A SCARA robot limiting device with adjustable limiting range

Abstract

The utility model discloses a kind of SCARA robot limiting device of adjustable limit range, including first limiting device for limiting J1 axis rotation range and second limiting device for limiting J2 axis rotation range;First limiting device includes J1 axis sensor, J1 axis limiting support and two J1 axis limiting blocks;Second limiting device includes J2 axis sensor, J2 axis limiting support and two J2 axis limiting blocks.The utility model can be according to actual space condition on site, define the action boundary of robot, effectively prevent accidental interference of mechanical arm and peripheral equipment, personnel or environmental structure;By the introduction of adjustable limiting block, make a layer of safety barrier on the basis of original hardware protection for robot body, substantially reduce the equipment collision or operation risk caused by overtravel, misoperation etc., to ensure that robot long-term stable, efficient and safe operation in complex small operating environment.

Description

Technical Field

[0001] This utility model relates to the technical field, specifically to a SCARA robot limiting device with an adjustable limiting range. Background Technology

[0002] SCARA robots have two parallel rotary joints and one vertical translating joint, enabling rapid and precise movement in the horizontal plane. They are widely used in high-precision scenarios such as circuit board insertion and semiconductor wafer handling. However, in some applications, the robot's range of motion is significantly limited due to compact workspace layouts and limited usable area. Furthermore, the robot's typically preset hard limits lack adjustability, making it difficult to flexibly adapt to the spatial constraints of different scenarios. Utility Model Content

[0003] To address the aforementioned problems, this invention provides a SCARA robot limiting device with an adjustable limiting range.

[0004] The technical solution adopted in this utility model is: An adjustable limiting range SCARA robot limiting device includes a first limiting device for limiting the rotation range of the J1 axis and a second limiting device for limiting the rotation range of the J2 axis. The first limiting device includes a J1 axis sensor fixed on the robot base, a J1 axis limiting bracket fixed on the rear end of the robot arm, and two J1 axis limiting blocks that can be slidably installed on both sides of the J1 axis limiting bracket; the J1 axis sensor is a limit switch sensor, and the limit switch and the two J1 axis limiting blocks cooperate to limit the forward and reverse rotation angle of the J1 axis. The second limiting device includes a J2 axis sensor fixed on the robot forearm, a J2 axis limiting bracket fixed on the front end of the robot upper arm, and two J2 axis limiting blocks that can be slidably installed on both sides of the J2 axis limiting bracket; the J2 axis sensor is a limit switch sensor, and the limit switch and the two J2 axis limiting blocks cooperate to limit the forward and reverse rotation angle of the J2 axis.

[0005] Using the above technical solution, the J1 axis sensor fixed on the base remains stationary, while the J1 axis limiting bracket fixed on the robot arm rotates synchronously with the J1 axis in both directions. When the J1 axis sensor senses the J1 axis limiting blocks installed on both sides of the J1 axis limiting bracket, the limit switch is triggered, and the trigger signal is transmitted to the robot control system, stopping the rotation of the J1 axis. Similarly, the rotation of the J2 axis is limited.

[0006] Furthermore, the J1 axis limiting bracket has two arc-shaped connecting arms symmetrically arranged at the front end of the J1 axis sensor. The arc center of the two arc-shaped connecting arms is concentric with the robot's J1 axis, and each of them has a circumferential groove, with a first screw inside the circumferential groove. Two J1 axis limiting blocks are slidably fitted onto the two arc-shaped connecting arms, each of which has an arc-shaped hole adapted to the circumferential groove. The two J1 axis limiting blocks are slidably connected to the J1 axis limiting bracket through the first screw passing through their arc-shaped holes.

[0007] Using the above technical solution, the concentric design ensures that the limit block only changes its angle during adjustment and movement, without colliding with other parts of the robot, thus precisely controlling the rotation of the J1 axis; the combination of slide groove, screw and arc hole can easily adjust the installation position of the J1 axis limit block, thereby adjusting the rotation angle range of the J1 axis; after adjustment, it is locked and fixed by screws to provide a stable limit.

