARA robot, i.e. selective compliance assembly robot arm are a kind of robot arms being applied to assembling work.Different from general revolute robot, SCARA robot only has good flexibility in the plane, and has very high rigidity in the direction of plane orthogonal, is therefore applicable to very much the assembling work of vertical direction, it, in assembling, can realize very fast speed and higher frequency in the operations such as carrying.SCARA robot is compact except having common joints robot architecture, and working space is large, outside the advantage of flexible operation, meanwhile, also have higher repetitive positioning accuracy and good cost performance.What domestic and international SCARA Robotics had developed at present is comparatively ripe.
At present, existing SCARA assembly robot Major Function moves to take part and assembly work, its the first and second axles have rotational characteristic, the function of the third and fourth axle is different according to requirements of one's work, manufacture corresponding multiple different form, and one has rotation, another has linearly moving characteristic.
But, because it has specific shape, determine its working range and be similar to a sector region, if assembling needs two arms have coordinated, existing SCARA robot only has single armed, also needs to add a SCARA robot compounding practice in addition in reality, and this not only causes the loss of performance accuracy, and assembly cost is promoted greatly, be therefore not suitable in enormous quantities, high accuracy assembling work.
Therefore, be badly in need of wanting a kind of precision high, self complete Complex Assembly task, the SCARA robot of larger opereating specification can be obtained to overcome above-mentioned deficiency.
Summary of the invention
The object of the present invention is to provide a kind of both arms SCARA industrial robot, precision be high, self complete Complex Assembly task, can obtain the SCARA robot of larger opereating specification.
To achieve these goals, the present invention adopts following technical scheme:
A kind of both arms SCARA industrial robot, comprise base assembly, shoulder arm component, large arm component, little arm component, end executive module, described shoulder arm component is arranged on base assembly, at the two ends of shoulder arm component, two large arm components are installed respectively, at the end of large arm component, little arm component is installed, in the front end of little arm component, end executive module is installed.
Described base assembly comprises base, the first motor, the first decelerator, the first mounting disc; Described first motor is connected by screw on the first decelerator, and the first decelerator is connected by flat key with the first motor transmission shaft, and the first decelerator is arranged in the first through hole of the first mounting disc by screw, and the first mounting disc and base through screws are fixed.
Described shoulder arm component comprises shoulder arm, the second motor, the second decelerator, the second mounting disc; Be connected by the output of screw with the first decelerator in the middle part of described shoulder arm, shoulder arm two ends have two the second mounting discs to be fixed by screw with shoulder arm, described second decelerator is connected by flat key with the second motor transmission shaft, and the second decelerator is arranged in the second through hole of the second mounting disc by screw.
Described large arm component comprises large arm, one end that large arm diameter is larger is connected by screw at the second reducer power output, one end that diameter is less is connected by screw at the 3rd reducer power output, the position of large arm above the second decelerator, below the 3rd decelerator.
Described little arm component comprises forearm, the 3rd motor, the 3rd motor installation disc, the 3rd decelerator; Described 3rd motor is connected with the 3rd decelerator by the 3rd motor installation disc, described 3rd decelerator is arranged in the third through-hole on forearm, the input of the 3rd motor output shaft end the 3rd decelerator is connected by flat key, and the 3rd decelerator output and large arm are connected to form a cradle head.
Described end executive module comprises the 4th motor, the first motor rack, the first synchronous pulley, the first Timing Belt, the 5th motor, the second motor rack, the 3rd synchronous pulley, the second Timing Belt, support bar, ball-screw, ball-screw nut, the 4th synchronous pulley, the second synchronous pulley, spline rod, end effector, splined nut, leading screw installing rack, described 4th motor and the 5th motor are arranged on the first motor rack and the second motor rack respectively by screw, two motor racks are arranged in the gathering sill on forearm by screw, described first synchronous pulley and the 3rd synchronous pulley are arranged on the output shaft end of the 4th motor and the 5th motor respectively by holding screw, second synchronous pulley is arranged on above splined nut by screw, splined nut is arranged in the fourth hole on forearm by screw, first synchronous pulley and the second synchronous pulley carry out power transmission by the first Timing Belt, 3rd synchronous pulley and the 4th synchronous pulley carry out power transmission by the second Timing Belt, 4th synchronous pulley is arranged on the lower end of ball-screw by holding screw, ball-screw is two supports, one end is arranged on leading screw installing rack by rolling bearing, the other end is arranged on the contiguous block that is connected with support bar by rolling bearing, contiguous block and support bar adopt screw in compression to be connected, and leading screw installing rack is arranged in the gathering sill on forearm, described ball-screw rotates and feed screw nut is moved up and down, feed screw nut is connected by rolling bearing with spline rod, one end adopts hex nut to compress, and moves under making described spline rod in the vertical direction, and synchronous pulley drives splined nut that described spline rod is rotated around axis direction, described end effector is connected by screw and spline rod lower end, and end effector is moved along with the motion of spline rod.
