SCARA carrying mechanical arm

A technology of manipulators and racks, applied in the direction of manipulators, program-controlled manipulators, conveyor objects, etc., can solve the problems of thin manipulator arms such as compact space, difficulty in ensuring rigidity, and difficulty in tensioning and maintenance, and achieve compact structure, small deformation, and rigidity. high effect

Inactive Publication Date: 2020-07-03
SHENYANG SIASUN ROBOT & AUTOMATION
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention aims to overcome the problem of difficult tensioning and maintenance of existing SCARA-type handling manipulators, especially for the technical defects of thin manipulators with compact space and difficult rigidity guarantee. The invention provides a SCARA-type handling manipulator that is easy to tension and maintain

Method used

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  • SCARA carrying mechanical arm
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  • SCARA carrying mechanical arm

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0049] first reference figure 1 , a SCARA-type handling manipulator mainly includes: base 1, big arm 2, small arm 3, end load 4, driving device 5, first pulley 17, second pulley, third pulley, fourth pulley ; The base 1 is arranged horizontally, the first driving device 5 is vertically arranged on the base 1, the first pulley and the second pulley are arranged inside the boom 2, the first pulley is fixedly arranged on the base 1, and the second pulley is fixed on the base 1. The wheel drives the small arm 3 with the large arm 2 as the frame, the third pulley and the fourth pulley are arranged inside the small arm 3, the third pulley is fixedly arranged on the large arm 2, and the fourth pulley is driven by the small arm 3. The end of the rack drive carries 4;

[0050] The base 1 and the upper arm 2 form the shoulder joint, the upper arm 2 and the forearm 3 form the elbow joint, and the forearm 3 and the end bearing 4 form the wrist joint.

[0051] Each mechanical arm is driv...

Embodiment 2

[0058] This embodiment is improved on the basis of embodiment 1, as Figure 7 , 8 Shown, big arm 2, big arm cover plate 6 have radial reinforcing ribs 18, and forearm 3 and forearm cover plate 15 also have similar structure.

[0059] Such as Figure 9 As shown, the shoulder joint pulley has an inner cavity structure, which is used to increase the number of supporting bearings, form multi-fulcrum unidirectional fixation, and improve rigidity. Such as Figure 6 As shown, a thin crossed roller bearing 14 is used at the shoulder joint to reduce the space size and improve the ability to bear the bending moment. A gap is reserved between the axial surface of the shoulder joint cross roller bearing and the positioning surface of the inner cavity to prevent the shaft from elongating due to the temperature rise of the shaft and generating additional stress. Elbow joint, wrist joint also have above-mentioned same structure, no longer describe here.

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Abstract

The invention relates to the technical field of industrial mechanical arms, and particularly discloses an SCARA carrying mechanical arm. The SCARA carrying mechanical arm comprises a base, a large arm, a small arm, an end bearing part, a driving device, a first belt wheel, a second belt wheel, a third belt wheel and a fourth belt wheel. The base is horizontally mounted, the first driving device isvertically mounted on the base, the first belt wheel and the second belt wheel are mounted in the large arm, the first belt wheel is fixed to the base, the second belt wheel drives the small arm withthe large arm as a rack, the third belt wheel and the fourth belt wheel are mounted in the small arm, the third belt wheel is fixed to the large arm, the fourth belt wheel drives the end bearing partwith the small arm as the rack, tightness devices are mounted in two side plates of the large arm, and are used for adjusting tensioning force of a transmission belt penetrating through the first belt wheel and the second belt wheel, a sensor is mounted in the large arm, and used for measuring the tension of the transmission belt in the large arm, the small arm is also provided with the structuresimilar to that of the large arm, the mechanical arm is easy to tension and maintain, a shell does not need to be dismounted, and the inner transmission belt can be conveniently tensioned and maintained.

Description

technical field [0001] The invention relates to the technical field of industrial manipulators, in particular to a SCARA type handling manipulator. Background technique [0002] The full name of SCARA is Selective Compliance Assembly Robot Arm, that is, the selective compliance robot arm. In the semiconductor industry, the working space is compact and the raw materials are fragile, so SCARA robotic arms are often used for handling operations. [0003] SCARA manipulators are usually driven by synchronous belts or steel belts. The belt drive needs to be tensioned. Too much or too little tension will affect the service life of the belt, and the belt drive needs regular maintenance. For the thin robotic arm, although it can effectively reduce the size of the handling equipment in a compact working environment, it also increases the difficulty of its tension maintenance. In order to facilitate tensioning, large-sized holes are often made, which will greatly weaken the rigidity ...

Claims

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Application Information

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IPC IPC(8): B65G47/74B25J9/02
CPCB25J9/02B25J9/041B65G47/74
Inventor徐方邹风山周昊赵治国边弘晔董吉顺
OwnerSHENYANG SIASUN ROBOT & AUTOMATION