[0008] Furthermore, the J1 axis sensor is fixed to the robot base via a J1 axis sensor bracket. One end of the J1 axis sensor bracket is fixed to the robot base, and the other end extends horizontally towards the front of the robot's upper arm to the top of the J1 axis limiting bracket. The J1 axis sensor is fixed to the extended end of the J1 axis sensor bracket and is located on the circumference of the two arc-shaped connecting arms of the J1 axis limiting bracket.

[0009] By adopting the above technical solution, it can be ensured that the J1 axis sensor and the two J1 axis limit blocks are in reliable contact during the rotation of the J1 axis, thereby accurately controlling the rotation of the J1 axis.

[0010] Furthermore, the J2-axis limiting bracket has two symmetrically arranged arc-shaped connecting arms at the front end of the J2-axis sensor. The center of the arc of each connecting arm is concentric with the robot's J2-axis, and each arm has a circumferential groove with a second screw inside. Two J2-axis limiting blocks are slidably fitted onto the two arc-shaped connecting arms, each having an arc-shaped hole that matches the circumferential groove. Both J2-axis limiting blocks are slidably connected to the J2-axis limiting bracket via second screws passing through their arc-shaped holes. The effect is the same as that of the J1-axis.

[0011] Furthermore, the J2-axis sensor is fixed to the robot's forearm via a J2-axis sensor bracket. One end of the bracket is fixed to the forearm, and the other end extends horizontally towards the rear of the upper arm, above the J2-axis limiting bracket. The J2-axis sensor is fixed to the extended end of the bracket and is located on the circumference of the two arc-shaped connecting arms of the J2-axis limiting bracket. The effect is the same as that of the J1-axis sensor.

[0012] Furthermore, the sensor harnesses connecting the J2-axis sensor and the J1-axis sensor are both secured to the robot body harness using cable ties. The sensor harnesses are externally routed and bundled together with the robot body harness, making wiring simple and quick.

[0013] The beneficial effects of this utility model are: 1. The robot's action boundaries can be customized according to the actual space conditions on site, effectively preventing accidental interference between the robotic arm and surrounding equipment, personnel, or environmental structures; in addition, the introduction of adjustable limit blocks adds a layer of safety barrier to the robot body on the basis of the original hardware protection, greatly reducing the risk of equipment collision or operation caused by overtravel, misoperation, etc., thereby ensuring the long-term stable, efficient and safe operation of the robot in complex and narrow working environments.

[0014] 2. The robot's rotation angle is limited by the combination of limit switch sensors and limit blocks, which has high detection accuracy and reliability; the limit blocks adopt a modular design and are external to the robot body, making assembly simple and quick. Attached Figure Description

[0015] Figure 1 This is an installation structure diagram of an adjustable limiting range SCARA robot limiting device according to the present invention.

[0016] Figure 2 for Figure 1 Top view. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below in conjunction with the accompanying drawings and preferred embodiments.

[0018] See 1 and Figure 2 This embodiment provides an adjustable limiting device for a SCARA robot, which is installed on the body of a SCARA robot. It includes a first limiting device for limiting the rotation range of the J1 axis and a second limiting device for limiting the rotation range of the J2 axis.

[0019] The robot body consists of a base 1, a large arm 6, a small arm 11, and an actuator. The large arm 6 is connected to the base 1 via the J1 axis, and the small arm 11 is connected to the large arm 6 via the J2 axis. The actuator is located at the end of the small arm 11. The large arm 6, the small arm 11, and the actuator are connected to the control system inside the base 1 via the robot body wiring harness 13.

[0020] The first limiting device includes a J1 axis sensor bracket 2, a J1 axis sensor 3, a J1 axis limiting bracket 4, and a J1 axis limiting block 5. The J1 axis sensor 3 is fixed on the J1 axis sensor bracket 2, the J1 axis limiting bracket 4 is fixed on the rear end of the upper arm 6, and the J1 axis limiting block 5 is installed on the J1 axis limiting bracket 4, with one on each side, for limiting the forward and reverse rotation of the J1 axis.