Compared with prior art, beneficial effect of the present invention:
The present invention is by arranging two arms, during work, two hands that two arms can simulate people carry out translation to workpiece, such as by two kinds of different goods sortings to both sides, or part is in the process of loading and unloading, an arm carries out material loading, and another one arm carries out the operation of blanking after workpiece station terminates, and can increase work efficiency.Compare with tow-armed robot with traditional single armed SCARA robot, its space availability ratio is high, operating efficiency is fast, save time, the setting of same large arm is connected to by two forearms, reach the effect of left and right two-arm collaborative work, and by described ball guide screw nat and spline with the use of, reach the effect performing end four frees degree.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of both arms SCARA industrial robot of the present invention.
Fig. 2 is the base of both arms SCARA industrial robot of the present invention and shoulder arm overall structure schematic diagram.
Fig. 3 is the shoulder arm component structural representation of both arms SCARA industrial robot of the present invention.
Fig. 4 is base shell and the first mounting disc structural representation of both arms SCARA industrial robot of the present invention.
Fig. 5 is the single operation arm overall structure schematic diagram of both arms SCARA industrial robot of the present invention.
Fig. 6 is the shoulder arm plate structure schematic diagram of both arms SCARA industrial robot of the present invention.
Fig. 7 is the large arm plate structure schematic diagram of both arms SCARA industrial robot of the present invention.
Fig. 8 is forearm and the end executive module overall structure side schematic view of both arms SCARA industrial robot of the present invention.
Fig. 9 is the end executive module overall structure side schematic view of both arms SCARA industrial robot of the present invention.
Figure 10 is the single forearm plate structure schematic diagram of both arms SCARA industrial robot of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is further described.
As shown in Figures 1 to 10, a kind of both arms SCARA industrial robot, comprise base assembly 001, shoulder arm component 002, large arm component 003, little arm component 004, end executive module 005, described shoulder arm component 002 is arranged on base assembly 001, at the two ends of shoulder arm component 002, two large arm components 003 are installed respectively, at the end of large arm component 003, little arm component 004 is installed, in the front end of little arm component 004, end executive module 005 is installed.
Described base assembly 001 comprises the mounting disc 4 of base 1, first motor 2, first decelerator 3, first; Described first motor 2 is connected by screw on the first decelerator 3, first decelerator 3 is connected by flat key with the first motor 2 power transmission shaft, first decelerator 3 is arranged in the first through hole 31 of the first mounting disc 4 by screw, and the first mounting disc 4 is fixed by screw with base 1.
Described shoulder arm component 002 comprises the mounting disc 8 of shoulder arm 5, second motor 6, second decelerator 7, second; Be connected by the output of screw with the first decelerator 3 in the middle part of described shoulder arm 5, shoulder arm 5 two ends have two the second mounting discs 8 to be fixed by screw with shoulder arm 5, described second decelerator 7 is connected by flat key with the second motor 6 power transmission shaft, and the second decelerator 7 is arranged in the second through hole 32 of the second mounting disc 8 by screw.
Described large arm component 003 comprises large arm 9, one end that large arm 9 diameter is larger is connected by screw at the second decelerator 7 clutch end, one end that diameter is less is connected by screw at the 3rd decelerator 13 clutch end, the position of large arm 9 above the second decelerator 7, below the 3rd decelerator 13.
Described little arm component 004 comprises forearm 10, the 3rd motor 11, the 3rd motor installation disc 12, the 3rd decelerator 13; Described 3rd motor 11 is connected with the 3rd decelerator 13 by the 3rd motor installation disc 12, described 3rd decelerator 13 is arranged in the third through-hole 33 on forearm 10, the input of the 3rd motor 11 output shaft end the 3rd decelerator 13 is connected by flat key, and the 3rd decelerator 13 output and large arm 9 are connected to form a cradle head.
