A SCARA robot with high positioning accuracy and a method of using the same

Abstract

The present invention discloses a SCARA robot with high positioning accuracy and a method for using the same. The present invention relates to the technical field of SCARA robots, including a control box, a mechanical arm, a moving rod, a cleaning assembly and a camera locator. A three-axis mechanical arm is installed on the top of the control box, the moving rod runs through the inner wall of the three-axis mechanical arm, a camera locator is installed on the outer wall of the mechanical arm, and a cleaning assembly is installed on the outer wall of the camera locator. The present invention realizes the function of improving the positioning accuracy of the positioning camera of the SCARA robot by installing a motor that rotates to drive the second plate to rotate, the second plate rotates to drive the cleaning block to rotate, the cleaning block rotates and contacts with the bottom of the camera locator to drive the cleaning block to move, the cleaning block moves to drive the first spring to move, the first spring moves to drive the cleaning block to drive the first cylinder to move, the first cylinder moves to make the cleaning block closely contact with the camera locator to make it clean quickly, thereby realizing the function of improving the positioning accuracy of the positioning camera of the SCARA robot by installing a motor that rotates to drive the second plate to rotate, the second plate rotates to drive the cleaning block to rotate, the cleaning block rotates and contacts with the bottom of the camera locator to drive the cleaning block to move, the cleaning block moves to drive the first spring to move, the first spring moves to make the cleaning block drive the first cylinder to move, the first cylinder moves to make the cleaning block closely contact with the camera locator to make it clean quickly.

Description

Technical Field

[0001] The invention relates to the technical field of SCARA robots, in particular to a SCARA robot with high positioning accuracy and a use method thereof. Background Art

[0002] SCARA robots are widely used in the industrial field. This type of robot plays an important role in the field of industrial automation. The structure of the SCARA robot allows it to work in a smaller space, which makes it perform well in some tasks that require a high degree of concentration. The working principle of the SCARA robot is that the SCARA robot is connected to a computer control system to achieve automated production, but the existing CARA robot's positioning camera cannot be cleaned quickly, reducing the positioning accuracy.

[0003] The defects of existing CARA robots are:

[0004] 1. Patent document CN208342839U discloses a SCARA robot, "including: a base; a two-axis arm module, one end of the two-axis arm module is connected to the base through a first rotating axis, and the two-axis arm module can rotate in the horizontal direction around the first rotating axis; a three-axis arm module, one end of the three-axis arm module is connected to the other end of the two-axis arm module through a second rotating axis, and the three-axis arm module can rotate in the horizontal direction around the second rotating axis; an execution module, the execution module is installed on the three-axis arm module; a wire tube, the two ends of the wire tube are respectively connected to the base and the three-axis arm module, and the wire tube is provided with electric wires and signal lines. The utility model can monitor the motor torque in real time, make the tightening torque of each screw the same, and can tighten screws of various specifications, occupying a small space, high work efficiency and low cost", but the positioning camera of the existing CARA robot cannot be quickly cleaned, reducing the positioning accuracy;

[0005] 2. Patent document CN109895080B discloses a SCARA robot forearm structure and a SCARA robot, "including: a forearm; a driving mechanism, the driving mechanism is installed at the first end of the forearm; a screw spline assembly, the screw spline assembly is installed at the second end of the forearm; a transmission mechanism, the transmission mechanism is connected between the screw spline assembly and the driving mechanism; an encoder assembly, the encoder assembly is installed on the screw spline assembly to collect the motion information of the screw spline assembly; a control unit, the control unit is communicatively connected with the encoder assembly and the driving mechanism, and the control unit controls the driving mechanism according to the information transmitted by the encoder assembly to compensate for the motion error of the screw spline assembly. The SCARA robot forearm structure of the present invention has high control accuracy and low production and control costs", but the visual focal length of the existing CARA robot cannot be adjusted quickly, which easily reduces the recognition accuracy;

[0006] 3. Patent document CN104858647B discloses a SCARA screw driving manipulator and a SCARA robot used therein. "The manipulator includes an output shaft; a cylindrical shell is provided at the lower end of the output shaft; an intermediate connecting cylinder is provided at the lower end of the shell; a screw discharge mechanism is provided at the lower end of the intermediate connecting cylinder; a screwdriver with its lower end inserted into the screw discharge mechanism is provided at the lower part of the shell; a screwdriver fixing mechanism is provided at the upper end of the screwdriver; the upper end of the screwdriver fixing mechanism is axially connected to the output shaft; the robot includes the manipulator and can be equipped with a hard tapping controller; due to the solution of placing the motor on the moving platform, the purpose of simple structure and convenient maintenance is achieved", but the existing CARA robot cannot automatically adjust the height, which increases the positioning accuracy of the SCARA robot and the misjudgment rate;

[0007] 4. Patent document CN106863272B discloses a universal SCARA robot, "including a base, a first swing arm is connected to the base, a second swing arm is connected to the first swing arm, a motor is provided on the base, a connecting hole is provided on the first swing arm, the upper and lower connecting structures of the connecting hole are symmetrical, a narrowing portion is provided in the middle of the connecting hole, a harmonic reducer is provided in the connecting hole, the harmonic reducer includes a mounting ring and a reducer body arranged on one side of the mounting ring, the output end of the motor is connected to the reducer body, the mounting ring can be connected to the upper and lower outer sides of the narrowing portion respectively so that the base can be connected to the first swing arm at the top or bottom. In this way, two different installation methods of the SCARA robot are realized to adapt to different usage requirements. The present invention is used for a SCARA robot", but the suction head of the existing CARA robot cannot be quickly replaced, which increases manual labor. Summary of the invention

[0008] The object of the present invention is to provide a SCARA robot with high positioning accuracy and a method of using the same, so as to solve the technical problem in the above-mentioned background technology that the positioning camera of the existing CARA robot cannot be quickly cleaned, thereby reducing the positioning accuracy.

