Third-shaft and fourth-shaft joint structure of SCARA robot and SCARA robot

Abstract

The invention relates to a third-shaft and fourth-shaft joint structure of an SCARA robot. The third-shaft and fourth-shaft joint structure comprises a second mechanical arm, a ball spline shaft, a third shaft driving unit and a fourth shaft driving unit. The ball spline shaft is located at the executing end. The third shaft driving unit comprises a base and a direct drive motor. The direct drivemotor comprises a nut, a motor shaft, a rotor, a stator and a first bearing. The fourth-shaft driving unit comprises a servo motor, a driving belt wheel, a spline nut, a driven belt wheel, a synchronous belt and a second bearing. The invention further provides the SCARA robot. The installing and maintaining difficulty is lowered on the premise of keeping the integrated compactness, it is ensured that the robot is small and exquisite, the cost is lowered, and the heat dissipation capability is ensured. Under the condition of a small arm span, the requirement for the motor space layout of third-shaft and fourth-shaft mechanical arms is met, and the transmission precision and the transmission efficiency of the third shaft joint are improved.

Description

technical field [0001] The invention relates to the technical field of robot design, in particular to a three-axis and four-axis joint structure of a SCARA robot and a SCARA robot. Background technique [0002] SCARA (Selective Complaince Assembly Arm) robot is a special type of industrial robot with cylindrical coordinates. The SCARA robot has four axes and four degrees of freedom of motion, including translation along the X, Y, and Z directions and rotation around the Z axis. The third axis of the SCARA robot is a joint structure that realizes translation in the Z direction, generally called the Z axis. The fourth axis of the SCARA robot is a joint structure that realizes rotational motion around the Z axis, generally called the R axis. [0003] At present, the three-axis and four-axis transmission methods of SCARA robots on the market are mainly driven by synchronous belts, which require that the three-axis and four-axis motors are installed on the same mechanical arm o...

AI Technical Summary

Problems solved by technology

[0004] 1. The compact setting makes installation and maintenance difficult;

[0005] 2. In the case of setting a small arm extension, there may be insufficient space for the three- and four-axis robotic arms, and it is impossible to arrange two motors in a limited space, because the length of the pitch line of the synchronous belt has international standards, and the compact arrangement At the same time as the three-axis and four-axis motors, there will be a problem that the synchronous belt lacks a suitable pitch line length, and the non-standard synchronous belt is not conducive to later replacement and maintenance;

[0006] 3. The transmission mode of the synchronous belt is a non-direct drive mode, which will reduce the transmission accuracy and transmission efficiency;

[0007] 4. For SCARA robots with small arms, in order to ensure the compactness of the robot, the motor, reducer, and brake need to be miniaturized, which increases the cost and makes it difficult to dissipate heat

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