Described end executive module 005 comprises the 4th motor 14, first motor rack 15, first synchronous pulley 16, first Timing Belt 17, the 5th motor 18, the 3rd synchronous pulley 19, second motor rack 20, second Timing Belt 21, support bar 22, ball-screw 23, ball-screw nut 24, the 4th synchronous pulley 25, second synchronous pulley 26, spline rod 27, end effector 28, splined nut 29, leading screw installing rack 30, described 4th motor 14 and the 5th motor 18 are arranged on the first motor rack 15 and the second motor rack 20 respectively by screw, two motor racks are arranged in the gathering sill on forearm 10 by screw, described first synchronous pulley 16 and the 3rd synchronous pulley 19 are arranged on the output shaft end of the 4th motor 14 and the 5th motor 18 respectively by holding screw, second synchronous pulley 26 is arranged on above splined nut 29 by screw, splined nut 29 is arranged in the fourth hole 34 on forearm 10 by screw, first synchronous pulley 16 and the second synchronous pulley 26 carry out power transmission by the first Timing Belt 17, 3rd synchronous pulley 19 and the 4th synchronous pulley 25 carry out power transmission by the second Timing Belt 21, 4th synchronous pulley 25 is arranged on the lower end of ball-screw 23 by holding screw, ball-screw 23 is two supports, one end is arranged on leading screw installing rack 30 by rolling bearing, the other end is arranged on the contiguous block that is connected with support bar 22 by rolling bearing, contiguous block adopts screw in compression to be connected with support bar 22, and leading screw installing rack 30 is arranged in the gathering sill on forearm 10, described ball-screw 23 rotates and feed screw nut 24 is moved up and down, feed screw nut 24 is connected by rolling bearing with spline rod 27, one end adopts hex nut to compress, move under making described spline rod 27 in the vertical direction, synchronous pulley 26 drives splined nut 29 that described spline rod 27 is rotated around axis direction, described end effector 28 is connected by screw and spline rod 27 lower end, and end effector 28 is moved along with the motion of spline rod 27.
Operating process of the present invention and principle as follows:
The first joint shaft is provided with between described base 1 and shoulder arm 5, described shoulder arm 5 and large arm 9 and be provided with second joint axle between large arm 9 and forearm 10, the joint that one has two frees degree is provided with between described forearm 10 and end effector 28, described base 1, multiple arm body and end effector 28 are equipped with power set, the affiliated power set being arranged at base 1 rotate along described base 1 for driving the shoulder arm 5 of described two-arm, the power set be arranged at belonging to described shoulder arm 5 rotate around described power set for driving large arm 9, the power set be arranged at belonging to described large arm 9 rotate around described power set for driving forearm 10, the power set be arranged at belonging to described forearm 10 rotate for driving the connected spline rod 27 of described end effector 28 along the axis direction of described bar and vertically move, described spline rod 27 and described end effector 28 consolidation, described end effector 28 moves with described spline rod motion.The power set of described first joint shaft second joint axle include motor and the decelerator for decelerating through motor, described motor and described decelerator are coaxially arranged, Flat dey joint is adopted between described motor and described decelerator, belonging to described execution end, power set comprise motor and synchronous belt pulley transmission assembly, and power transmission is given described rod member by Timing Belt by described motor.
This example is by arranging two arms, during work, two hands that two arms can simulate people carry out translation rotation process to workpiece, such as by two kinds of different goods sortings to both sides, or part is in the process of loading and unloading, an arm carries out material loading, and another one arm carries out the operation of blanking after workpiece station terminates, and can increase work efficiency.Compare with tow-armed robot with traditional single armed SCARA robot, its space availability ratio is high, operating efficiency is fast, save time, the setting of same large arm is connected to by two forearms, reach the synergistic effect of left and right two-arm, and by described ball guide screw nat and spline with the use of, reach the working effect performing end four frees degree.
Claims (6)
1. a both arms SCARA industrial robot, it is characterized in that, comprise base assembly (001), shoulder arm component (002), large arm component (003), little arm component (004), end executive module (005), described shoulder arm component (002) is arranged on base assembly (001), at the two ends of shoulder arm component (002), two large arm components (003) are installed respectively, at the end of large arm component (003), little arm component (004) is installed, in the front end of little arm component (004), end executive module (005) is installed.
