CN114474048B - Enclasping mechanism and SCARA robot capable of inhibiting terminal shaking - Google Patents
Enclasping mechanism and SCARA robot capable of inhibiting terminal shaking Download PDFInfo
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- CN114474048B CN114474048B CN202111629717.9A CN202111629717A CN114474048B CN 114474048 B CN114474048 B CN 114474048B CN 202111629717 A CN202111629717 A CN 202111629717A CN 114474048 B CN114474048 B CN 114474048B
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- enclasping
- shaped limiting
- screw rod
- stretching
- arc
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- 230000002401 inhibitory effect Effects 0.000 title claims abstract description 9
- 230000000670 limiting effect Effects 0.000 claims description 44
- 239000002184 metal Substances 0.000 claims description 3
- 229910052751 metal Inorganic materials 0.000 claims description 3
- 230000002829 reductive effect Effects 0.000 abstract description 10
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 4
- 210000000245 forearm Anatomy 0.000 description 4
- 238000005299 abrasion Methods 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- 230000036961 partial effect Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
-
- 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 enclasping mechanism and a SCARA robot capable of inhibiting end shaking, wherein the enclasping mechanism comprises a fixed support, a left enclasping part, a stretching part, a connecting rod, an electromagnet part and a right enclasping part, the fixed support is symmetrically provided with the left enclasping part and the right enclasping part, and the left enclasping part and the right enclasping part are matched; the fixing support is symmetrically provided with lugs, the stretching part is respectively connected with the left enclasping part and the lugs, and the stretching part is respectively connected with the right enclasping part and the lugs; the electromagnet part is arranged between the left enclasping part and the right enclasping part. According to the enclasping mechanism, after the screw rod is enclasped by the enclasping mechanism, the shaking amplitude of the screw rod can be reduced, so that the robot can shake less after running to a target point, and the workpiece can be ensured to be grabbed and placed at a more accurate point position under the condition of not reducing the production beat. The invention can solve the problem of positioning precision of the SCARA robot under high load and high speed and widen the application place 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 end shake.
Background
In the 3C industry, SCARA (Selective Compliance Assembly Robot Arm) robots are widely applied, and the requirements on the speed and the precision of SCARA robots are 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 inertial force, so that the problem of positioning accuracy in a high-speed occasion is affected. If the tail end of the electronic component is swayed in the inserting application place, the inserting success rate is low, and the inserting action can be performed after the tail end is stabilized, so that the production beat of the product is reduced, and the production efficiency is affected.
Chinese patent CN106737857a discloses a method for suppressing vibration at the end of a mechanical arm, and the technical scheme proposes that when the acceleration is greater than or equal to a critical acceleration, the movement value of the mechanical arm is slowed down until the acceleration is a safe acceleration; when the amplitude is greater than or equal to the critical amplitude, the movement of the mechanical arm is slowed down until the amplitude is a safe amplitude, but the problem of end shake when the mechanical arm moves to a designated position under high speed and high load still cannot be solved by the above patent.
Disclosure of Invention
In view of the above, the invention provides a enclasping mechanism and a SCARA robot capable of inhibiting end shake, and the invention improves the rigidity of the end of a screw rod by adding the enclasping mechanism to the end of the screw rod, thereby reducing the end shake problem of the robot in a high-speed and high-load state.
The technical scheme of the invention is as follows:
the enclasping mechanism comprises a fixed support, a left enclasping part, a stretching part, a connecting rod, an electromagnet part and a right enclasping part, wherein the fixed support is symmetrically provided with the left enclasping part and the right enclasping part, and the left enclasping part and the right enclasping part are matched;
The fixing support is symmetrically provided with lugs, the stretching part is respectively connected with the left enclasping part and the lugs, and the stretching part is respectively connected with the right enclasping part and the lugs; the electromagnet part is arranged between the left enclasping part and the right enclasping part.
Preferably, the left enclasping part and the right enclasping part can be hinged and fixed on the fixed support through cylindrical pins, and can still perform relative movement in a hinged and fixed mode, so that moderate tightness is ensured.
Preferably, the electromagnet part is provided with a slotted hole, is fixed on the fixed support through screw connection, is arranged in the middle of the left enclasping part and the right enclasping part, is in a power-off state in the running state of the robot, and is relatively opened under the tensile force of the stretching part, so that the screw rod can move up and down. When the screw rod runs to a designated point, the electromagnet part is communicated, the electromagnetic force of the electromagnet part is larger than the tensile force of the spring, and the left enclasping part and the right enclasping part are matched to enclasp the screw rod, so that the shaking of the screw rod is reduced.
