A zero return device for a SCARA robot rotary joint and a SCARA robot

Abstract

The application discloses a zero return device for a SCARA robot rotary joint and a SCARA robot, the rotary joint comprising a reference structure as a rotation reference and a rotating structure connected with the reference structure and capable of rotating horizontally relative to the reference structure, the zero return device comprising a zero return detection assembly and a zero return control assembly, the zero return detection assembly comprising a calibration piece and a detection piece used in cooperation with the calibration piece; one of the detection piece and the calibration piece is arranged on the reference structure, and the other is connected to the rotating structure and follows the rotating structure. The above structure can continuously and real-timely detect the zero return accuracy of each rotary joint of the SCARA robot, and can automatically perform a zero return operation when the zero point of the rotary joint is detected to be lost, so that the error caused by manual zero return operation is eliminated, and the zero return accuracy and efficiency are higher. The zero return detection assembly has simple composition and convenient setting, and is convenient to be integrally arranged on the SCARA robot structure, and is especially convenient to be retrofitted to a traditional SCARA robot.

Description

Technical Field

[0001] This utility model relates to the field of zeroing technology for robot rotary joints, specifically to a zeroing device for the rotary joint of a SCARA robot and the SCARA robot. Background Technology

[0002] SCARA (Selective Compliance Assembly Robot Arm) robots, also known as horizontal articulated robots, typically include a base, an upper arm, a lower arm, and an actuator located at the end of the lower arm. The base and upper arm, as well as the upper arm and lower arm, are each connected by a rotary joint. The actuator located at the end of the lower arm is driven by a combination of a rotary joint and a prismatic joint to meet the rotation and lifting movement requirements of the actuator when performing machining actions.

[0003] In typical production applications, SCARA robots undergo zero-calibration of all rotary joints before leaving the factory. However, after leaving the factory, whether due to the impact of bumps during transportation, collisions during production, or normal production wear and tear, it is necessary to perform a zero-reset operation on the aforementioned rotary joints and re-record the zero points of the movements. Only by returning each axis of the SCARA robot to its initial zero-point position can the subsequent machining accuracy requirements be met.

[0004] Traditional zeroing methods typically involve calibrating the initial position of two relatively rotating components within the rotary joint structure of a SCARA robot using etched lines or grooves. Zeroing is achieved by aligning the etched lines or fitting the grooves with a calibration block. Traditional etched line methods rely on visual inspection of the etched lines on the components for alignment and manual adjustment. Groove methods involve inserting a pre-machined calibration block into the grooved components; the alignment of the calibration block within the groove is used to manually determine if the rotary joint has reached zero. However, both methods are susceptible to human error, resulting in low accuracy. Whether performed by a single person multiple times or by multiple people, consistency in each zeroing operation is poor, and cumulative errors are easily generated. Furthermore, both methods require manual operation, leading to low efficiency.

[0005] This shows that existing technologies still have certain shortcomings. Utility Model Content

[0006] The purpose of this invention is to provide a zero-return device for the rotary joint of a SCARA robot and a SCARA robot, so as to solve the problems of low zero-return accuracy and efficiency of the rotary joint of existing SCARA robots.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: In a first aspect, this application provides a zero-return device for a rotary joint of a SCARA robot. The rotary joint includes a reference structure serving as a rotation reference and a rotation structure connected to the reference structure and capable of horizontal rotation relative to the reference structure, comprising: The zero-return detection component includes multiple sets, each corresponding to a different rotary joint on the SCARA robot. Each set includes a calibration component and a detection component used in conjunction with the calibration component. The detection component is mounted on a reference structure, and the calibration component is connected to and moves with the rotary structure; alternatively, the calibration component is mounted on the reference structure, and the detection component is connected to and moves with the rotary structure. The zero-return control device includes a processing module, which is connected to the detection element in each of the zero-return detection components and is able to receive detection signals from the detection element. The zero-return control device is also connected to the rotation drive of each of the rotary joints, and the zero-return control device can control the rotation drive action according to the detection signal.

