Horizontal multi-joint SCARA (Selective Compliance Assembly Robot Arm) type collaborative robot

Abstract

The invention provides a horizontal multi-joint SCARA (Selective Compliance Assembly Robot Arm) type collaborative robot. The multi-joint SCARA type collaborative robot comprises a base, a main arm and a head part which are rotatably interconnected, wherein a main arm driving motor, a head part driving motor, and a head part driving shaft which is arranged in a main arm transmission mechanism and a head part transmission mechanism are arranged in the base; a main shaft is arranged in the head part; a main shaft driving motor and a corresponding transmission mechanism are arranged in a head part housing; the main shaft is connected through the transmission mechanism and then can rotate and move up and down; a base bearing device is arranged between a main arm driven shaft and the base housing; a main arm bearing device is arranged between the head part transmission shaft and a main arm housing. According to the multi-joint SCARA type collaborative robot, the motor which is originally arranged in the head part housing and used for driving the head part to move is transferred into the base housing, so that the problem that large mass of a moving part of an original robot and eccentricity caused by the head part which is of a suspension arm structure lead to failure in increase of speed and moving accuracy can be solved; the head part driving system of the robot is balanced in mass; the moving part is light in mass; the movement inertia is reduced. Therefore, the sensing accuracy can be improved.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular provides a horizontal multi-joint SCARA collaborative robot. Background technique [0002] The SCARA (Selective Compliance Assembly Robot Arm) robot, started in 1980, aims to solve the assembly process problems in automated production at high speed and effectively. It was developed and industrialized by Makino Hiroshi, a professor at Yamanashi University in Japan at the time. Therefore, SCARA robots are also typical representatives of assembly robots. [0003] In the era of mass industrial production, SCARA robots have the characteristics of simple movements, high speed, and low cost, and have achieved certain application results centered on the 3C electronics industry (computers, communications, and consumer electronics). The specific application processes include picking and placing (inserting) parts, dispensing glue, locking screws, soldering, etc., replacing manual work to a...

AI Technical Summary

Problems solved by technology

[0010] 1. The motor M2 that drives the head 03 to rotate relative to the main arm 02 is installed in the head 03, so that the weight of the two moving parts of the main arm 02 and the head 03 is very heavy, thereby hindering the improvement of the robot's action speed

[0011] 2. The two moving parts of the main arm 02 and the head 03 are in the form of cantilever support relative to the base 01, and the mass is eccentric, which makes it difficult to improve the movement speed and movement accuracy of the robot

[0012] 3. In order to connect the motor of the head 03, an external wiring cable tube 04 is installed to connect the base 01 and the head 03. The external wiring cables cause movement resistance and also affect the speed of the robot

[0013] 4. The connecting bearing connected to the reducer J1 on the main arm drive motor M1 bears the full weight of the head. The customized bearing in the reducer J1 is small and can meet the requirements of torque transmission, but its bearing capacity is insufficient, making the structure Low rigidity, often causing early damage to the robot

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