Servo rotating shaft based on fifth shaft of Scara robot

Abstract

The utility model discloses a servo rotating shaft based on a fifth shaft of a Scara robot. The servo rotating shaft is installed at the tail end of the Scara robot, the Scara robot is provided with a control system and a driver, the driver is externally connected with a shaft to be used by the servo rotating shaft, the servo rotating shaft comprises a servo motor, a harmonic speed reducer, at least two clamping air cylinders and at least two clamping fingers, the harmonic speed reducer is connected to the servo motor, and the harmonic speed reducer is connected to the servo motor. The clamping cylinders are connected to the harmonic speed reducer, and the clamping fingers are connected to the tail ends of the clamping cylinders respectively. The servo motor is connected with a feedback device and a motor controller, and the rotation angle of the servo rotating shaft is detected and fed back through an absolute encoder or an incremental encoder. According to the servo rotating shaft based on the fifth shaft of the Scara robot, the flexibility of being used in cooperation with the robot in the machining industry is expanded, impact caused by abrasion of the limiting block is avoided, operation can be convenient through the handheld box, and the stability of equipment is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of robot, especially a servo rotation axis based on the fifth axis of Scara robot. BACKGROUND

[0002] With the continuous progress of industrial robot technology, the design and concept of many new functions are continuously added, and robots can gradually replace or assist humans to do more and more things. In some manufacturing industries that require high precision, or in harsh environments that humans cannot adapt to, the shadow of industrial robots can be seen. At present, industrial robots have been widely used in automobile parts manufacturing industry, mechanical processing industry, electronic and electrical industry, food industry, wood and furniture manufacturing industry and other fields.

[0003] According to the investigation, the Scara robot used in the tool machining industry in the market at present, all use rotating or lifting cylinder and other pneumatic elements to complete the rotation of the fifth axis clamping jaw, and in the process of transportation or long-term use, the horizontal or vertical position often deviates due to the wear of the limiting block of the pneumatic element, and the operator needs to spend a lot of time to debug the horizontal position and vertical position of the end clamping jaw of the robot, and if the deviation cannot be found in time, the machine collision accident is easy to occur. In addition, the rotation angle of the rotary cylinder is limited by setting the impact limiting block, which reduces the service life of the related structure, and the high frequency and high precision application of the robot will accelerate the wear of the limiting block, which is not only irreversible, but also has the risk of machine collision. CONTENT OF THE UTILITY MODEL

[0004] To solve the above problems, the utility model provides a kind of servo rotation axis based on the fifth axis of Scara robot, it expands the flexibility of robot used in machining industry, avoids the impact caused by the wear of limiting block, can be conveniently operated by handheld box, reduces the debugging difficulty, improves the stability of equipment.

[0005] According to one aspect of the utility model, a kind of servo rotation axis based on the fifth axis of Scara robot is provided, installed at the end of Scara robot, Scara robot has control system and driver, driver is connected with a shaft for the servo rotation axis use, it includes a servo motor, a harmonic reducer, at least two clamping cylinders and at least two clamping fingers, the harmonic reducer is connected on the servo motor, each clamping cylinder is connected on the harmonic reducer, each clamping finger is respectively connected at the end of each clamping cylinder;Wherein, the servo motor is connected with feedback device and motor controller, and the rotation angle of the servo rotation axis is detected and fed back by absolute encoder or incremental encoder.

[0006] In some embodiments, the drive of the Scara robot includes six axial controls, four of which are used by the Scara robot. It is beneficial to further describe the number and manner of use of the axial controls of the drive of the Scara robot.

[0007] In some embodiments, the servo motor is connected with a connecting flange, and the connecting flange is connected to the end of the Scara robot. It is beneficial to further describe the specific manner in which the servo rotating shaft is installed at the end of the Scara robot.

[0008] In some embodiments, the clamping cylinders are connected to the harmonic reducer through a mounting plate. It is beneficial to further describe the manner in which the clamping cylinders are connected to the harmonic reducer.

[0009] In some embodiments, the control system of the Scara robot is built-in with a fifth axis control page. It is beneficial to control the servo rotating shaft of the robot to make corresponding actions through the fifth axis control page.

[0010] In some embodiments, the end of the Scara robot communicates signals with a handheld box. It is beneficial to facilitate control operations on the servo rotating shaft through the handheld box. BRIEF DESCRIPTION OF DRAWINGS

[0011] Figure 1 FIG. 1 is a structural schematic diagram of a servo rotating shaft based on a fifth axis of a Scara robot according to an embodiment of the present application;

[0012] Figure 2 FIG. 2 is a partial structural schematic diagram of a servo rotating shaft based on a fifth axis of a Scara robot according to an embodiment of the present application; Figure 1 Figure 1 FIG. 3 is a partial structural schematic diagram of a servo rotating shaft based on a fifth axis of a Scara robot according to an embodiment of the present application;

[0013] Figure 3 FIG. 4 is a partial structural schematic diagram of a servo rotating shaft based on a fifth axis of a Scara robot according to an embodiment of the present application; Figure 1 Figure 2

[0014] FIG. 5 is a structural schematic diagram of a servo rotating shaft based on a fifth axis of a Scara robot according to an embodiment of the present application. DETAILED DESCRIPTION

[0015] The present application will be further described in detail below with reference to the accompanying drawings.