2. both arms SCARA industrial robot according to claim 1, is characterized in that, described base assembly (001) comprises base (1), the first motor (2), the first decelerator (3), the first mounting disc (4); Described first motor (2) is connected by screw on the first decelerator (3), first decelerator (3) is connected by flat key with the first motor (2) power transmission shaft, first decelerator (3) is arranged in first through hole (31) of the first mounting disc (4) by screw, and the first mounting disc (4) and base (1) are fixed by screw.
3. both arms SCARA industrial robot according to claim 1, is characterized in that, described shoulder arm component (002) comprises shoulder arm (5), the second motor (6), the second decelerator (7), the second mounting disc (8); Described shoulder arm (5) middle part is connected by the output of screw with the first decelerator (3), shoulder arm (5) two ends have two the second mounting discs (8) to be fixed by screw with shoulder arm (5), described second decelerator (7) is connected by flat key with the second motor (6) power transmission shaft, and the second decelerator (7) is arranged in second through hole (32) of the second mounting disc (8) by screw.
4. both arms SCARA industrial robot according to claim 1, it is characterized in that, described large arm component (003) comprises large arm (9), one end that large arm (9) diameter is larger is connected by screw at the second decelerator (7) clutch end, one end that diameter is less is connected by screw at the 3rd decelerator (13) clutch end, the position of large arm (9) in the second decelerator (7) top, the 3rd decelerator (13) below.
5. both arms SCARA industrial robot according to claim 1, is characterized in that, described little arm component (004) comprises forearm (10), the 3rd motor (11), the 3rd motor installation disc (12), the 3rd decelerator (13); Described 3rd motor (11) is connected with the 3rd decelerator (13) by the 3rd motor installation disc (12), described 3rd decelerator (13) is arranged in the third through-hole (33) on forearm (10), the input of the 3rd motor (11) output shaft end the 3rd decelerator (13) is connected by flat key, and the 3rd decelerator (13) output and large arm (9) are connected to form a cradle head.
6. both arms SCARA industrial robot according to claim 1, it is characterized in that, described end executive module (005) comprises the 4th motor (14), first motor rack (15), first synchronous pulley (16), first Timing Belt (17), 5th motor (18), 3rd synchronous pulley (19), second motor rack (20), second Timing Belt (21), support bar (22), ball-screw (23), ball-screw nut (24), 4th synchronous pulley (25), second synchronous pulley (26), spline rod (27), end effector (28), splined nut (29), leading screw installing rack (30), described 4th motor (14) and the 5th motor (18) are arranged on the first motor rack (15) and the second motor rack (20) respectively by screw, two motor racks are arranged in the gathering sill on forearm (10) by screw, described first synchronous pulley (16) and the 3rd synchronous pulley (19) are arranged on the output shaft end of the 4th motor (14) and the 5th motor (18) respectively by holding screw, second synchronous pulley (26) is arranged on splined nut (29) top by screw, splined nut (29) is arranged in the fourth hole (34) on forearm (10) by screw, first synchronous pulley (16) and the second synchronous pulley (26) carry out power transmission by the first Timing Belt (17), 3rd synchronous pulley (19) and the 4th synchronous pulley (25) carry out power transmission by the second Timing Belt (21), 4th synchronous pulley (25) is arranged on the lower end of ball-screw (23) by holding screw, ball-screw (23) is two supports, one end is arranged on leading screw installing rack (30) by rolling bearing, the other end is arranged on the contiguous block that is connected with support bar (22) by rolling bearing, contiguous block adopts screw in compression to be connected with support bar (22), and leading screw installing rack (30) is arranged in the gathering sill on forearm (10), described ball-screw (23) rotates and feed screw nut (24) is moved up and down, feed screw nut (24) is connected by rolling bearing with spline rod (27), one end adopts hex nut to compress, move under making described spline rod (27) in the vertical direction, synchronous pulley (26) drives splined nut (29) that described spline rod (27) is rotated around axis direction, described end effector (28) is connected by screw and spline rod (27) lower end, and end effector (28) is moved along with the motion of spline rod (27).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610002522.4A CN105500338A (en) | 2016-01-06 | 2016-01-06 | Double-arm SCARA (selective compliance assembly robot arm) industrial robot |
