42 results about "SCARA" patented technology

The invention provides an SCARA robot and a control method and device thereof, a medium and a computer program product. The control method of the SCARA robot comprises the steps that a kinetic model of the SCARA robot is established according to joint information, motion information and lead screw information of the SCARA robot; according to the expected joint track, the expected lead screw position and the lead screw information of the SCARA robot, a corrected joint track of the SCARA robot is determined; according to the dynamic model and the corrected joint track, the screw rod vibration error and the screw rod vibration rule of the SCARA robot are determined; and control input information of the SCARA robot is determined according to the corrected joint track, the lead screw vibration error and the lead screw vibration rule. By means of the control method, the influence of lead screw shaking on the SCARA robot can be considered, and the precision of controlling the SCARA robot to move is improved.

1. Name of the design product: Robot (SCARA horizontal four-joint). 2. Use of the design product: The design product is used to replace human work in the manufacturing industry of automobiles, 3C semiconductors, etc., medical care, daily chemicals, food, logistics and warehousing industries, etc. 3. Design points of the design product: in shape. 4. Picture or photo best indicating the design points: perspective view 1.

A SCARA robot for transporting cargo comprises a head unit for adsorbing cargo and an arm unit coupled to the head unit and having one or more joints to pull and move the adsorbed cargo in a first direction. The head unit comprises a suction module having one or more suction pads that contact and adsorb the suction surface of the cargo, a first head body connected to the suction module in a spaced-apart manner along a first direction, and a second head body coupled to the first head body and the arm unit between the first head body and the arm unit. The suction module is adjustable in terms of the spacing distance relative to the first head body, the left-right positioning angle relative to the first head body, or the height relative to the second head body.

This invention discloses a method for calibrating the kinematic parameters of a SCARA robotic arm, relating to the field of robotics technology. The method includes: mounting a calibration block on the end effector rotary joint of the robotic arm, with a measurement point on the calibration block; acquiring measurement data corresponding to the joints to be calibrated, including end effector, intermediate, and beginning effect rotary joints; calculating the actual rotation angle of the joints to be calibrated for each rotation based on the measurement data; calculating the reduction ratio calibration value of the joints to be calibrated based on the actual rotation angle and the motor rotation angle; and calculating the arm length between two adjacent rotary joints and the coupling ratio calibration value between the intermediate and end effector rotary joints based on a third set of measurement data corresponding to the beginning effector rotary joint. This method can calibrate the reduction ratio, arm length, and coupling ratio using the coordinate data of the measurement point in the third set of measurement data acquired in one go and the motor rotation angles of the three joints. The operation and calculation are relatively easy to implement.

A linear motion mechanism includes: a shaft extending along a prescribed axis; a structural member provided with a cavity through which the shaft extends; and a spline nut and a ball screw nut that support the shaft so as to be rotatable about the axis and so as to be movable in a direction of the axis, respectively, with respect to the structural member. The spline nut and the ball screw nut are detachably attached to the structural member from both sides sandwiching the structural member via attachment flanges provided thereon. At least one of the spline nut and the ball screw nut is fixed to, inside the cavity, a power transmission member having an outer diameter larger than an outer diameter of one of the attachment flanges provided thereon and is attached to the structural member via an adapter having a larger outer diameter than the power transmission member.

1. Name of the design product: Horizontal four-joint industrial robot (SCARA). 2. Use of the design product: Replacing human work in the manufacturing industry of automobiles, 3C semiconductors, etc., medical care, daily chemicals, food, logistics and warehousing, etc. 3. Design points of the design product: In shape. 4. Picture or photo best indicating the design points: Perspective view 1.

A robot, comprising: a base (110) comprising a prismatic joint; and a plurality of arm members (10, 20, 30, 40, 50, 60, 70) connected to the base (110) and arranged in succession. Two adjacent arm parts (40, 50) each comprise an arm body (200) comprising a tubular body having a first opening (215) extending in a first direction parallel to the prismatic joint and a second opening (225) extending in a second direction perpendicular to the first direction, and a first actuator (120) for forming a first rotary joint of the SCARA robot is arranged in the first opening (215) and a second actuator (120) for forming a second rotary joint of the SCARA robot is arranged in the second opening (225). A fixed portion (320) of the first actuator (120) is fixed to one of two adjacent arm members, while a movable portion (310) of the first actuator is fixed to the other arm member.

1. Name of the product in this design: Handling Robot (SA20A-800). 2. Application of this design: for use in the assembly and handling of SCARA robots. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: 3D view 1.

The application discloses a control method for cooperative carrying of a double SCARA robot, and also discloses a system of the first and second SCARA robots which jointly hold a workpiece through end effectors. The method comprises the following steps: in a cooperative control mode, the first robot moves independently according to a preset trajectory, and the second robot keeps a relative position with the first robot; a desired position and force are obtained according to environmental constraints; positions and forces of the two robots are collected in real time; the first robot adopts a position control strategy, and outputs a force through a proportional differential control law based on a position error according to position feedback; and the second robot adopts a damping control strategy, and outputs a speed correction amount through a proportional differential control law based on a force error according to force feedback. The application realizes decoupling of the position and the force through differentiated control, and improves carrying stability, precision and adaptability. The master-slave architecture avoids position grabbing or mutual dragging, reduces dependence on positioning precision, and is suitable for carrying of precise or fragile workpieces.

