221 results about "SCARA" patented technology

A substrate transport apparatus having a drive section and a scara arm operably connected to the drive section to move the scara arm. The scara arm has an upper arm and at least one forearm. The forearm is movably mounted to the upper arm and capable of holding a substrate thereon. The upper arm is substantially rigid and is adjustable for changing a predetermined dimension of the upper arm.

An articulated arm robot includes a support part capable of extending and contracting upward and downward, a first arm part with one end joined to the support part through a first joint to be rotatable about a yaw axis and having a second joint rotatable about a roll axis between both ends, a second arm part with one end joined to the other end of the first arm part through a third joint to be rotatable about the yaw axis or a pitch axis, an end effector part joined to the other end of the second arm part through a fourth joint to be rotatable about the yaw axis or the pitch axis, and drivers that respectively cause the first to fourth joints to rotate and the support part to extend and contract, and a controller that performs drive control of the drivers of the first to fourth joints by switching the arm between a SCARA mode where the first, second and third arm parts rotate only in a horizontal plane and a perpendicular mode where the second and third arm parts rotate only in a vertical plane.

A substrate transport apparatus including a drive section having at least one drive shaft and at least two scara arms operably coupled to the at least one drive shaft, the at least one drive shaft being a common drive shaft for the at least two scara arms effecting extension and retraction of the at least two scara arms, wherein the at least two scara arms are coupled to each other so that, with the at least one drive shaft coupled to the at least two scara arms, rotation of the drive shaft effects extension and retraction of one of the at least two scara arms substantially independent of motion of another of the at least two scara arms.

A substrate processing apparatus including a frame, a first SCARA arm having an end effector and being configured to extend and retract along a first axis, a second SCARA arm having an end effector and being configured to extend and retract along a second axis, a drive section including a splitting drive pulley rotatably mounted to rotate at an axis of rotation of the drive section that is shared by the first and second SCARA arms, the splitting drive pulley being coupled to at least two idler pulleys by respective segmented transmission loops of separate band segments so that the splitting drive pulley is a common pulley splitting one degree of freedom of the drive section between the at least two idler pulleys so as to commonly drive the at least two idler pulleys, wherein at least one band of each respective transmission loop share a common band interface level.

The invention discloses a pot noodle placing and encasing device and belongs to the technical field of industrial robot application. The device comprises a pot noodle placing line, a selective compliance assembly robot arm (SCARA) transfer robot and a pot noodle encasing line. The pot noodle placing line comprises a first transmission belt, a pot noodle turning robot, a first baffle, a photoelectric sensor and a second baffle. The SCARA transfer robot is responsible for encasing placed pot noodles into cases on the pot noodle encasing line. The pot noodle encasing line comprises a second transmission belt, a third baffle, and a third transmission belt. According to the device, a mechanical-electrical integration system is adopted, the mechanical technique, electronic technique, computer software and hardware, control technique, photoelectric sensing system and robot technique and the like are combined, placing and encasing of the pot noodles are completed through unified coordination of all the assemblies, the practical production requirements of enterprises can be met, and the feasibility is high.

An apparatus for driving a SCARA robot is provided. The apparatus includes a body, a horizontal rotating arm, a linear motor coil and a vertical magnetic axis. The linear motor coil is disposed on the horizontal rotating arm, and the vertical magnetic axis is passed through the linear motor coil. Wherein, the vertical magnetic axis can be driven by the linear motor coil of the horizontal rotating arm by a non-contact magnetic force.

The invention relates to a quasi-SCARA (Selective Compliance Assembly Robot Arm) industrial robot, which comprises a base, a whole arm rotating mechanism, a vertical motion mechanism, a forearm rotating mechanism and an actuating station rotating mechanism; the whole arm rotating mechanism is fixedly arranged on the base; the vertical motion mechanism is arranged on the whole arm rotating mechanism; the whole arm rotating mechanism drives the vertical motion mechanism to rotate; the forearm rotating mechanism is fixedly arranged on the vertical motion mechanism; the vertical motion mechanism drives the forearm rotating mechanism to move vertically; the actuating station rotating mechanism is arranged on the forearm rotating mechanism; the forearm rotating mechanism drives the actuating station rotating mechanism to rotate; so that a tandem type industrial robot structure is formed. Compared with an SCARA robot, the quasi-SCARA industrial robot has the advantages that the lifting movement of the robot is moved from the fourth joint to the second joint, the robot is small in size in the vertical direction due to the special flat design of the forearm rotating mechanism and the actuating station rotating mechanism, and thus the robot is more suitable for operations of carrying objects and the like in a narrow space.