[0009] To achieve the above object, the present invention provides the following technical solutions: a SCARA robot with high positioning accuracy, comprising a control box, a mechanical arm, a moving rod, a cleaning component and a camera locator, wherein a three-axis mechanical arm is installed on the top of the control box, the moving rod runs through the inner wall of the three-axis mechanical arm, a camera locator is installed on the outer wall of the mechanical arm, a cleaning component is installed on the outer wall of the camera locator, the camera locator locates the material by using a graphic comparison technology, an adjustment component is installed on the inner wall of the mechanical arm, and the adjustment component is used to adjust the height of the camera locator;

[0010] The cleaning component includes a No. 1 plate, a No. 1 motor, a No. 2 plate, a collecting box, a water pump, a No. 1 spring, and a cleaning block. The No. 1 plate is located on the outer wall of the camera locator, the No. 1 motor is located at the bottom of the No. 1 plate, the No. 2 plate is located at the output end of the No. 1 motor, the collecting box is located on the inner wall of the No. 2 plate, the water pump is located on the inner wall of the No. 2 plate, and the input end of the water pump extends to the inner wall of the collecting box, a No. 1 port is provided on the top of the No. 2 plate, a cleaning block is installed through the inner wall of the No. 1 port, the No. 1 spring is located at the bottom of the cleaning block, and one end of the No. 1 spring is connected to the inner wall of the No. 2 plate, a water pipe is installed at the output end of the water pump, a nozzle is installed on the outer wall of the water pipe, and the nozzle is located at the bottom of the cleaning block.

[0011] Preferably, the cleaning block moves through the No. 1 port, a No. 1 rod is installed on the inner wall of the No. 2 plate, a No. 1 tube is installed on the outer wall of the No. 1 rod, and the outer wall of the No. 1 tube is connected to the outer wall of the cleaning block.

[0012] Preferably, the adjustment assembly includes a No. 2 rod, a No. 2 cylinder, an L-shaped rod, a No. 2 motor, and a threaded rod. The No. 2 rod is located on the inner wall of the robotic arm, the No. 2 cylinder is located on the outer wall of the No. 2 rod, and the outer wall of the robotic arm is provided with two No. 3 openings. Two L-shaped rods respectively pass through the two ends of the two No. 3 openings, one end of the L-shaped rod is connected to the outer wall of the No. 2 cylinder, and one end of the L-shaped rod is connected to the top of the camera locator. The No. 2 motor is located on the inner wall of the robotic arm, and the threaded rod is located at the output end of the No. 2 motor. A threaded sleeve is meshed and installed on the outer wall of the threaded rod, and a connecting rod is installed on the outer wall of the threaded sleeve. The two ends of the connecting rod are respectively connected to the outer walls of the two L-shaped rods.

[0013] Preferably, the No. 2 tube is moved by the support of the No. 2 rod, and the L-shaped rod is moved by the No. 3 port.

[0014] Preferably, a height measuring component is installed on the inner wall of the robotic arm, and the height measuring component is used to measure the moving height of the camera locator. The height measuring component includes an infrared detection head, and the infrared detection head is electrically connected to the control box. The adjustment component is electrically connected to the control box. The infrared detection head is used to detect real-time height data of the camera locator, and the control box has appropriate height data of the camera locator built in.

[0015] Preferably, the real-time height data of the camera locator is transmitted to the control box, and the control box compares the real-time height data of the camera locator with the appropriate height data of the camera locator. If the comparison result of the control box shows that the real-time height data of the camera locator is greater than the appropriate height data of the camera locator, the control box sets it to a too high height state; if the comparison result of the control box shows that the real-time height data of the camera locator is less than the appropriate height data of the camera locator, the control box sets it to a too low height state; if the comparison result of the control box shows that the real-time height data of the camera locator is equal to the appropriate height data of the camera locator, the control box sets it to a suitable height state.

[0016] Preferably, a mounting block is installed at one end of the moving rod, a suction head is penetrated through the inner wall of the mounting block, a replacement component is installed on the inner wall of the mounting block, the replacement component is used for quick replacement of the suction head, a control line is installed on the top of the control box, and one end of the control line is connected to the outer wall of the robotic arm.

[0017] Preferably, the replacement assembly includes a No. 5 cylinder, a clamp, a bayonet, an annular sealing ring, and an electromagnetic coil. The No. 5 cylinder is located on the inner wall of the mounting block, the electromagnetic coil is located on the inner wall of the No. 5 cylinder, a No. 5 spring is installed on the outer wall of the electromagnetic coil, a clamp is installed on the outer wall of the No. 5 spring, a No. 5 port is provided at the bottom of the mounting block, a bayonet is provided on the outer wall of the suction head, the annular sealing ring is located on the inner wall of the mounting block, and one end of the suction head is connected to the bottom of the annular sealing ring.