[0008] In the above solution, the coordinated operation of the zero-return detection component and the zero-return control device enables continuous real-time monitoring of the zero-return accuracy of each rotary joint of the SCARA robot during normal use and maintenance. Furthermore, when the zero point of a rotary joint is lost, the SCARA robot automatically performs a zero-return operation and re-records the zero-point position. Compared to traditional manual zero-return adjustments, this eliminates errors caused by manual operation and provides higher consistency in the zero-return action, further ensuring zero-return accuracy. Moreover, the zero-return efficiency is higher than manual operation, which helps improve the working efficiency of the SCARA robot. In addition, the zero-return detection component and the zero-return control device in the above solution are simple in composition and compact in structure, making them easy to integrate into the SCARA robot structure, especially facilitating the retrofitting of existing traditional SCARA robots.

[0009] In a preferred embodiment of this application, a single set of zero-return detection components includes at least one calibration element and one detection element, with the detection element corresponding to at least one calibration element; the zero-return detection component further includes an indicator element connected to the detection element, and the indicator element has a zero-return indication state and a non-zero-return indication state.

[0010] In the above scheme, the correspondence between calibration and testing components can be flexibly configured. The basic configuration involves setting up a set of calibration and testing components; while using a configuration where one testing component corresponds to multiple calibration components or multiple testing components correspond to multiple calibration components can further improve zero-return detection accuracy and zero-return precision. Furthermore, this arrangement allows for greater flexibility in the placement of calibration and testing components, adapting to the installation and usage requirements of SCARA robots of different specifications and structures. The inclusion of indicator components facilitates real-time monitoring of equipment operating status by relevant production personnel and equipment inspectors, ensuring the normal operation of the SCARA robot.

[0011] In a preferred embodiment of this application, a plurality of calibration elements and detection elements are provided in a single set of zero-return detection components, and the calibration elements and detection elements are provided in a one-to-one correspondence.

[0012] This arrangement allows for improved zero-return detection accuracy through the combination of multiple calibration and testing components, and also facilitates more precise zero-return operation control of the rotation drive by the zero-return control component.

[0013] In a preferred embodiment of this application, the homing control device further includes a switch module, which includes multiple independently configured homing switches. Each of the multiple homing switches is configured in one-to-one correspondence with a multiple rotary joint of the SCARA robot and is connected to the rotary drive of the corresponding rotary joint for controlling the start and stop of the rotary drive.

[0014] In a preferred embodiment of this application, the switch module is also connected to the indicator; the zero-return control device further includes a recording module, which is used to record the zero-return data for each zero-return operation.

[0015] In a preferred embodiment of this application, the zero-return detection assembly further includes a detection element mounting base for mounting the detection element, wherein the detection element mounting base is disposed on the side of the reference structure facing the rotating structure or on the side of the rotating structure facing the reference structure.

[0016] In a preferred embodiment of this application, the detection element mounting base is disposed on the side of the reference structure facing the rotating structure, and the calibration element is integrally formed with the rotating structure; or, the detection element mounting base is disposed on the side of the rotating structure facing the reference structure, and the calibration element is integrally formed with the reference structure.

[0017] In a preferred embodiment of this application, the zero-return detection assembly further includes a calibration component mounting base for mounting the calibration component; the detection component mounting base is disposed on the side of the reference structure facing the rotating structure, and the calibration component mounting base is disposed on the side of the rotating structure facing the reference structure; or, the detection component mounting base is disposed on the side of the rotating structure facing the reference structure, and the calibration component mounting base is disposed on the side of the reference structure facing the rotating structure.

[0018] In a preferred embodiment of this application, the detection component mounting base is integrally formed with the reference structure or the rotating structure, and the calibration component mounting base is integrally formed with the rotating structure or the reference structure; or, the detection component mounting base is fixedly connected to the reference structure or the rotating structure by fasteners, and the calibration component mounting base is fixedly connected to the rotating structure or the reference structure by fasteners.

[0019] Secondly, this application also provides a SCARA robot, which includes a zero-return device for the rotary joint of the SCARA robot as described above.

[0020] The SCARA robot described in this utility model uses the aforementioned zero-return device for the rotary joint of the SCARA robot, and has the same beneficial effects, which will not be repeated here. Attached Figure Description

[0021] The accompanying drawings, which are included to provide a further understanding of the present invention and constitute a part of this invention, illustrate exemplary embodiments of the present invention and, together with the description thereof, serve to explain the present invention and do not constitute an undue limitation thereof. In the drawings: Figure 1 This is a front view diagram of a SCARA robot in an example. Figure 2 This is a top view of a SCARA robot in an example. Figure 3 for Figure 1 Enlarged view of the structure of section II; Figure 4 for Figure 1 Enlarged view of the structure of section III; Figure 5 for Figure 2 Enlarged view of the structure of section IV.