Furthermore, the left enclasping part and the right enclasping part are both metal enclasping parts, so that the electromagnet part can play a role.
Further, the left enclasping part comprises a first main body, one end of the first main body is provided with a first connecting part, and the other end of the first main body is provided with a first connecting block; the first main body is provided with a first arc-shaped limiting part.
Further, the right enclasping part comprises a second main body, one end of the second main body is provided with a second connecting part, and the other end of the second main body is provided with a second connecting block; the second main body is provided with a second arc-shaped limiting part.
In the invention, one end of the first connecting block is connected with the stretching part, and one end of the second connecting block is connected with the stretching part.
Further, the first arc-shaped limiting part and the second arc-shaped limiting part are arranged in opposite directions to form a circular area which can be matched and connected with the screw rod.
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 parts; cam-shaped limiting blocks are symmetrically arranged in the second arc-shaped limiting parts.
Further, the stretching part is a spring stretching part.
Further, 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 control module of the prior art is also included, and the control module is connected with the electromagnet portion. The electromagnetic force can automatically control and regulate the current according to the feedback of the sensor of the control module, so that the electromagnetic force can be regulated. Particularly, the invention does not need to precisely control the electromagnetic force, and only needs to ensure that the electromagnetic force is enough to enable the iron to hug the screw rod tightly.
The invention also provides a SCARA robot capable of inhibiting end shaking, which comprises the enclasping mechanism, a robot base, a rotary large arm and a rotary small arm, wherein the robot base, the rotary large arm and the rotary small arm are sequentially connected, and the enclasping mechanism is connected with the rotary small arm in a matched manner.
Further, the rotary small arm is provided with a screw rod, and the screw rod is respectively connected with the left enclasping part and the right enclasping part in a matching way.
Further, a groove is formed in the screw rod. The groove is connected with the cam-shaped limiting block in a matched mode, the shapes of the groove and the cam-shaped limiting block are matched with each other, and when the screw rod stops in a high-speed rotation state, the screw rod can be held tightly through the structure, and sliding is prevented.
Preferably, the surfaces of the first arc-shaped limiting part and the cam-shaped limiting part are sequentially provided with a buffer layer and an anti-skid layer; the surfaces of the second arc limiting part and the cam-shaped limiting part 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.
According to the invention, the enclasping mechanism is added on the screw rod, and when the SCARA robot runs to a designated point, the enclasping mechanism enclasps the screw rod, so that the structural rigidity of the tail end of the screw rod is improved, and the shake of the tail end of the screw rod is reduced.
The working principle of the invention is as follows:
The fixed support of the enclasping mechanism is fixedly connected to the rotating forearm of the SCARA robot through a root connecting rod. The left enclasping part and the right enclasping part are mutually matched and hinged on the fixed support. One end of the spring is respectively connected to the protruding blocks of the fixed support, the other end of the spring is connected to the first connecting block of the left enclasping part and the second connecting block of the right enclasping part, the electromagnet part is arranged between the left enclasping part and the right enclasping part, when the electromagnet part is not electrified and in a non-electromagnetic state, the stretching part has a tensile force, the left enclasping part and the right enclasping part are pulled apart, so that the left enclasping part and the right enclasping part are in an open state, at the moment, the rotation of the screw rod is not influenced by the enclasping mechanism, and the robot can move according to a planned running path.
When the robot runs to a designated point, the electromagnet part is immediately electrified through signal control, the electromagnetic force generated by the electromagnet part is larger than the tensile force of the spring, the left enclasping part and the right enclasping part are matched to enclasp, and the screw rod and the enclasping mechanism form a whole, so that the rigidity of the screw rod is increased, and the shaking of the screw rod is reduced. In addition, the electromagnetic force can be adjusted by adjusting the current passing through the electromagnet part.
The structure of the contact area between the left enclasping part and the right enclasping part and the screw rod is in a cam shape, the SCARA screw rod is provided with a groove, the shapes of the left enclasping part and the right enclasping part are mutually matched, when the electromagnet part is electrified, the two enclasping parts are in attraction and enclasping, the groove is embedded with the cam-shaped limiting block, in this way, even if the screw rod rotates at a high speed, when the screw rod moves to a designated point to stop, the enclasping mechanism can enclasp the screw rod well, so that the screw rod can not slide, and the positioning precision of the screw rod is improved.