[0018] Preferably, the suction head is moved through the No. 5 port, and the clamping head can be clamped into the inside of the clamping port.

[0019] Preferably, the method for using the robot comprises the following steps:

[0020] Step S1, the water pump is started to suck the cleaning liquid in the collection box to the inner wall of the water pipe, and the cleaning liquid in the water pipe is sprayed to the cleaning block through the nozzle, and the cleaning block absorbs the cleaning liquid. At this time, the motor rotates to drive the No. 2 plate to rotate, and the No. 2 plate rotates to drive the cleaning block to rotate. The cleaning block rotates and contacts with the bottom of the camera locator to drive the cleaning block to move. The movement of the cleaning block drives the No. 1 spring to move. The movement of the No. 1 spring causes the cleaning block to drive the No. 1 cylinder to move. The No. 1 cylinder moves to make the cleaning block closely contact with the camera locator to clean it quickly, thereby realizing the function of quickly cleaning the positioning camera of the SCARA robot and improving the positioning accuracy;

[0021] Step S2, the rotation of the No. 2 motor drives the threaded rod to rotate, the rotation of the threaded rod drives the threaded sleeve to move, the movement of the threaded sleeve drives the connecting rod to move, the movement of the connecting rod drives the L-shaped rod to move, the movement of the L-shaped rod drives the No. 2 barrel to move, the movement of the No. 2 barrel causes the L-shaped rod to drive the camera locator to move, and the camera locator moves, thereby realizing the function of quickly adjusting the visual focal length of the SCARA robot to improve the recognition accuracy;

[0022] Step S3, when the control box detects that the height is too high, the control box controls the adjustment component to descend, and during the descent of the adjustment component, the infrared detection head continuously detects the height of the camera locator until the control box detects that the height is too low or the height is appropriate. When the control box detects that the height is too low, the control box controls the adjustment component to rise, and during the rise of the adjustment component, the infrared detection head continuously detects the height of the camera locator until the control box detects that the height is too high or the height is appropriate. When the control box detects that the height is too low, the control box controls the adjustment component to stop, and during the stop of the adjustment component, the infrared detection head continuously detects the height of the camera locator until the control box detects that the height is too high or the height is too low, thereby realizing the function of automatically adjusting the height to improve the positioning accuracy of the SCARA robot and reduce the misjudgment rate;

[0023] Step S4, the electromagnetic coil is started to generate magnetic force to drive the clamping head to move, and the movement of the clamping head drives the compression of the No. 5 spring. The compression of the No. 5 spring causes the clamping head to move out of the clamping port. At this time, the suction head is pulled to remove the annular sealing ring and move out through the No. 5 port for replacement. After the replaced suction head is closely contacted with the annular sealing ring, the electromagnetic coil is turned off and the magnetic force disappears. The No. 5 spring is stretched to drive the clamping head to move. The movement of the clamping head causes it to be clamped into the clamping port and fixed. The function of rapid replacement of the suction head of the SCARA robot is realized to improve manual labor.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] 1. The present invention is started by installing a water pump to suck the cleaning liquid in the collection box to the inner wall of the water pipe, and the cleaning liquid in the water pipe is sprayed to the cleaning block through the nozzle, and the cleaning block absorbs the cleaning liquid. At this time, the rotation of the motor drives the No. 2 plate to rotate, and the rotation of the No. 2 plate drives the cleaning block to rotate. The cleaning block rotates and contacts with the bottom of the camera locator to drive the cleaning block to move. The movement of the cleaning block drives the No. 1 spring to move. The movement of the No. 1 spring causes the cleaning block to drive the No. 1 cylinder to move. The No. 1 cylinder moves to make the cleaning block closely contact with the camera locator to make it clean quickly, thereby realizing the function of quickly cleaning the positioning camera of the SCARA robot and improving the positioning accuracy;

[0026] 2. The present invention realizes the function of quickly adjusting the visual focal length of the SCARA robot to improve the recognition accuracy by installing a No. 2 motor to rotate and drive the threaded rod to rotate, the threaded rod to rotate and drive the threaded sleeve to move, the threaded sleeve to move and drive the connecting rod to move, the connecting rod to move and drive the L-shaped rod to move, the L-shaped rod to move and drive the No. 2 barrel to move and drive the L-shaped rod to move the camera locator, the camera locator to move, and the visual focal length of the SCARA robot to quickly adjust and improve the recognition accuracy;

[0027] 3. The present invention is equipped with a control box, when it detects that the height is too high, the control box controls the adjustment component to descend, during the period when the adjustment component is descending, the infrared detection head continuously detects the height of the camera locator until the control box detects that the height is too low or the height is appropriate, when the control box detects that the height is too low, the control box controls the adjustment component to rise, during the period when the adjustment component rises, the infrared detection head continuously detects the height of the camera locator until the control box detects that the height is too high or the height is appropriate, when the control box detects that the height is too low, the control box controls the adjustment component to stop, during the period when the adjustment component stops, the infrared detection head continuously detects the height of the camera locator until the control box detects that the height is too high or the height is too low, thereby realizing the function of automatically adjusting the height to improve the positioning accuracy of the SCARA robot and reduce the misjudgment rate;