The invention provides a high-precision method for hand-eye calibration of a fixed camera vision system of an SCARA mechanical arm. The high-precision method comprises the following steps that a target is adhered to one end of a strip-shaped tool, the other end of the strip-shaped tool is fixed to the end of the mechanical arm, a camera is fixed at a fixed position of the working range of the mechanical arm, and the camera shooting surface and the target are parallel to the working plane; rough calibration is carried out, wherein the mechanical arm drives the target to move and rotate within apreset small range, and an initial mapping relation between an image coordinate system and a mechanical arm coordinate system is established according to the position of the mechanical arm and the identification result of the target at each position; and fine calibration is carried out, wherein a plurality of target image positions are preset in the image coordinate system, the moving position corresponding to the mechanical arm is calculated on the basis of the initial mapping relation, the corresponding target images are automatically recognized, affine transformation models are constructed, an affine transformation model is converted into the optimal solution problem, and the affine transformation matrix of the image coordinate system to the mechanical arm coordinate system is obtained. The method is high in calibration precision, simple and convenient to operate and capable of realizing one-key calibration.

The invention relates to the field of SCARA robot kinetic parameter identification, and discloses an improved SCARA robot kinetic parameter identification method. A Lagrange method is adopted for establishing an SCARA robot integral kinetic model comprising a friction term, and the SCARA robot integral kinetic model is subjected to linearization. The five-order fourier series is adopted as the stimulation track basic form, the polynomial with 5 degree is used for replacing the constant term in the traditional fourier series, and the joint angular velocity and angular acceleration are zero at the track start and stop time; and the minimum observing matrix conditional number serves as the target, and to enhance the global optimization capability, various coefficients of the stimulation trackare optimized through the niched pareto genetic algorithm based on the crowding-out mechanism. To avoid the transmission error directly caused to the joint angle two-time differential, the sampled joint angular velocity data are fitted into the fourier series form, and a joint acceleration signal is obtained through the differential. Considering the measuring noise influence, the WLS is adopted as the parameter estimation method.

The invention provides a scara robot. The scara robot comprises: an arm that extends in a horizontal direction and is capable of rotating perpendicularly axially around a rotation central part located in one end part in a longitudinal direction of the arm; an operating spindle assembly that is provided detachably to the other end part in the longitudinal direction of the arm; and an external striate member connected to the operating spindle assembly, wherein the operating spindle assembly includes a hollow operating spindle that moves in a vertical direction with respect to the arm, and an internal striate member which is disposed inside the operating spindle and retained in the operating spindle and to which the external striate member is detachably connected. Exchanging operation of the operating spindle of the scara robot is convenient.

The invention discloses a double-arm SCARA (selective compliance assembly robot arm) industrial robot. The double-arm SCARA industrial robot comprises a base component, a shoulder and arm component, big arm components, small arm components and tail end execution components, wherein the shoulder and arm component is arranged on the base component, two big arm components are arranged at the two ends of the shoulder and arm component respectively, the small arm components are arranged at the tail ends of the big arm components, and the tail end execution components are arranged at the front ends of the small arm components. The double-arm SCARA industrial robot has the advantages that space utilization rate is high, working efficiency is high, time is saved, the effect that a left arm and a right arm work cooperatively is achieved due to arrangement that the two small arms are connected to one big arm, and the effect of executing four freedom degrees of the tail ends is achieved due to cooperative use of the ball screw nut pair and a spline.

The invention provides a SCARA robot joint zero returning control method. The SCARA robot joint zero returning control method comprises the following steps: (1) a joint motor reversely rotates and detects a zero point; (2) when the zero point position is detected, the joint motor continuously rotates reversely; (3) the joint motor forwards rotates and detects the zero point; and (4) when the zero point position is detected, the joint motor stops operating to finish the zero returning process. The SCARA robot joint zero returning control method improves the zero returning positioning precision. Meanwhile, a position sensor is adopted to perform the zero returning operation to prevent the collision damage of a robot.

In a trajectory control method for an intra-planar multifreedom SCARA type of robot, a positional increment for an arm tip is computed for a linear interpolating operation through the expression described below. Namely, the expression is Vn=L.sub.1 .multidot.sin(.theta..sub.2).multidot.J.sub.1, wherein Vn indicates a positional increment of an arm tip; L.sub.1 indicates a length of a first arm; .theta..sub.2 indicates an angle of a second joint; and J.sub.1 indicates an angular velocity of a first joint (instructed angular velocity) specified by a user.