[0021] In this embodiment, the J1 axis limiting bracket 4 has two arc-shaped connecting arms, which are symmetrically arranged at the front end of the J1 axis sensor 3, and their arc centers are concentric with the J1 axis. Two J1 axis limiting blocks 5 are arc-shaped and can be slidably fitted onto the two arc-shaped connecting arms. Each of the two arc-shaped connecting arms has a circumferential groove 41 on its outer side, and a set screw 52 is provided within each circumferential groove 41. The outer side of the J1 axis limiting block 5 has an arc-shaped hole 51 that matches the circumferential groove. The two J1 axis limiting blocks 5 are slidably connected to the J1 axis limiting bracket 4 by screws 52 passing through their arc-shaped holes. When the J1 axis limiting block 5 slides into place, the position is locked by tightening the screws 52.

[0022] Viewed from the side, the J1 axis sensor bracket 2 is L-shaped, with one end fixed to the base 1 and the other end extending horizontally towards the front of the upper arm 6 above the J1 axis limiting bracket 4. The J1 axis sensor 3 is vertically fixed on the horizontal plane of the extended end of the J1 axis sensor bracket 2 and is located on the circumference of the two arc-shaped connecting arms of the J1 axis limiting bracket 4. The J1 axis sensor 3 is a limit switch sensor. When the J1 axis rotates to its limit position, the J1 axis limiting block 5, which rotates with the J1 axis, senses the J1 axis sensor 3, thereby triggering a signal. By adjusting the position of the J1 axis limiting block 5 on the J1 axis limiting bracket 4, the rotation angle of the J1 axis can be adjusted.

[0023] The second limiting device includes a J2 axis sensor bracket 7, a J2 axis sensor 8, a J2 axis limiting bracket 9, and a J2 axis limiting block 10. The J2 axis sensor 8 is fixed on the J2 axis sensor bracket 7, the J2 axis sensor bracket 7 is fixed on the forearm 11, the J2 axis limiting bracket 9 is fixed on the rear end of the upper arm 6, and the J2 axis limiting block 10 is installed on the J2 axis limiting bracket 9, with one on each side, for limiting the forward and reverse rotation of the J2 axis.

[0024] The structure of the J2 axis limiting bracket 9 is the same as that of the J1 axis limiting bracket 4, and the structure of the J2 axis limiting block 10 is the same as that of the J1 axis limiting block 5. After the J2 axis limiting block 10 slides into place, it is locked and fixed to the J2 axis limiting bracket 9 by screws passing through its arc-shaped hole. Adjusting the position of the J2 axis limiting block 10 on the J2 axis sensor bracket 7 adjusts the rotation angle of the J2 axis.

[0025] In this embodiment, one end of the J2 axis sensor bracket 7 is fixed to the forearm 11, and the other end extends above the J2 axis limiting bracket 9. The J2 axis sensor 8 is fixed to the extended end of the J2 axis sensor bracket 7 and is located on the circumference of the two arc-shaped connecting arms of the J2 axis limiting bracket 9.

[0026] In this embodiment, the sensor harnesses 12 connecting the J2 axis sensor 8 and the J1 axis sensor 3 are both fixed to the robot body harness 13 with cable ties.

[0027] The working principle of this utility model is as follows: When the robot's J1 axis rotates in both directions, the J1 axis limit block 5 rotates synchronously with the upper arm 6. When the J1 axis sensor 3 senses the two left and right J1 axis limit blocks 5, the robot control system issues a positioning command, and the J1 axis stops rotating. When the robot's J2 axis rotates in both directions, the J2 axis sensor 8 rotates synchronously with the lower arm 11. When the J2 axis sensor 8 senses the two left and right J2 axis limit blocks 10, the robot control system issues a positioning command, and the J2 axis stops rotating.

[0028] Slide the J1 axis limiting block 5 outward along the two arc-shaped connecting arms of the J1 axis limiting bracket 4 to increase the rotation angle of the J1 axis; conversely, slide it outward to decrease the rotation angle of the J1 axis. Similarly, adjust the rotation angle of the J2 axis.