[0028] 4. The present invention is started by installing an electromagnetic coil to generate magnetic force to drive the clamping head to move, and the movement of the clamping head drives the compression of the No. 5 spring. The compression of the No. 5 spring causes the clamping head to move out of the clamping port. At this time, the suction head is pulled to remove the annular sealing ring and move out through the No. 5 port for replacement. After the replaced suction head is brought into close contact with the annular sealing ring, the electromagnetic coil is turned off and the magnetic force disappears. The No. 5 spring is stretched to drive the clamping head to move. The movement of the clamping head causes it to be clamped into the clamping port to fix it, thereby realizing the function of rapid replacement of the suction head of the SCARA robot and improving manual labor. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a front view structural schematic diagram of the present invention;

[0030] Figure 2 It is a schematic diagram of the structure of the first motor of the present invention;

[0031] Figure 3 It is a schematic diagram of the cleaning block structure of the present invention;

[0032] Figure 4 It is a schematic diagram of the L-shaped rod structure of the present invention;

[0033] Figure 5 For the present invention Figure 4 A structural diagram of ;

[0034] Figure 6 It is a schematic diagram of the height control process of the present invention;

[0035] Figure 7 It is a schematic diagram of the mounting block structure of the present invention;

[0036] Figure 8 It is a schematic diagram of the structure of the clamp head of the present invention.

[0037] In the figure: 1. control box; 3. mechanical arm; 4. control line; 6. moving rod; 7. rod No. 2; 8. cylinder No. 2; 9. L-shaped rod; 10. motor No. 2; 11. threaded rod; 12. threaded sleeve; 13. connecting rod; 14. camera positioner; 15. plate No. 1; 16. motor No. 1; 17. plate No. 2; 18. infrared detection head; 19. spring No. 1; 20. cleaning block; 21. mouth No. 1; 22. collection box; 23. water pump; 24. rod No. 1; 25. cylinder No. 1; 26. water pipe; 27. nozzle; 28. mounting block; 29. ​​suction head; 30. bayonet; 31. annular sealing ring; 32. mouth No. 5; 33. cylinder No. 5; 34. electromagnetic coil; 35. bullet No. 5; 36. clamp; 37. mouth No. 3. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0040] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0041] Example 1: Please refer to Figure 1 , Figure 2 and Figure 3 An embodiment of the present invention is as follows: a SCARA robot with high positioning accuracy comprises a control box 1, a mechanical arm 3, a moving rod 6, a cleaning component and a camera positioner 14. A three-axis mechanical arm 3 is installed on the top of the control box 1. The moving rod 6 runs through the inner wall of the three-axis mechanical arm 3. A camera positioner 14 is installed on the outer wall of the mechanical arm 3. A cleaning component is installed on the outer wall of the camera positioner 14. The camera positioner 14 positions the material by using a graphic comparison technology. An adjustment component is installed on the inner wall of the mechanical arm 3. The adjustment component is used to adjust the height of the camera positioner 14. A mounting block 28 is installed at one end of the moving rod 6. A suction head 29 runs through the inner wall of the mounting block 28. A replacement component is installed on the inner wall of the block 28, and the replacement component is used for quick replacement of the suction head 29. A control line 4 is installed on the top of the control box 1, and one end of the control line 4 is connected to the outer wall of the robotic arm 3. The function of the control line 4 is to provide data transmission and control for the SCARA robot. The cleaning component includes a No. 1 board 15, a No. 1 motor 16, a No. 2 board 17, a collection box 22, a water pump 23, a No. 1 spring 19, and a cleaning block 20. The No. 1 board 15 is located on the outer wall of the camera locator 14, the No. 1 motor 16 is located at the bottom of the No. 1 board 15, the No. 2 board 17 is located at the output end of the No. 1 motor 16, the collection box 22 is located on the inner wall of the No. 2 board 17, and the water pump 23 is located on the inner wall of the No. 2 board 17. The second plate 17 has a first port 21 on its top, and a cleaning block 20 is installed through the inner wall of the first port 21. A first spring 19 is located at the bottom of the cleaning block 20, and one end of the first spring 19 is connected to the inner wall of the second plate 17. A water pipe 26 is installed at the output end of the water pump 23, and a nozzle 27 is installed on the outer wall of the water pipe 26, and the nozzle 27 is located at the bottom of the cleaning block 20. The cleaning block 20 moves through the first port 21. A rod 24 is installed on the inner wall of the second plate 17, and a cylinder 25 is installed on the outer wall of the rod 24, and the outer wall of the cylinder 25 is connected to the outer wall of the cleaning block 20. When the water pump 23 is started, the collecting The cleaning liquid in the box 22 is sucked to the inner wall of the water pipe 26, and the cleaning liquid in the water pipe 26 is sprayed to the cleaning block 20 through the nozzle 27. The cleaning block 20 absorbs the cleaning liquid. At this time, the motor 16 rotates to drive the No. 2 plate 17 to rotate, and the No. 2 plate 17 rotates to drive the cleaning block 20 to rotate. The cleaning block 20 rotates and contacts the bottom of the camera locator 14 to drive the cleaning block 20 to move. The movement of the cleaning block 20 drives the No. 1 spring 19 to move. The movement of the No. 1 spring 19 causes the cleaning block 20 to drive the No. 1 cylinder 25 to move. The movement of the No. 1 cylinder 25 causes the cleaning block 20 to be in close contact with the camera locator 14 to clean it quickly, thereby realizing the function of quickly cleaning the positioning camera of the SCARA robot and improving the positioning accuracy.

