Quasi-SCARA (Selective Compliance Assembly Robot Arm) industrial robot

Abstract

The invention relates to a quasi-SCARA (Selective Compliance Assembly Robot Arm) industrial robot, which comprises a base, a whole arm rotating mechanism, a vertical motion mechanism, a forearm rotating mechanism and an actuating station rotating mechanism; the whole arm rotating mechanism is fixedly arranged on the base; the vertical motion mechanism is arranged on the whole arm rotating mechanism; the whole arm rotating mechanism drives the vertical motion mechanism to rotate; the forearm rotating mechanism is fixedly arranged on the vertical motion mechanism; the vertical motion mechanism drives the forearm rotating mechanism to move vertically; the actuating station rotating mechanism is arranged on the forearm rotating mechanism; the forearm rotating mechanism drives the actuating station rotating mechanism to rotate; so that a tandem type industrial robot structure is formed. Compared with an SCARA robot, the quasi-SCARA industrial robot has the advantages that the lifting movement of the robot is moved from the fourth joint to the second joint, the robot is small in size in the vertical direction due to the special flat design of the forearm rotating mechanism and the actuating station rotating mechanism, and thus the robot is more suitable for operations of carrying objects and the like in a narrow space.

Description

technical field [0001] The invention relates to an industrial robot, in particular to a four-degree-of-freedom industrial robot similar in function to a SCARA robot but different in structure, that is, a SCARA-like industrial robot. Background technique [0002] SCARA robots are widely used in the fields of automatic handling and assembly due to their fast movement speed and relatively low cost. A typical SCARA industrial robot consists of four degrees of freedom. Starting from the base, the first joint is rotation, which realizes the horizontal rotation of the whole arm; the second joint is also a rotation, which realizes the horizontal rotation of the forearm; the third joint is the rotation of the execution end. , to realize the horizontal rotation of the tool; the fourth joint is the vertical movement of the execution end, to realize the lifting of the tool. Since the actuator mechanism includes both rotary motion and linear lifting motion, the actuator mechanism occupi...

AI Technical Summary

Problems solved by technology

Therefore, the existing SCARA industrial robots are generally only suitable for open workspaces, and the existing SCARA robots cannot be used for the narrow space in the vertical plane.

For example, in order to realize the automatic loading and unloading of the punching machine during stamping, it is necessary for the robot end effector to extend into the relatively narrow space between the upper and lower stamping dies of the punching machine, about 20cm. The existing SCARA robot cannot go deep into such a narrow space, even if It can be stretched in, but it can't realize lifting movements such as suction and discharge.

Images