[0029] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present utility model, and these improvements and modifications are also within the protection scope of the present utility model.

Claims

1. A SCARA robot limiting device with adjustable limiting range, characterized in that, It includes a first limiting device for limiting the rotation range of the J1 axis and a second limiting device for limiting the rotation range of the J2 axis; The first limiting device includes a J1 axis sensor (3) fixed on the robot base, a J1 axis limiting bracket (4) fixed on the rear end of the robot arm, and two J1 axis limiting blocks (5) that can be slidably installed on both sides of the J1 axis limiting bracket (4); the J1 axis sensor (3) is a limit switch sensor, and the limit switch and the two J1 axis limiting blocks (5) cooperate to limit the forward and reverse rotation angle of the J1 axis. The second limiting device includes a J2 axis sensor (8) fixed on the robot forearm, a J2 axis limiting bracket (9) fixed on the front end of the robot upper arm, and two J2 axis limiting blocks (10) that can be slidably installed on both sides of the J2 axis limiting bracket (9). The J2 axis sensor (8) is a limit switch sensor, and the limit switch and the two J2 axis limiting blocks (10) are used to limit the forward and reverse rotation angle of the J2 axis.

2. The adjustable limiting range SCARA robot limiting device according to claim 1, characterized in that, The J1 axis limiting bracket (4) is provided with two arc-shaped connecting arms symmetrically arranged at the front end of the J1 axis sensor (3). The arc center of the two arc-shaped connecting arms is concentric with the J1 axis of the robot. Both of them are provided with circumferential grooves (41), and each of them is provided with a first screw (52). The two J1 axis limiting blocks (5) are slidably fitted on the two arc-shaped connecting arms. Both of them are provided with arc-shaped holes (51) that are adapted to the circumferential grooves. The two J1 axis limiting blocks (5) are slidably connected to the J1 axis limiting bracket (4) through the first screw (52) passing through their arc-shaped holes.

3. The adjustable limiting range SCARA robot limiting device according to claim 2, characterized in that, The J1 axis sensor (3) is fixed to the robot base by the J1 axis sensor bracket (2). One end of the J1 axis sensor bracket (2) is fixed to the robot base, and the other end extends horizontally to the front of the robot arm and above the J1 axis limiting bracket (4). The J1 axis sensor (3) is fixed at the extended end of the J1 axis sensor bracket (2) and is located on the circumference of the two arc-shaped connecting arms of the J1 axis limiting bracket (4).

4. The adjustable limiting range SCARA robot limiting device according to claim 1, characterized in that, The J2 axis limiting bracket (9) is provided with two arc-shaped connecting arms symmetrically arranged at the front end of the J2 axis sensor (8). The arc center of the two arc-shaped connecting arms is concentric with the J2 axis of the robot. Both of them are provided with circumferential grooves, and a second screw is provided in the circumferential grooves. Two J2 axis limiting blocks (10) are slidably fitted on the two arc-shaped connecting arms. Both of them are provided with arc-shaped holes that are adapted to the circumferential grooves. Both J2 axis limiting blocks (10) are slidably connected to the J2 axis limiting bracket (9) through the second screw passing through their arc-shaped holes.

5. The adjustable limiting range SCARA robot limiting device according to claim 4, characterized in that, The J2 axis sensor (8) is fixed to the robot forearm via the J2 axis sensor bracket (7). One end of the J2 axis sensor bracket (7) is fixed to the robot forearm, and the other end extends horizontally to the rear of the robot upper arm and above the J2 axis limiting bracket (9). The J2 axis sensor (8) is fixed at the extended end of the J2 axis sensor bracket (7) and is located on the circumference of the two arc-shaped connecting arms of the J2 axis limiting bracket (9).

6. The adjustable limiting range SCARA robot limiting device according to claim 1, characterized in that, The sensor harnesses (12) connecting the J2 axis sensor (8) and the J1 axis sensor (3) are both fixed to the robot body harness (13) with cable ties.

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