[0022] List of components and reference numerals: 1. Base, 2. Main arm, 3. Forearm, 4. Detector mounting base, 5. Mounting base fixing screw, 6. First detector, 7. First calibration piece, 8. First calibration piece fixing screw, 9. Second calibration piece, 10. Second calibration piece fixing screw, 11. Second detector, 12. First detector fixing nut, 13. Second detector fixing nut. Detailed Implementation

[0023] To more clearly illustrate the overall concept of this utility model, a detailed description will be provided below with reference to the accompanying drawings.

[0024] It should be noted that many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0025] like Figures 1-5 As shown, this application provides a homing device for the rotary joints of a SCARA robot and a SCARA robot. The rotary joint includes a reference structure serving as a rotation reference and a rotating structure connected to the reference structure and capable of horizontal rotation relative to the reference structure. Specifically, in the rotary joint structure composed of the base 1 and the upper arm 2 of the SCARA robot, since the base 1 always remains stationary, the base 1 is the reference structure, and the upper arm 2 is the rotating structure. In the rotary joint structure composed of the upper arm 2 and the forearm 3 of the SCARA robot, the forearm 3, as the end effector, rotates horizontally relative to the upper arm 2, so the upper arm 2 is the reference structure, and the forearm 3 is the rotating structure. The homing device includes multiple sets of homing detection components corresponding to each rotary joint of the SCARA robot, and a homing control device connected to the homing detection components and the rotation drive of the rotary joint. The zero-return detection assembly includes a calibration component and a detection component used in conjunction with the calibration component. The detection component is set on the reference structure, and the calibration component is connected to the rotating structure and moves with the rotating structure. Alternatively, the calibration component is set on the reference structure, and the detection component is connected to the rotating structure and moves with the rotating structure. The zero-return control device includes a processing module, which is connected to the detection component in each group of zero-return detection assemblies and can receive detection signals from the detection component. The zero-return control device can control the rotation drive action according to the detection signals.

[0026] By employing the aforementioned structure and configuration, the coordinated operation of the zero-return detection component and the zero-return control device enables continuous real-time monitoring of the zero-return accuracy of each rotary joint of the SCARA robot during normal use and maintenance. Furthermore, when the zero point of a rotary joint is detected as lost, the SCARA robot automatically performs a zero-return operation and re-records the zero-point position. Compared to traditional manual zero-return adjustments, this eliminates errors introduced by manual operation and provides higher consistency in the zero-return action, further ensuring zero-return accuracy. Moreover, the zero-return efficiency is higher than manual operation, which helps improve the working efficiency of the SCARA robot. In addition, the zero-return detection component and the zero-return control device in the above solution are simple in composition and compact in structure, facilitating integration into the SCARA robot structure, and particularly beneficial for retrofitting existing traditional SCARA robots.

[0027] In a preferred embodiment of this application, a single-set zero-return detection component includes at least one calibration element and one detection element, with each detection element corresponding to at least one calibration element. The zero-return detection component also includes an indicator element connected to the detection element, which has a zero-return indication state and a non-zero-return indication state. In the above scheme, the correspondence between the calibration element and the detection element is flexible and varied. The basic setup is to have one set of calibration elements and detection elements, while using a setup where one detection element corresponds to multiple calibration elements or multiple detection elements correspond to multiple calibration elements can further improve the zero-return detection accuracy and zero-return precision. Furthermore, this arrangement allows for greater flexibility in the placement of calibration elements and detection elements, adapting to the installation and usage requirements of SCARA robots of different specifications and structures. The indicator element facilitates real-time monitoring of the equipment's operating status by relevant production personnel / equipment inspectors, ensuring the normal operation of the SCARA robot. Preferably, each set of zero-return detection components contains multiple calibration and detection components, with a one-to-one correspondence between the calibration and detection components. This arrangement improves zero-return detection accuracy by cross-comparing the detection results obtained from multiple calibration and detection components, and facilitates more precise zero-return operation control by the zero-return control component. It should be noted that this application does not specifically limit the type and arrangement of the indicator. Preferably, the indicator is an indicator light that emits different colors of light to indicate whether the robot is in a zero-return indication state or not. It can be placed individually on the SCARA robot's structure or in combination on the SCARA robot's structure and in the relevant production personnel's work area / workbench. Of course, other different types of indicators and other different indicator arrangement methods can also be used.