A SCARA arm includes a base, a first arm, a second arm, a third linear shaft motor, and a fourth shaft motor. On the base is disposed a first shaft motor. The first arm is connected to and driven by the first shaft motor rotate in a horizontal direction. The second arm is fixed to a second shaft motor which is connected to the first arm to rotate the second arm in the horizontal direction. The third linear shaft motor includes a linear motor stator which extends in a vertical direction and is fixed to the second arm, and a linear motor mover which is sleeved onto the linear motor stator and movable along the vertical direction. The fourth shaft motor is drivingly connected to the linear motor mover and a rotary shaft, respectively, and another end of the rotary shaft is inserted out of the second arm.

The invention provides a rapid vision positioning method and system based on an SCARA robot. The method comprises the steps that a to-be-tested image pyramid is established; an edge graph and a gradient direction graph of a top-layer image in the to-be-tested image pyramid are obtained; distance conversion is conducted on the edge graph of the top-layer image, meanwhile, a distance graph and a mark graph of the top-layer image are obtained, and a gradient direction feature mark graph of the top-layer image is established according to the gradient direction graph and the mark graph; a pretreated top-layer template traverses the top-layer image with the first preset step length in a template rotation and template zooming manner, and a matched area of a target in the top-layer image is obtained; the top-layer template traverses the matched area with the second preset step length, and the accurate position of the target in the top-layer image is obtained; the obtained accurate position istracked from the top layer to the bottom layer, and in the bottom-layer image of the to-be-tested image pyramid, the position of the target in the to-be-tested image is obtained through the least square balancing algorithm. By means of the rapid vision positioning method and system, the target can be rapidly and accurately positioned.

The invention discloses a six-DOF (Degree Of Freedom) planar joint robot, and belongs to the technical field of industrial robots. The six-DOF planar joint robot comprises a base, a first arm, a driving device of the first arm, a second arm, a driving device of the second arm, a three-DOF wrist and a driving device of the three-DOF wrist; the first arm is arranged on the base; the second arm is arranged at the tail end of the first arm; the three-DOF wrist is connected with three ball splines and is driven by the driving device which is arranged on the second arm through a synchronous belt wheel and the ball splines; the motion of the three-DOF wrist in the vertical direction is supplied by a ball screw. According to the six-DOF planar joint robot provided by the invention, the three-DOF wrist is additionally arranged on the basis of a three-DOF SCARA (Selective Compliance Assembly Robot Arm) robot, and three transverse moving DOFs along an X axis, a Y axis and a Z axis and three rotation DOFs along the X axis, the Y axis and the Z axis are obtained; the six-DOF planar joint robot is suitable for realizing complicated motion, and six-DOF motion of an operated target can be realized.

The invention provides an SCARA robot PTP trajectory planning method based on an exponential function. By means of the method, motion trail time can be optimal on the condition of guaranteeing that a speed curve, an acceleration curve and a jerk curve of an SCARA robot are smooth and continuous. The method has the advantages that the formula is simple, and the calculated amount is small. Firstly, a kinematic model of the SCARA robot is established; secondly, displacement of all joints is obtained according to target poses; thirdly, delay time Td is obtained according to joint space displacement required by motion; fourthly, time gain alpha is obtained according to limiting conditions in the operating process of an actuator; finally, an exponential function speed trajectory curve is determined according to the obtained delay time and the obtained time gain to complete planning.

A method for assembling a SCARA robot through a digital image processing technology comprises the steps that firstly, an industrial camera is mounted, images of a work region are acquired in real time, and then the design of a digital image processing algorithm including camera calibration and identification and positioning of a workpiece is conducted; secondly, the control over the SCARA robot is achieved, the SCARA robot is connected with an upper computer through the Ethernet, the upper computer can send the coordinates and the posture of the workpiece to the robot, and then the design of a grabbing and putting program of the robot is completed; and finally, the design of the upper computer through development of the MFC of Visual Studio is achieved, the work region can be monitored, real-time communication with the robot can be achieved, and the operation state of the whole system can be displayed. The method has the beneficial effects that the capacity of adaptability of the robot to the environment can be improved, and the production efficiency of the robot can be improved.