[0042] Example 2: Please refer to Figure 1 and Figure 4 An embodiment of the present invention is as follows: an adjustment component includes a No. 2 rod 7, a No. 2 cylinder 8, an L-shaped rod 9, a No. 2 motor 10, and a threaded rod 11. The No. 2 rod 7 is located on the inner wall of the mechanical arm 3, the No. 2 cylinder 8 is located on the outer wall of the No. 2 rod 7, the outer wall of the mechanical arm 3 is provided with two No. 3 openings 37, two L-shaped rods 9 respectively penetrate the two ends of the two No. 3 openings 37, one end of the L-shaped rod 9 is connected to the outer wall of the No. 2 cylinder 8, one end of the L-shaped rod 9 is connected to the top of the camera locator 14, the No. 2 motor 10 is located on the inner wall of the mechanical arm 3, the threaded rod 11 is located at the output end of the No. 2 motor 10, and the outer wall of the threaded rod 11 is meshed with a threaded sleeve 12, and the threaded sleeve 12 A connecting rod 13 is installed on the outer wall, and the two ends of the connecting rod 13 are respectively connected to the outer walls of the two L-shaped rods 9. The No. 2 cylinder 8 moves through the support of the No. 2 rod 7, and the L-shaped rod 9 moves through the No. 3 mouth 37. The No. 2 motor 10 rotates to drive the threaded rod 11 to rotate, and the rotation of the threaded rod 11 drives the threaded sleeve 12 to move. The movement of the threaded sleeve 12 drives the connecting rod 13 to move, and the movement of the connecting rod 13 drives the L-shaped rod 9 to move. The movement of the L-shaped rod 9 drives the No. 2 cylinder 8 to move. The movement of the No. 2 cylinder 8 causes the L-shaped rod 9 to drive the camera locator 14 to move. The camera locator 14 moves, thereby realizing the function of quickly adjusting the visual focal length of the SCARA robot to improve the recognition accuracy.

[0043] Example 3: Please refer to Figure 1 , Figure 4 , Figure 5 and Figure 6, an embodiment provided by the present invention: a height measuring component is installed on the inner wall of the mechanical arm 3, the height measuring component is used to measure the moving height of the camera locator 14, the height measuring component includes an infrared detection head 18, the infrared detection head 18 is electrically connected to the control box 1, the adjustment component is electrically connected to the control box 1, the infrared detection head 18 is used to detect the real-time height data of the camera locator 14, the control box 1 has built-in appropriate height data of the camera locator 14, the real-time height data of the camera locator 14 is transmitted to the control box 1, the control box 1 compares the real-time height data of the camera locator 14 with the appropriate height data of the camera locator 14, the control box 1 compares the real-time height data of the camera locator 14 with the appropriate height data of the camera locator 14, if the real-time height data of the camera locator 14 is greater than the appropriate height data of the camera locator 14, the height is set to be too high, if the real-time height data of the camera locator 14 is less than the appropriate height data of the camera locator 14, the height is set to be too low, and the control box 1 compares the camera locator 14 with the appropriate height data of the camera locator 14. The real-time height data of the locator 14 is equal to the appropriate height data of the camera locator 14 and is set to a suitable height state. When the control box 1 detects that the height is too high, the control box 1 controls the adjustment component to descend. During the descent of the adjustment component, the infrared detection head 18 continuously detects the height of the camera locator 14 until the control box 1 detects that the height is too low or the height is suitable. When the control box 1 detects that the height is too low, the control box 1 controls the adjustment component to rise. During the rise of the adjustment component, the infrared detection head 18 continuously detects the height of the camera locator 14 until the control box 1 detects that the height is too high or the height is suitable. When the control box 1 detects that the height is too low, the control box 1 controls the adjustment component to stop. During the stop of the adjustment component, the infrared detection head 18 continuously detects the height of the camera locator 14 until the control box 1 detects that the height is too high or the height is too low, thereby realizing the function of automatically adjusting the height to improve the positioning accuracy of the SCARA robot and reduce the misjudgment rate.

[0044] Example 4: Please refer to Figure 1 , Figure 7 and Figure 8An embodiment of the present invention is as follows: a replacement component includes a No. 5 cylinder 33, a clamp 36, a bayonet 30, an annular sealing ring 31, and an electromagnetic coil 34. The No. 5 cylinder 33 is located on the inner wall of the mounting block 28, the electromagnetic coil 34 is located on the inner wall of the No. 5 cylinder 33, a No. 5 spring 35 is installed on the outer wall of the electromagnetic coil 34, a clamp 36 is installed on the outer wall of the No. 5 spring 35, a No. 5 port 32 is provided at the bottom of the mounting block 28, a bayonet 30 is provided on the outer wall of the suction head 29, an annular sealing ring 31 is located on the inner wall of the mounting block 28, one end of the suction head 29 is connected to the bottom of the annular sealing ring 31, the suction head 29 moves through the No. 5 port 32, and the clamp 36 is installed on the outer wall of the No. 5 spring 35. The head 36 can be inserted into the bayonet 30, and the electromagnetic coil 34 is started to generate magnetic force to drive the clamping head 36 to move. The movement of the clamping head 36 drives the compression of the No. 5 spring 35. The compression of the No. 5 spring 35 causes the clamping head 36 to move out of the bayonet 30. At this time, the suction head 29 is pulled to move it away from the annular sealing ring 31 and move it out through the No. 5 port 32 for replacement. After the replaced suction head 29 is brought into close contact with the annular sealing ring 31, the electromagnetic coil 34 is turned off and the magnetic force disappears. The No. 5 spring 35 is stretched to drive the clamping head 36 to move. The clamping head 36 moves to make it clamped in the bayonet 30 and fixed it, thereby realizing the function of rapid replacement of the suction head of the SCARA robot and improving manual labor.