[0016] As Figure 1 ​​​As shown, the servo rotating shaft is installed at the end of the Scara robot, which mainly comprises a servo motor 1, a harmonic reducer 2, at least two clamping cylinders 3 and at least two clamping fingers 4. Among them, the harmonic reducer 2 is connected to the servo motor 1, each clamping cylinder 3 is connected to the harmonic reducer 2, and each clamping finger 4 is connected to the end of each clamping cylinder 3.

[0017] The above structure can realize five degrees of freedom by connecting each clamping cylinder 3 and each clamping finger 4 to the servo motor 1 at the end of the SCAR robot, that is, a servo rotating shaft is formed by the servo motor 1 as the fifth axis of the SCAR robot, which realizes angle control of the clamping jaw composed of each clamping cylinder 3 and each clamping finger 4 and precise positioning of the pick-and-place position on the controller's teach pendant. At the same time, the servo coordinates can be modified to accurately debug the clamping jaw rotation angle.

[0018] In addition, through the harmonic reducer 2, the control accuracy can be further improved.

[0019] The servo motor 1 is connected with a feedback device and a motor controller (both not shown in the figure), which can realize accurate position, speed and torque control of the servo motor 1.

[0020] As shown in Figure 2 The servo motor 1 is connected with a connecting flange 5, which can be used to connect to the end of the Scara robot, so that the entire mechanism is directly installed at the end of the Scara robot, and then the robot can interact with the surrounding environment to complete various complex tasks.

[0021] As shown in Figure 3 Each clamping cylinder 3 is connected to the harmonic reducer 2 through an installation plate 6.

[0022] The Scara robot is controlled by using a new generation of 81RAS robot control system, and a new generation of BS20 six-in-one driver is adopted, which includes six axis control, four of which are used for the Scara robot, and one of which is used for the servo rotating shaft. By driving the servo rotating shaft, the mechanism at the end of the robot can rotate within a certain angle range.

[0023] Preferably, the rotation angle of the servo rotating shaft is generally detected and fed back by an absolute encoder or an incremental encoder, so as to realize the function of horizontal adjustment.

[0024] In addition, the control system is built-in with a fifth axis control page, so as to control the servo rotating shaft of the robot to make corresponding actions.

[0025] Preferably, the robot end can signal communication with the handheld box, facilitate control operation.

[0026] The servo rotating shaft based on the fifth shaft of the Scara robot mainly has the following beneficial effects:

[0027] 1. The flexibility of using robots in the machining industry is expanded, and the impact caused by the wear of the limiting block of the rotary cylinder or the turnover cylinder and other pneumatic elements is eliminated.

[0028] 2. The rotating shaft can effectively communicate and exchange with the arm, without the need to increase the control system, and the handheld box can be conveniently operated.

[0029] 3. The debugging difficulty of the operator is reduced, the debugging time is saved, and the stability of the equipment is improved.

[0030] The above is only some embodiments of the utility model. For ordinary skilled persons in the art, without departing from the creative concept of the utility model, a number of modifications and improvements can be made, which belong to the protection scope of the utility model.

Claims

1. A servo-rotary axis based on the fifth axis of a Scara robot, mounted at the end of a Scara robot, the Scara robot having a control system and a drive, the drive circumscribing a shaft for use by the servo-rotary axis, characterized in that: It includes a servo motor (1), a harmonic reducer (2), at least two clamping cylinders (3) and at least two clamping fingers (4), the harmonic reducer (2) is connected to the servo motor (1), each clamping cylinder (3) is connected to the harmonic reducer (2), and each clamping finger (4) is connected to the end of each clamping cylinder (3); wherein the servo motor (1) is connected with feedback device and motor controller, and the rotation angle of the servo rotation shaft is detected and fed back by absolute encoder or incremental encoder.

2. A servo rotary axis based on the fifth axis of a Scara robot according to claim 1, characterized in that: The driver of the scara robot comprises six axial controls, four of which are used for the scara robot.

3. A servo rotary axis based on the fifth axis of a Scara robot according to claim 1, characterized in that: The servo motor (1) is connected with a connecting flange (5), and the connecting flange (5) is connected to the end of the scara robot.

4. A servo rotary axis based on the fifth axis of a Scara robot according to claim 1, characterized in that: Each clamping cylinder (3) is connected to the harmonic reducer (2) through an installation plate (6).

5. A servo rotary axis based on the fifth axis of a Scara robot according to claim 1, characterized in that: The control system of the scara robot is built-in with a fifth axis control page.

6. A servo rotary axis based on the fifth axis of a Scara robot according to claim 1, characterized in that: The end of the scara robot communicates signals with the handheld box.

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