A planar articulated robot arm mechanism belongs to the technical field of an industrial robot. The planar articulated robot arm mechanism comprises a drive unit, a base platform and a double-telescopic arm assembly, wherein the drive unit is provided with at least one rotating shaft, i.e. a rotating shaft inner shaft, the base platform in which the rotating shaft inner shaft is arranged is connected with a lifting mechanism of the drive unit, the double-telescopic arm assembly is respectively and symmetrically arranged on the base platform through rotary joints relative to the rotary axis of the drive unit, the rotating shaft inner shaft is fixedly connected with a public drive connecting rod of the double-telescopic arm assembly, and a lifting shaft of the lifting mechanism and the rotating shaft inner shaft are respectively connected with a controller of the drive unit through a motor. According to the planar articulated robot arm mechanism, since a seven-parallel-rod mechanism is adopted, the rotating action of a double SCARA (selective compliance assembly robot arm) double-arm assembly can be realized, and the telescopic action can also be realized; and with the lifting mechanism in the drive unit, the lifting motion of the double SCARA double-arm assembly can be realized. The planar articulated robot arm mechanism is simple and compact in structure, is high in structural rigidity, is flexible and reliable in motion, is high in position precision and is high in reliability.

The invention relates to the high precision assembling and measurement field, and provides a PCB board positioning method based on an SCARA robot. The PCB board positioning method comprises steps of installing a camera, moving an arm of the SCARA robot, collecting an image, calculating an attitude array of an intermediary agent target coordinate system in a camera coordinate system and an attitude array of a flange coordinate system in a robot standard coordinate system, calculating a hand-eye switching array from the camera coordinate system to the flange center coordinate system, calculating the coordinates of three MARK points in the robot standard coordinate system and positioning the PCB board through the coordinate. The technical scheme provided by the invention realizes the high precision positioning of the PCB board without any auxiliary device, is widely applicable to the assembling of the robot, visual measurement and positioning and visual servo.

The invention provides an SCARA robot trajectory tracking control method based on an internal model. According to the method, an accurate mathematic model of a controlled object does not need to be known, robustness is high, tracking accuracy is high, tracking velocity is high, the control structure is simple, and parameter adjustment is unitary. To enable the steady state error of a system to be zero, a filter f needs to be added into a control circuit, the parameter Lambda in the filter is the adjusting parameter of the whole system, the response time and control accuracy of the system can be adjusted, parameter adjustment is simple and clear, and system performance is excellent.

The invention provides a robot system for feeding white spirit to a cooking pot full automatically. The robot system comprises the cooking pot, an SCARA robot, a sensor module and a computer; the three-dimensional position of a steam emitting point is detected through the sensor module installed above the cooking pot, materials are evenly paved and scattered to the steam emitting point through the SCARA robot, and white spirit feeding to the cooking pot through steam detection is achieved; according to the sensor module above the cooking pot, when steam is incompletely overflowed, the emitting point can be detected; and the SCARA robot comprises two stages of material conveying devices, and materials are conveyed to a discharging opening in the tail end of a mechanical arm from a feeding opening in the top of the robot, and pass through a screening scattering device at the tail end to fall into the cooking pot. The robot system simulates the process of manual feeding to the cooking pot, the structure is compact, the overall process for feeding the white spirit to the cooking pot through steam detection is achieved full automatically, the labor intensity of workers is greatly reduced, and the labor production efficiency is improved.

The invention provides an SCARA (selective compliance assembly robot arm) robot special for welding operation. The SCARA robot comprises a base, a large swing arm, and a small swing arm. A fixed shaft is disposed at the top of the base. The center-of-gravity part of the large swing arm is mounted on the fixed shaft in a sleeving manner and is rotatably connected with the fixed shaft. One end of the small swing arm is hinged to the large swing arm through a rotating shaft fixed to the small swing arm; the other end of the small swing arm is connected with a sleeve which is vertically arranged and which can move up and down relative to the small swing arm; a vertical shaft rotatably connected relative to the sleeve penetrates the sleeve; a welding torch head fixture is hinged to the lower end of the vertical shaft. The SCARA robot has the advantages that welding can be performed by the robot instead of manual operation, the problems that severe welding environment and toxic matters may impair the health of workers, welding quality is unstable and production efficiency is low are overcome, intensity of welding is reduced for workers, and the SCARA robot is simple in structure, low in manufacturing cost and high in welding precision, has large operating space, allows accurate positioning, has good compliance, and responds fast.

