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SCARA (Selective Compliance Assembly Robot Arm) and control system thereof

A technology of plane joints and robots, applied in the direction of program-controlled manipulators, manipulators, manufacturing tools, etc., can solve problems affecting assembly accuracy, and achieve the effects of high assembly accuracy, high speed, and reduced manufacturing costs.

Active Publication Date: 2016-03-30
SUZHOU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

In the above solution, when the two servo motors work at the same time, there will be unavoidable micro-jitter, which will affect the accuracy of assembly

Method used

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  • SCARA (Selective Compliance Assembly Robot Arm) and control system thereof
  • SCARA (Selective Compliance Assembly Robot Arm) and control system thereof
  • SCARA (Selective Compliance Assembly Robot Arm) and control system thereof

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Embodiment Construction

[0030] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described The embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0031] Such as figure 1 , figure 2 and image 3 As shown, the first preferred embodiment of the present invention is a planar articulated robot, wherein the planar articulated robot includes a frame 1, a first mechanical arm 2 arranged on the frame 1, a first mechanical arm 2 arranged on the frame 1 and a first mechanical arm. The f...

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PUM

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Abstract

The invention discloses an SCARA (Selective Compliance Assembly Robot Arm). The SCARA comprises a machine frame, a first mechanical arm arranged on the machine frame, a first motor arranged between the machine frame and the first mechanical arm, and a manipulator connected onto the first mechanical arm, wherein the first motor is embedded into the first mechanical arm and directly drives the first mechanical arm to rotate. The SCARA and the control system thereof have the advantages that the work efficiency is relatively high, the assembling accuracy is relatively high, and the cost is relatively low.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to a planar articulated robot and a control system thereof. Background technique [0002] With the continuous development of my country's economy and the rapid advancement of science and technology, industrial robots will be more widely used in various fields of manufacturing. Among them, the planar articulated robot arm is widely used in assembly operations. This type of robot has the advantages of light structure and fast response. The existing planar articulated robot arm joints are connected through a harmonic reducer or RV reducer, and the reducer is driven by a servo motor to achieve the purpose of quickly driving the mechanical arm. However, due to the use of a harmonic reducer or RV reducer, and there is a backlash between the meshing teeth in the reducer, there will be inevitable errors when the planar articulated robot arm is working, which will affect the assem...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/12B25J9/18
CPCB25J9/12B25J9/1605B25J9/1615
Inventor 刘吉柱刘永华
Owner SUZHOU UNIV
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