[0045] The method of using the robot includes the following steps:

[0046] Step S1, the water pump 23 is started to suck the cleaning liquid in the collection box 22 to the inner wall of the water pipe 26, and the cleaning liquid in the water pipe 26 is sprayed to the cleaning block 20 through the nozzle 27, and the cleaning block 20 absorbs the cleaning liquid. At this time, the motor 16 rotates to drive the No. 2 plate 17 to rotate, and the No. 2 plate 17 rotates to drive the cleaning block 20 to rotate. The cleaning block 20 rotates and contacts with the bottom of the camera locator 14 to drive the cleaning block 20 to move. The movement of the cleaning block 20 drives the No. 1 spring 19 to move, and the movement of the No. 1 spring 19 causes the cleaning block 20 to drive the No. 1 cylinder 25 to move. The No. 1 cylinder 25 moves to make the cleaning block 20 closely contact with the camera locator 14 to clean it quickly, thereby realizing the function of quickly cleaning the positioning camera of the SCARA robot and improving the positioning accuracy;

[0047] Step S2, the second motor 10 rotates to drive the threaded rod 11 to rotate, the threaded rod 11 rotates to drive the threaded sleeve 12 to move, the threaded sleeve 12 moves to drive the connecting rod 13 to move, the connecting rod 13 moves to drive the L-shaped rod 9 to move, the L-shaped rod 9 moves to drive the second cylinder 8 to move, the second cylinder 8 moves to make the L-shaped rod 9 drive the camera locator 14 to move, the camera locator 14 moves, and the visual focal length of the SCARA robot is quickly adjusted to improve the recognition accuracy;

[0048] Step S3, when the control box 1 detects that the height is too high, the control box 1 controls the adjustment component to descend, and during the descent of the adjustment component, the infrared detection head 18 continuously detects the height of the camera locator 14 until the control box 1 detects that the height is too low or the height is appropriate. When the control box 1 detects that the height is too low, the control box 1 controls the adjustment component to rise, and during the rise of the adjustment component, the infrared detection head 18 continuously detects the height of the camera locator 14 until the control box 1 detects that the height is too high or the height is appropriate. When the control box 1 detects that the height is too low, the control box 1 controls the adjustment component to stop, and during the stop of the adjustment component, the infrared detection head 18 continuously detects the height of the camera locator 14 until the control box 1 detects that the height is too high or the height is too low, thereby realizing the function of automatically adjusting the height to improve the positioning accuracy of the SCARA robot and reduce the misjudgment rate;

[0049] Step S4, the electromagnetic coil 34 is started to generate magnetic force to drive the clamping head 36 to move, and the movement of the clamping head 36 drives the compression of the No. 5 spring 35. The compression of the No. 5 spring 35 causes the clamping head 36 to move out of the bayonet 30. At this time, the suction head 29 is pulled to move away from the annular sealing ring 31 and move out through the No. 5 port 32 for replacement. After the replaced suction head 29 is brought into close contact with the annular sealing ring 31, the electromagnetic coil 34 is turned off and the magnetic force disappears. The No. 5 spring 35 is extended to drive the clamping head 36 to move. The clamping head 36 moves to make it fit into the bayonet 30 and fix it, thereby realizing the function of rapid replacement of the suction head of the SCARA robot and improving manual labor.