The invention discloses an SCARA (Selective Compliance Assembly Robot Arm) robot which comprises a pedestal, a large arm, a small arm, a first speed reducer and a second speed reducer, wherein the first speed reducer is arranged on the pedestal, and the second speed reducer is arranged on the small arm; one end of the large arm is arranged on the output flange surface of the first speed reducer, and the other end of the large arm is arranged on the output flange surface of the second speed reducer; a first wire passing sleeve for communicating an inner cavity of the pedestal with an inner cavity of the large arm is arranged in an axial through hole of the first speed reducer, and is arranged on the large arm; a second wire passing sleeve for communicating an inner cavity of the small arm with the inner cavity of the large arm is arranged in an axial through hole of the second speed reducer, and is arranged on the small arm; a first wire fixing device is arranged above the first wire passing sleeve; a second wire fixing device and a third wire fixing device are respectively arranged below and above the second wire passing sleeve; the first wire fixing device and the second wire fixing device are both arranged on the large arm, and the third wire fixing device is arranged on the small arm; and an air pipe connector is arranged at the top of the small arm. The SCARA robot is safe and attractive, and the running ranges of first and second joints can be effectively enlarged.

The invention provides a horizontal multi-joint SCARA (Selective Compliance Assembly Robot Arm) type collaborative robot. The multi-joint SCARA type collaborative robot comprises a base, a main arm and a head part which are rotatably interconnected, wherein a main arm driving motor, a head part driving motor, and a head part driving shaft which is arranged in a main arm transmission mechanism and a head part transmission mechanism are arranged in the base; a main shaft is arranged in the head part; a main shaft driving motor and a corresponding transmission mechanism are arranged in a head part housing; the main shaft is connected through the transmission mechanism and then can rotate and move up and down; a base bearing device is arranged between a main arm driven shaft and the base housing; a main arm bearing device is arranged between the head part transmission shaft and a main arm housing. According to the multi-joint SCARA type collaborative robot, the motor which is originally arranged in the head part housing and used for driving the head part to move is transferred into the base housing, so that the problem that large mass of a moving part of an original robot and eccentricity caused by the head part which is of a suspension arm structure lead to failure in increase of speed and moving accuracy can be solved; the head part driving system of the robot is balanced in mass; the moving part is light in mass; the movement inertia is reduced. Therefore, the sensing accuracy can be improved.

The invention relates to the technical field of robot zero calibration, and particularly relates to an SCARA robot calibration method. The SCARA robot calibration method comprises the steps of installing a laser reflecting device on a tail end flange of an SCARA robot, enabling each single shaft of the SCARA robot to perform rotatory movements respectively, acquiring points on a circumference taking the rotation center as a circle center by using a laser three-coordinate measuring device at the same time, fitting the points into a circumference, and acquiring the position of the circle center and a rotation plane; making an axis, which passes the circle center of the corresponding shaft and perpendicular to the corresponding rotation plane, of each shaft, making a plane which passes the circle center of the first shaft and perpendicular to the axis of the first shaft, an intersection point of the axis of the other shafts and the plane is a new circle center, the intersection points of each two adjacent shafts on the plane are connected, an included angle of the adjacent connecting lines is a zero error, and compensation for the zero error is zero calibration. The three-coordinate measuring device is utilized, so that a zero calibration result is easy to be ensured compared with a method of only depending on coordination of a mechanical calibration workpiece, and the absolute precision of the robot is more accurate.

The invention discloses a multi-station SCARA industrial robot. The industrial robot includes a SCARA robot mechanism and a displacement drive mechanism, and the SCARA robot mechanism comprises a base, a first arm, a first arm drive device, a second arm, a second arm drive device, a ball spline wire rod and a power supply cable; a first motor and a second motor on the first and second arm drive devices are arranged inside the base, the rotation and lifting of the ball spline screw rod are driven by a third motor through a third drive component, and the SCARA robot mechanism can move under thedrive of the displacement drive mechanism. When the multi-station SCARA industrial robot is produced, multiple workstations require sharing only one SCARA robot mechanism, and thus the occupied spaceand the acquisition costs of equipment are reduced. Additionally, in the SCARA robot mechanism, the first and second motors are arranged inside the base, only the third motor is arranged on the secondarm, the weight of the load on the second arm can be reduced, the cost of spare parts is reduced, and the motion accuracy is improved.

The invention relates to an SCARA type mechanical arm which comprises a base, a power part and a rotating part. The power part is completely and fixedly arranged in the base and can drive the rotating part to rotate at any angle and to be positioned in any direction. Multi-stage coaxial transmission is adopted for the SCARA type mechanical arm, parts for providing power are all placed on the fixed base and do not directly participate in the movement of the SCARA type mechanical arm, and therefore power and inertia can not be mutually consumed, the effects of saving energy and increasing the speed and acceleration can be achieved under the same loads, and the work efficiency of the SCARA type mechanical arm is improved; in addition, each joint of the mechanical arm can be independently controlled to move through a corresponding server motor for the SCARA type mechanical arm, and the movement of the SCARA type mechanical arm is made more accurate.