Compared with the prior art, the invention has the following beneficial effects:
Through the enclasping mechanism, the swing amplitude of the screw rod can be reduced after the screw rod is enclasped by the enclasping mechanism, so that the robot has smaller swing after running to the target point, and the point for placing the workpiece can be more accurate. The invention can solve the problem of positioning precision of the SCARA robot under high load and high speed and widen the application place of the SCARA robot.
Drawings
FIG. 1 is a schematic view of a hugging mechanism according to the present invention;
FIG. 2 is a schematic view of the hugging mechanism according to the present invention;
FIG. 3 is a schematic view of a partial structure of the hugging mechanism of the present invention;
FIG. 4 is a schematic view of a partial structure of the hugging mechanism of the present invention;
FIG. 5 is a schematic view of the structure of the SCARA robot of the present invention;
The device comprises a fixed support 1, a left enclasping part 2, a stretching part 3, a connecting rod 4, an electromagnet part 5, a right enclasping part 6, a cam-shaped limiting block 7, a SCARA robot 8 and an enclasping mechanism 10; the robot comprises a boss 11, a first main body 21, a first connecting part 22, a first connecting block 23, a first arc limiting part 24, a second main body 61, a second connecting part 62, a second connecting block 63, a second arc limiting part 64, a robot base 81, a rotary large arm 82, a rotary small arm 83 and a screw rod 84.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
The enclasping mechanism 10 comprises a fixed support 1, a left enclasping part 2, a stretching part 3, a connecting rod 4, an electromagnet part 5 and a right enclasping part 6, wherein the fixed support is symmetrically provided with the left enclasping part and the right enclasping part, and the left enclasping part and the right enclasping part are matched;
The fixing support is symmetrically provided with protruding blocks 11, the stretching part is respectively connected with the left enclasping part and the protruding blocks, and the stretching part is respectively connected with the right enclasping part and the protruding blocks; the electromagnet part is arranged between the left enclasping part and the right enclasping part.
Preferably, the left enclasping part and the right enclasping part can be hinged and fixed on the fixed support through cylindrical pins, and can still perform relative movement in a hinged and fixed mode, so that moderate tightness is ensured.
Preferably, the electromagnet part is provided with a slotted hole (not marked) and is fixedly arranged on the fixed support through screw connection, and is arranged in the middle of the left enclasping part and the right enclasping part, under the running state of the robot, the electromagnet part is in a power-off state, and under the action of the tensile force of the stretching part, the left enclasping part and the right enclasping part are relatively opened, so that the screw rod can move up and down. When the screw rod runs to a designated point, the electromagnet part is communicated, the electromagnetic force of the electromagnet part is larger than the tensile force of the spring, and the left enclasping part and the right enclasping part are matched to enclasp the screw rod, so that the shaking of the screw rod is reduced.
Furthermore, the left enclasping part and the right enclasping part are both metal enclasping parts, so that the electromagnet part can play a role.
Further, the left enclasping part comprises a first main body 21, one end of the first main body is provided with a first connecting part 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 arcuate limit 24.
Further, the right clasping portion includes 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 arcuate limit 64.
In the invention, one end of the first connecting block is connected with the stretching part, and one end of the second connecting block is connected with the stretching part.
Further, the first arc-shaped limiting part and the second arc-shaped limiting part are arranged in opposite directions to form a circular area which can be matched and connected with the screw rod.
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 parts; cam-shaped limiting blocks 7 are symmetrically arranged in the second arc-shaped limiting parts.
Further, the stretching part is a spring stretching part.
Further, 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, a control module (not labeled) of the prior art is also included, and the control module is connected with the electromagnet portion. The electromagnetic force can automatically control and regulate the current according to the feedback of the sensor of the control module, so that the electromagnetic force can be regulated. Particularly, the invention does not need to precisely control the electromagnetic force, and only needs to ensure that the electromagnetic force is enough to enable the iron to hug the screw rod tightly.
Example 2
The utility model provides a can restrain SCARA robot 8 that terminal rocked, includes embodiment 1 hug tightly the mechanism, still includes robot base 81, rotatory big arm 82, rotatory forearm 83, robot base, rotatory big arm, rotatory forearm connect gradually, hug tightly the mechanism and be connected with rotatory forearm cooperation.