[0050] Working principle: the water pump 23 is started to suck the cleaning liquid in the collection box 22 to the inner wall of the water pipe 26, and the cleaning liquid in the water pipe 26 is sprayed to the cleaning block 20 through the nozzle 27. The cleaning block 20 absorbs the cleaning liquid. At this time, the motor 16 rotates to drive the No. 2 plate 17 to rotate, and the No. 2 plate 17 rotates to drive the cleaning block 20 to rotate. The cleaning block 20 rotates and contacts the bottom of the camera locator 14 to drive the cleaning block 20 to move. The movement of the cleaning block 20 drives the No. 1 spring 19 to move. The movement of the No. 1 spring 19 causes the cleaning block 20 to drive the No. 1 cylinder 25 to move. The No. 1 cylinder 25 moves to make the cleaning block 20 closely contact with the camera locator 14 to clean it quickly, realizing SCARA The robot's positioning camera has the function of quickly cleaning and improving positioning accuracy. The rotation of the No. 2 motor 10 drives the threaded rod 11 to rotate. The rotation of the threaded rod 11 drives the threaded sleeve 12 to move. The movement of the threaded sleeve 12 drives the connecting rod 13 to move. The movement of the connecting rod 13 drives the L-shaped rod 9 to move. The movement of the L-shaped rod 9 drives the No. 2 cylinder 8 to move. The movement of the No. 2 cylinder 8 causes the L-shaped rod 9 to drive the camera locator 14 to move. The movement of the camera locator 14 realizes the function of quickly adjusting the visual focal length of the SCARA robot to improve the recognition accuracy. When the control box 1 detects that the height is too high, the control box 1 controls the adjustment component to descend. During the descent of the adjustment component, the infrared detection head 1 8 continuously detects the height of the camera locator 14 until the control box 1 detects that the height is too low or the height is appropriate. When the control box 1 detects that the height is too low, the control box 1 controls the adjustment component to rise. During the period when the adjustment component rises, the infrared detection head 18 continuously detects the height of the camera locator 14 until the control box 1 detects that the height is too high or the height is appropriate. When the control box 1 detects that the height is too low, the control box 1 controls the adjustment component to stop. During the period when the adjustment component stops, the infrared detection head 18 continuously detects the height of the camera locator 14 until the control box 1 detects that the height is too high or the height is too low, thereby realizing automatic height adjustment. The SCARA robot has the function of improving the positioning accuracy and reducing the misjudgment rate. The electromagnetic coil 34 is started to generate magnetic force to drive the clamping head 36 to move. The movement of the clamping head 36 drives the compression of the No. 5 spring 35. The compression of the No. 5 spring 35 causes the clamping head 36 to move out of the bayonet 30. At this time, the suction head 29 is pulled to move away from the annular sealing ring 31 and move out through the No. 5 port 32 for replacement. After the replaced suction head 29 is brought into close contact with the annular sealing ring 31, the electromagnetic coil 34 is turned off and the magnetic force disappears. The No. 5 spring 35 is stretched to drive the clamping head 36 to move. The clamping head 36 moves to make it fit into the bayonet 30 and fix it, thereby realizing the function of rapid replacement of the suction head of the SCARA robot and improving manual labor.

[0051] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A SCARA robot with high positioning accuracy, comprising a control box (1), a mechanical arm (3), a moving rod (6), a cleaning component and a camera positioner (14), characterized in that: A three-axis mechanical arm (3) is installed on the top of the control box (1), the moving rod (6) passes through the inner wall of the three-axis mechanical arm (3), a camera locator (14) is installed on the outer wall of the mechanical arm (3), a cleaning component is installed on the outer wall of the camera locator (14), the camera locator (14) locates the material by using a graphic comparison technology, and an adjustment component is installed on the inner wall of the mechanical arm (3), the adjustment component is used to adjust the height of the camera locator (14); The cleaning assembly comprises a first plate (15), a first motor (16), a second plate (17), a collection box (22), a water pump (23), a first spring (19), and a cleaning block (20), wherein the first plate (15) is located on the outer wall of the camera positioner (14), the first motor (16) is located at the bottom of the first plate (15), the second plate (17) is located at the output end of the first motor (16), the collection box (22) is located on the inner wall of the second plate (17), and the water pump (23) is located at the bottom of the first plate (15). 3) is located on the inner wall of the No. 2 plate (17), and the input end of the water pump (23) extends to the inner wall of the collection box (22), the top of the No. 2 plate (17) is provided with a No. 1 opening (21), the inner wall of the No. 1 opening (21) is penetrated and installed with a cleaning block (20), a No. 1 spring (19) is located at the bottom of the cleaning block (20), and one end of the No. 1 spring (19) is connected to the inner wall of the No. 2 plate (17), the output end of the water pump (23) is installed with a water pipe (26), and the A nozzle (27) is installed on the outer wall of the water pipe (26), and the nozzle (27) is located at the bottom of the cleaning block (20). A height measuring component is installed on the inner wall of the mechanical arm (3), and the height measuring component is used to measure the moving height of the camera locator (14). The height measuring component includes an infrared detection head (18), and the infrared detection head (18) is electrically connected to the control box (1). The adjustment component is electrically connected to the control box (1). The infrared detection head (18) is used to detect real-time height data of the camera locator (14). The control box (1) has built-in appropriate height data of the camera locator (14). A mounting block (28) is installed on one end of the moving rod (6), and a suction head (29) passes through the inner wall of the mounting block (28). A replacement component is installed on the inner wall of the mounting block (28), and the replacement component is used for quick replacement of the suction head (29). A control line (4) is installed on the top of the control box (1), and one end of the control line (4) is connected to the outer wall of the mechanical arm (3); The cleaning block (20) moves through the No. 1 port (21), the No. 1 rod (24) is installed on the inner wall of the No. 2 plate (17), the No. 1 rod (24) is installed on the outer wall of the No. 1 rod (24), and the No. 1 tube (25) is connected to the outer wall of the cleaning block (20); The adjustment assembly comprises a No. 2 rod (7), a No. 2 cylinder (8), an L-shaped rod (9), a No. 2 motor (10), and a threaded rod (11); the No. 2 rod (7) is located on the inner wall of the mechanical arm (3); the No. 2 cylinder (8) is located on the outer wall of the No. 2 rod (7); the outer wall of the mechanical arm (3) is provided with two No. 3 openings (37); two L-shaped rods (9) respectively penetrate the two ends of the two No. 3 openings (37); one end of the L-shaped rod (9) is connected to the outer wall of the No. 2 cylinder (8); the other end of the L-shaped rod (9) is connected to the top of the camera positioner (14); the No. 2 motor (10) is located on the inner wall of the mechanical arm (3); the threaded rod (11) is located at the output end of the No. 2 motor (10); a threaded sleeve (12) is meshedly mounted on the outer wall of the threaded rod (11); a connecting rod (13) is mounted on the outer wall of the threaded sleeve (12); and the two ends of the connecting rod (13) are respectively connected to the outer walls of the two L-shaped rods (9); The real-time height data of the camera locator (14) is transmitted to the control box (1), and the control box (1) compares the real-time height data of the camera locator (14) with the appropriate height data of the camera locator (14). If the real-time height data of the camera locator (14) compared by the control box (1) is greater than the appropriate height data of the camera locator (14), the control box (1) sets the height to be too high. If the real-time height data of the camera locator (14) compared by the control box (1) is less than the appropriate height data of the camera locator (14), the control box (1) sets the height to be too low. If the real-time height data of the camera locator (14) compared by the control box (1) is equal to the appropriate height data of the camera locator (14), the control box (1) sets the height to be appropriate. The replacement assembly comprises a No. 5 cylinder (33), a clamp (36), a bayonet (30), an annular sealing ring (31), and an electromagnetic coil (34). The No. 5 cylinder (33) is located on the inner wall of the mounting block (28), the electromagnetic coil (34) is located on the inner wall of the No. 5 cylinder (33), a No. 5 spring (35) is installed on the outer wall of the electromagnetic coil (34), a clamp (36) is installed on the outer wall of the No. 5 spring (35), a No. 5 opening (32) is opened at the bottom of the mounting block (28), a bayonet (30) is opened on the outer wall of the suction head (29), the annular sealing ring (31) is located on the inner wall of the mounting block (28), and one end of the suction head (29) is connected to the bottom of the annular sealing ring (31).