[0028] Furthermore, in a preferred embodiment of this application, the homing control device also includes a switch module. The switch module comprises multiple independently configured homing switches, each corresponding to one of the rotary joints of the SCARA robot and connected to the rotary drive of the corresponding joint to control the start and stop of the rotary drive. The switch module is also connected to an indicator. This configuration allows production personnel to flexibly adjust the operating conditions of the homing device as needed, facilitating equipment inspections and ensuring equipment safety. The homing control device also includes a recording module, which records the homing data for each homing operation. This recording module allows production personnel to easily retrieve the operating data of the homing device, thereby accurately understanding the SCARA robot's operating data and facilitating its maintenance and debugging. It should be noted that this application does not specifically limit the configuration of the homing switches, processing module, and recording module. The homing switches preferably use selector switches that combine manual and automatic control modes. The processing module can be an industrial control chip, and the recording module can be an information storage device such as a hard drive or memory card. Of course, other different configurations can also be used.

[0029] Furthermore, referring to Figure 3 , Figure 4 and Figure 5 As shown, the zero-return detection assembly also includes a detection component mounting base 4 for mounting the detection component. The detection component mounting base 4 is located on the side of the reference structure facing the rotating structure or the side of the rotating structure facing the reference structure, and is positioned outside the relative rotation coverage area of ​​the rotating structure and the reference structure. Correspondingly, the calibration component can be located on the side of the rotating structure facing the reference structure or the side of the reference structure facing the rotating structure. The calibration component can be integrally formed with the rotating structure or the reference structure, or it can be connected to the rotating structure or the reference structure via the calibration component mounting base. The detection component mounting base 4 and the calibration component mounting base facilitate adjustment of the installation position / height of the detection component and the calibration component to ensure proper alignment between them. Of course, the detection component and the calibration component are not directly connected to the reference structure / rotating structure via the detection component mounting base 4 or the calibration component mounting base.

[0030] In one example, refer to Figure 3 and Figure 5As shown, a first set of zero-return detection components is provided between the SCARA robot's upper arm 2 and base 1. This first set includes a first detection component 6, a first calibration component 7, and a detection component mounting base 4. The first calibration component 7 is mounted on the side wall of the end connecting the upper arm 2 and base 1 via a first calibration component 7 fixing nut. The first detection component 6 is mounted on the detection component mounting base 4 via a first detection component fixing nut 12. The detection component mounting base 4 is locked and fixed to the upper part of the SCARA robot's base 1 via mounting base fixing screws 5. The detection component 6 is lifted by the detection component mounting base 4 to facilitate the cooperation between the first detection component 6 and the first calibration component 7, ensuring zero-return detection accuracy. (Continuing to refer to...) Figure 4 As shown, a second set of zero-return detection components is provided between the upper arm 2 and the lower arm 3 of the SCARA robot. The second set of zero-return detection components includes a second detection component 11 and a second calibration component 9. The second calibration component 9 is installed on the side wall of the end where the upper arm 2 and the lower arm 3 are connected by a second calibration component 9 fixing nut. The second detection component 11 is directly installed on the lower wall of the lower arm 3 by the second detection component fixing nut 13.

[0031] It should be noted that the arrangement of the zero-return detection component in this application is not limited to the example above. The example above is merely a preferred embodiment of this application, and other different arrangements are also possible. This application does not impose specific limitations on the arrangement of the calibration and detection components, or on their connection methods and structures with the reference structure and rotating structure.

[0032] It should also be noted that this application does not specifically limit the type and structure of the first detection element 6, the first calibration element 7, the second detection element 11, and the second calibration element 9 in the above examples. In the above examples, the first detection element 6 and the second detection element 11 are both photoelectric sensors, and the first calibration element 7 and the second calibration element 9 are both calibration baffles with a 90° bending structure. Zero-return detection is achieved through the cooperation between the photoelectric sensor and the calibration baffle. With this setting, the calibration and detection elements have simple structures, are easy to set up, have low usage and maintenance costs, and are particularly suitable for retrofitting existing SCARA robots. Of course, other types of detection and calibration elements can also be used.