Further, the rotating small arm is provided with a screw rod 84, and the screw rod is respectively connected with the left enclasping part and the right enclasping part in a matching way.
Further, a groove (not labeled) is formed in the screw rod. The groove is connected with the cam-shaped limiting block in a matched mode, the shapes of the groove and the cam-shaped limiting block are matched with each other, and when the screw rod stops in a high-speed rotation state, the screw rod can be held tightly through the structure, and sliding is prevented.
Preferably, the surfaces of the first arc-shaped limiting part and the cam-shaped limiting part 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 part 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.
According to the invention, the enclasping mechanism is added on the screw rod, and when the SCARA robot runs to a designated point, the enclasping mechanism enclasps the screw rod, so that the structural rigidity of the tail end of the screw rod is improved, and the shake 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 characteristics 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 disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art. It should be noted that technical features not described in detail in the present invention may be implemented by any prior art.
Claims (6)
1. The SCARA robot capable of inhibiting end shake is characterized by comprising a enclasping mechanism, a robot base, a rotating large arm and a rotating small arm, wherein the robot base, the rotating large arm and the rotating small arm are sequentially connected, the enclasping mechanism is connected with the rotating small arm in a matched manner, the rotating small arm is provided with a screw rod, the enclasping mechanism comprises a fixed support, a left enclasping part, a stretching part, a connecting rod, an electromagnet part and a right enclasping part, the fixed support is symmetrically provided with a left enclasping part and a right enclasping part, and the left enclasping part is matched with the right enclasping part; the left enclasping part comprises a first main body, and the first main body is provided with a first arc-shaped limiting part; cam-shaped limiting blocks are symmetrically arranged in the first arc-shaped limiting parts; the right enclasping part comprises a second main body, and the second main body is provided with a second arc-shaped limiting part; cam-shaped limiting blocks are symmetrically arranged in the second arc-shaped limiting parts; the surfaces of the first arc limiting part and the cam-shaped limiting part are sequentially provided with a buffer layer and an anti-skid layer; the surfaces of the second arc limiting part and the cam-shaped limiting block are sequentially provided with a buffer layer and an anti-skid layer; the first arc-shaped limiting part and the second arc-shaped limiting part are arranged in opposite directions to form a circular area which is connected with the screw rod in a matching way; the screw rod is provided with a groove which is connected with the cam-shaped limiting block in a matching way; the device comprises a first main body, a second main body, a first connecting block, a second connecting block, a first stretching part, a second stretching part and a second stretching part, wherein one end of the first main body is provided with the first connecting part, and the other end of the first main body is provided with the first connecting block; one end of the first connecting part is connected with the first stretching part, and one end of the second connecting part is connected with the second stretching part; the fixed support is symmetrically provided with protruding blocks, the first stretching part is respectively connected with the left enclasping part and the protruding blocks, and the second stretching part is respectively connected with the right enclasping part and the protruding blocks; the electromagnet part is arranged between the left enclasping part and the right enclasping part.
2. The SCARA robot capable of inhibiting end shake according to claim 1, wherein the left enclasping part and the right enclasping part are both metal enclasping parts.
3. The end shake-restraining SCARA robot of claim 1, wherein the tension is a spring tension.
4. The end-sway-inhibiting SCARA robot of claim 1, wherein the fixed support is provided with a connecting rod.
5. The end shake-inhibitable SCARA robot of claim 4, wherein the number of connecting rods is 3-5.
6. The end shake-controllable SCARA robot of claim 1, further comprising a control module coupled to the electromagnet portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111629717.9A CN114474048B (en) | 2021-12-28 | 2021-12-28 | Enclasping mechanism and SCARA robot capable of inhibiting terminal shaking |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111629717.9A CN114474048B (en) | 2021-12-28 | 2021-12-28 | Enclasping mechanism and SCARA robot capable of inhibiting terminal shaking |
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| Publication Number | Publication Date |
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| CN114474048A CN114474048A (en) | 2022-05-13 |
| CN114474048B true CN114474048B (en) | 2024-07-19 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2632620B1 (en) * | 1988-06-08 | 1990-10-05 | Leroy Somer | ELECTROMAGNETIC BRAKE WITH CLAMP JAWS |
-
2021
- 2021-12-28 CN CN202111629717.9A patent/CN114474048B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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| CN114474048A (en) | 2022-05-13 |
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