2. A SCARA robot with high positioning accuracy according to claim 1, characterized in that: The No. 2 cylinder (8) moves through the support of the No. 2 rod (7), and the L-shaped rod (9) moves through the No. 3 port (37).

3. A SCARA robot with high positioning accuracy according to claim 1, characterized in that: The suction head (29) moves through the No. 5 port (32), and the clamping head (36) can be clamped into the inside of the clamping port (30).

4. A method for using a SCARA robot with high positioning accuracy, applicable to a SCARA robot with high positioning accuracy as claimed in any one of claims 1 to 3, characterized in that: The method of using the robot includes the following steps: Step S1, the water pump (23) is started to suck the cleaning liquid in the collection box (22) to the inner wall of the water pipe (26), and the cleaning liquid in the water pipe (26) is sprayed toward the cleaning block (20) through the nozzle (27), and the cleaning block (20) absorbs the cleaning liquid. At this time, the motor (16) rotates to drive the No. 2 plate (17) to rotate, and the No. 2 plate (17) rotates to drive the cleaning block (20) to rotate. The cleaning block (20) rotates and contacts the bottom of the camera positioner (14) to drive the cleaning block (20) to move. The movement of the cleaning block (20) drives the No. 1 spring (19) to move, and the No. 1 spring (19) moves to drive the cleaning block (20) to drive the No. 1 cylinder (25) to move. The No. 1 cylinder (25) moves to make the cleaning block (20) closely contact with the camera positioner (14) to make it quickly cleaned, thereby realizing the function of quickly cleaning the positioning camera of the SCARA robot and improving the positioning accuracy; Step S2, the second motor (10) rotates to drive the threaded rod (11) to rotate, the threaded rod (11) rotates to drive the threaded sleeve (12) to move, the threaded sleeve (12) moves to drive the connecting rod (13) to move, the connecting rod (13) moves to drive the L-shaped rod (9), the L-shaped rod (9) moves to drive the second cylinder (8), the second cylinder (8) moves to make the L-shaped rod (9) drive the camera locator (14) to move, the camera locator (14) moves, and the visual focal length of the SCARA robot is quickly adjusted to improve the recognition accuracy; Step S3, when the control box (1) detects that the height is too high, the control box (1) controls the adjustment component to descend, and during the period when the adjustment component descends, the infrared detection head (18) continuously detects the height of the camera locator (14) until the control box (1) detects that the height is too low or the height is appropriate. When the control box (1) detects that the height is too low, the control box (1) controls the adjustment component to rise, and during the period when the adjustment component rises, the infrared detection head (18) continuously detects the height of the camera locator (14) until the control box (1) detects that the height is too high or the height is appropriate. When the control box (1) detects that the height is appropriate, the control box (1) controls the adjustment component to stop, and during the period when the adjustment component stops, the infrared detection head (18) continuously detects the height of the camera locator (14) until the control box (1) detects that the height is too high or the height is too low, thereby realizing the function of automatically adjusting the height to improve the positioning accuracy of the SCARA robot and reduce the misjudgment rate. Step S4, the electromagnetic coil (34) is started to generate a magnetic force to drive the clamping head (36) to move, and the movement of the clamping head (36) drives the No. 5 spring (35) to compress, and the compression of the No. 5 spring (35) causes the clamping head (36) to move out of the clamping port (30), and at this time, the suction head (29) is pulled to move away from the annular sealing ring (31), and is moved out through the No. 5 port (32) for replacement, and after the replaced suction head (29) is brought into close contact with the annular sealing ring (31), the electromagnetic coil (34) is turned off and the magnetic force disappears, and the No. 5 spring (35) is extended to drive the clamping head (36) to move, and the clamping head (36) moves to be clamped into the clamping port (30) to fix it, thereby realizing the function of rapid replacement of the suction head of the SCARA robot and improving manual labor.

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