Planar joint robot

Abstract

The embodiment of the present invention relates to the industrial field, and discloses a planar joint robot. In the present invention, a planar joint robot is provided, comprising: a base with a concave structure, a boom connected to the base in the cavity of the base, and an arm connected to the end of the boom outside the cavity of the base The forearm and the tool end arranged at the end of the forearm; wherein, a first motor for controlling the horizontal rotation of the large arm and a second motor for controlling the horizontal rotation of the forearm are arranged in the base, and a motor for controlling the horizontal rotation of the tool end is arranged in the large arm The third motor is provided with a fourth motor for controlling the vertical movement of the tool end in the forearm. By placing a part of the motor in the forearm of the planar robot at the rear, the size and motion inertia of the forearm are reduced, and only the tool end at the end of the forearm is required to be driven during vertical movement, without the need for vertical movement of both the large arm and the forearm. Responsiveness of movement and stability while performing operations.

Description

technical field [0001] The embodiments of the present invention relate to the industrial field, in particular to a planar joint robot. Background technique [0002] Industrial robots integrate advanced manufacturing technologies such as precision, flexibility, intelligence, and software application development. By implementing detection, control, optimization, scheduling, management, and decision-making on the process, they can increase production, improve quality, reduce costs, and reduce Resource consumption and environmental pollution are the highest manifestations of industrial automation. The currently widely used planar joint robot (Selective Compliance Assembly Robot Arm, SCARA) is a multi-axis robot suitable for working on a horizontal plane. Typically a SCARA robot includes a fixed axis, such as a base fixed to a tabletop. The robot is also provided with a boom movable about a fixed axis, usually a vertical axis of rotation. In addition, the robot is also equippe...

AI Technical Summary

Problems solved by technology

[0006] The inventor finds that there are at least the following problems in the prior art: image 3 Although the structure of the robot shown reduces the size of the forearm of the robot and the moment of inertia when the forearm of the big arm rotates, the movement of the vertical direction of the end is changed to be performed by the connection between the base and the big arm, resulting in the vertical direction of the end of the robot The forearm and forearm need to be driven during movement, so that the mass and inertia of the driven load greatly increase when running vertically, requiring a larger power actuator and slowing down the response, and when the forearm and forearm are longer The movement of the cantilever structure in the vertical direction will easily cause the shaking of the forearm or even the whole machine, seriously affecting the accuracy and stability of the end

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