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| CN201610002522.4A CN105500338A (en) | 2016-01-06 | 2016-01-06 | Double-arm SCARA (selective compliance assembly robot arm) industrial robot |
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| CN105728917A (en) * | 2016-05-11 | 2016-07-06 | 裴翌翔 | Self-adaptive weld-seam welding industrial robot capable of automatically feeding and blanking |
| CN105881516A (en) * | 2016-05-28 | 2016-08-24 | 东莞市联洲知识产权运营管理有限公司 | Light six-shaft all-purpose robot with paired small arms |
| CN105922251A (en) * | 2016-05-28 | 2016-09-07 | 东莞市联洲知识产权运营管理有限公司 | Six-axis robot with manipulator assemblies arranged on small arms |
| CN105965490A (en) * | 2016-07-28 | 2016-09-28 | 苏州高通机械科技有限公司 | Double-station manipulator |
| CN105965487A (en) * | 2016-07-28 | 2016-09-28 | 苏州高通机械科技有限公司 | Double-station mechanical hand with fast action |
| CN106044214A (en) * | 2016-07-28 | 2016-10-26 | 苏州高通机械科技有限公司 | Multi-station mechanical arm |
| CN106041896A (en) * | 2016-07-28 | 2016-10-26 | 佛山市三水区诺尔贝机器人研究院有限公司 | Mechanical-electrical integrated double-arm robot mounting base |
| CN106142057A (en) * | 2016-08-27 | 2016-11-23 | 唐火红 | A kind of self-travel type both arms industrial robot device based on AGV |
| CN107639631A (en) * | 2017-11-07 | 2018-01-30 | 广东省智能制造研究所 | A kind of multistation SCARA industrial robots |
| CN108544481A (en) * | 2018-05-17 | 2018-09-18 | 深圳市领略数控设备有限公司 | A kind of SCARA industrial robots |
| CN109129432A (en) * | 2017-10-27 | 2019-01-04 | 王晶红 | A kind of both arms cooperation robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105728917A (en) * | 2016-05-11 | 2016-07-06 | 裴翌翔 | Self-adaptive weld-seam welding industrial robot capable of automatically feeding and blanking |
| CN105728917B (en) * | 2016-05-11 | 2019-01-29 | 裴翌翔 | It is a kind of can automatic loading/unloading the adaptive welding industrial robot of weld seam |
| CN105881516B (en) * | 2016-05-28 | 2017-11-28 | 邳州高新区城市矿产研究院有限公司 | A kind of light-duty six axles all-purpose robot for being provided with a pair of forearms |
| CN105881516A (en) * | 2016-05-28 | 2016-08-24 | 东莞市联洲知识产权运营管理有限公司 | Light six-shaft all-purpose robot with paired small arms |
| CN105922251A (en) * | 2016-05-28 | 2016-09-07 | 东莞市联洲知识产权运营管理有限公司 | Six-axis robot with manipulator assemblies arranged on small arms |
| CN106041896A (en) * | 2016-07-28 | 2016-10-26 | 佛山市三水区诺尔贝机器人研究院有限公司 | Mechanical-electrical integrated double-arm robot mounting base |
| CN106044214A (en) * | 2016-07-28 | 2016-10-26 | 苏州高通机械科技有限公司 | Multi-station mechanical arm |
| CN105965487A (en) * | 2016-07-28 | 2016-09-28 | 苏州高通机械科技有限公司 | Double-station mechanical hand with fast action |
| CN105965490A (en) * | 2016-07-28 | 2016-09-28 | 苏州高通机械科技有限公司 | Double-station manipulator |
| CN106142057A (en) * | 2016-08-27 | 2016-11-23 | 唐火红 | A kind of self-travel type both arms industrial robot device based on AGV |
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| CN109129432A (en) * | 2017-10-27 | 2019-01-04 | 王晶红 | A kind of both arms cooperation robot |
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| CN108544481A (en) * | 2018-05-17 | 2018-09-18 | 深圳市领略数控设备有限公司 | A kind of SCARA industrial robots |
| CN109352659A (en) * | 2018-12-06 | 2019-02-19 | 常州轻工职业技术学院 | Redundant mechanical jaw system and its working method for automatic production line |
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| CN109822225B (en) * | 2019-02-22 | 2021-10-08 | 合肥齐泰光电科技有限公司 | Laser for cambered surface marking |
| CN109760036A (en) * | 2019-03-22 | 2019-05-17 | 中国电子科技集团公司第三十八研究所 | Apery both arms cooperation robot based on synchronous belt pulley transmission |
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| CN111958632A (en) * | 2020-08-13 | 2020-11-20 | 广州超控自动化设备科技有限公司 | Arm-splitting type industrial robot |
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