[0033] The SCARA robot provided in this application includes a base 1, a large arm 2, and a forearm 3, and employs the aforementioned zero-return device for the rotary joints of the SCARA robot. Therefore, the beneficial technical effects it can achieve are the same as those described above, and will not be repeated here.

[0034] The technical solutions protected by this utility model are not limited to the above embodiments. It should be noted that any combination of the technical solutions of any embodiment with one or more other embodiments is within the protection scope of this utility model. Although this utility model has been described in detail above with general descriptions and specific embodiments, some modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of this utility model are within the scope of protection claimed by this utility model.

Claims

1. A zero-return device for a rotary joint of a SCARA robot, the rotary joint comprising a reference structure serving as a rotation reference and a rotating structure connected to the reference structure and capable of horizontal rotation relative to the reference structure, characterized in that, include: The zero-return detection component includes multiple sets, each corresponding to a different rotary joint on the SCARA robot. Each set includes a calibration component and a detection component used in conjunction with the calibration component. The detection component is mounted on a reference structure, and the calibration component is connected to and moves with the rotary structure; alternatively, the calibration component is mounted on the reference structure, and the detection component is connected to and moves with the rotary structure. The zero-return control device includes a processing module, which is connected to the detection element in each of the zero-return detection components and is able to receive detection signals from the detection element. The zero-return control device is also connected to the rotation drive of each of the rotary joints, and the zero-return control device can control the rotation drive action according to the detection signal.

2. The zero-return device for the rotary joint of a SCARA robot as described in claim 1, characterized in that, Each set of zero-return detection components includes at least one calibration element and one detection element, with the detection element corresponding to at least one calibration element; the zero-return detection component also includes an indicator element connected to the detection element, and the indicator element has a zero-return indication state and a non-zero-return indication state.

3. The zero-return device for the rotary joint of a SCARA robot as described in claim 2, characterized in that, Each set of zero-return detection components contains multiple calibration elements and multiple detection elements, with each calibration element and detection element corresponding to one another.

4. The zero-return device for the rotary joint of a SCARA robot as described in claim 2, characterized in that, The zero-return control device also includes a switch module, which includes multiple independently configured zero-return switches. Each of the multiple zero-return switches is configured one-to-one with a multiple rotary joint of the SCARA robot and is connected to the rotary drive of the corresponding rotary joint to control the start and stop of the rotary drive.

5. The zero-return device for the rotary joint of a SCARA robot as described in claim 4, characterized in that, The switch module is also connected to the indicator; the zero-return control device also includes a recording module, which is used to record the zero-return data for each zero-return operation.

6. The zero-return device for the rotary joint of a SCARA robot as described in claim 2, characterized in that, The zero-return detection assembly also includes a detection element mounting base for mounting the detection element, wherein the detection element mounting base is disposed on the side of the reference structure facing the rotating structure or on the side of the rotating structure facing the reference structure.

7. The zero-return device for the rotary joint of a SCARA robot as described in claim 6, characterized in that, The detection component mounting base is disposed on the side of the reference structure facing the rotating structure, and the calibration component is integrally formed with the rotating structure; or, the detection component mounting base is disposed on the side of the rotating structure facing the reference structure, and the calibration component is integrally formed with the reference structure.

8. The zero-return device for the rotary joint of a SCARA robot as described in claim 6, characterized in that, The zero-return detection assembly further includes a calibration component mounting base for mounting the calibration component; the detection component mounting base is disposed on the side of the reference structure facing the rotating structure, and the calibration component mounting base is disposed on the side of the rotating structure facing the reference structure; or, the detection component mounting base is disposed on the side of the rotating structure facing the reference structure, and the calibration component mounting base is disposed on the side of the reference structure facing the rotating structure.

9. The zero-return device for the rotary joint of a SCARA robot as described in claim 8, characterized in that, The detection component mounting base is integrally formed with the reference structure or the rotating structure, and the calibration component mounting base is integrally formed with the rotating structure or the reference structure; or, the detection component mounting base is fixedly connected to the reference structure or the rotating structure by fasteners, and the calibration component mounting base is fixedly connected to the rotating structure or the reference structure by fasteners.

10. A SCARA robot, characterized in that, Includes the zero-return device for the rotary joint of a SCARA robot as described in any one of claims 1-9.

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