A substrate transport apparatus includes a frame; a first SCARA arm coupled to the frame at a shoulder rotation axis that is fixed relative to the frame; a second SCARA arm coupled to the frame at the shoulder rotation axis such that rotation of the first SCARA arm and the second SCARA arm about the shoulder rotation axis is substantially uniform; and a five-motor drive section having five independent motors configured to independently extend and rotate each of the first SCARA arm and the second SCARA arm. A first motor of the five independent motors is operably coupled to each first upper arm of both the first SCARA arm and the second SCARA arm such that the first motor is a common motor for the respective two first upper arms of both the first SCARA arm and the second SCARA arm.

The application discloses a dynamic inertia control method of a high-speed heavy-load SCARA robot, which comprises the following steps: S1, measuring the motion state of each driving joint of the SCARA robot, wherein the SCARA robot comprises a first rotary driving joint, a second rotary driving joint and a third linear moving driving joint; S2, calculating the mass of a carried object; S3, calculating the equivalent load inertia of the driving joint; and S4, implementing dynamic inertia control; wherein the mass of the carried object is calculated by measuring the acceleration by using a motor encoder installed at the third linear moving driving joint in the step S2; the equivalent load inertia of the first rotary driving joint and the second rotary driving joint is calculated in real time; and the dynamic inertia control voltage signal of the first rotary driving joint and the second rotary driving joint is calculated. The application can automatically measure and calculate the equivalent load inertia of each driving joint, adapt to different load control requirements and improve the control precision.

1. The name of the design product: carrying robot. 2. The use of the design product: used in SCARA robot assembly, carrying field. 3. The design points of the design product: in shape. 4. The picture or photo that best shows the design points: perspective view 1.

According to the agaricus bisporus picking robot, RGB-D images of agaricus bisporus are collected through a depth camera, the RGB-D images are sent to an AI development board, the AI development board recognizes and positions the agaricus bisporus according to the RGB-D images through an improved Mask R-CNN model algorithm, the current pose of an SCARA mechanical arm and the picking position information of the agaricus bisporus are obtained, and the agaricus bisporus is picked according to the current pose of the SCARA mechanical arm and the picking position information of the agaricus bisporus. According to the method, the AI development board receives the agaricus bisporus, generates a corresponding picking track command and sends the picking track command to the AI development board, the AI development board controls the SCARA mechanical arm to move to the target position according to the picking track command and controls the end effector to pick and grab the agaricus bisporus corresponding to the target position, accurate identification and positioning of the agaricus bisporus can be achieved, the accuracy of rapidly grabbing the agaricus bisporus can be improved by adopting the SCARA mechanical arm, and the working efficiency of the agaricus bisporus is improved. And the agaricus bisporus picking efficiency is improved.

The utility model discloses an inner fin turntable structure of a battery cooler lamination machine, which comprises an equipment frame, an SCARA robot is arranged at the upper part of the equipment frame, a vacuum conveyor is arranged at the output end of the SCARA robot, an inner fin suction cup is arranged at the lower part of the vacuum conveyor, a material slide way is arranged on the side surface of the equipment frame, and the material slide way is provided with a plurality of inner fins. A left servo device and a right servo device are arranged at the bottom of the equipment frame, bearing seats are arranged at the output ends of the left servo device and the right servo device, and couplings are arranged on the side faces of the bearing seats. According to the inner fin rotating disc structure of the battery cooler lamination stacking machine, efficient and accurate stacking of inner fins is achieved through accurate mechanical design and automatic control technology, production efficiency is improved, labor cost is reduced, and diversified requirements of battery cooler production are met.

The invention belongs to the technical field of robot simulation, and particularly relates to an SCARA robot dynamics simulation method and device, and the method comprises the steps: modeling and preprocessing; establishing a material database; in the simulation software Adams, a screw rod nut and a spline nut are split into a stator fixed to a mechanical arm and a rotor rotating relative to the stator, and corresponding mass and inertia are given to the split stator and rotor based on material attributes of an SCARA robot dynamic model; the base, the mechanical arm and the motor assembly are endowed with mass and inertia; and simulation analysis is carried out, specifically, constraint and coupling relations among the base, the mechanical arm, the motor assembly and the lead screw assembly are added, a driving function is constructed, and simulation analysis is carried out. According to the method, the motion characteristics of the SCARA robot are fully considered, part type selection is supported under the condition that no test prototype exists, the accurate motion trail optimization direction is provided, and the dynamics simulation error is reduced.

The utility model relates to automatic welding equipment applied to a water channel cover plate of a new energy charger shell, and relates to the field of welding. By arranging the cover plate feeding table, the positioning platform, the cylindrical vibration feeding disc, the welding platform, the six-axis laser welding robot, the finished product discharging table and the four-axis SCARA robot, the 6061 thin plate welding machine is designed for thin plates made of 6061 materials, various welding defects caused by small thickness of the materials are effectively avoided, and the quality of welding joints is ensured. Besides, an unmanned or few-person operation mode is achieved in the whole welding process through a pre-programmed program, the welding consistency and reliability can be guaranteed, the working efficiency and safety are greatly improved, and therefore solid technical support is provided for large-scale batch production of the water channel cover plate of the new energy charger shell.

The invention discloses a coordinate conversion method and a working space boundary calculation method of a sewing robot configured by SCARA (selective compliance assembly robot arm). According to the method, by establishing a mathematical mapping model among an SCARA coordinate system, a rotary workbench coordinate system and a workpiece coordinate system, accurate alignment of a sewing path drop point and a mechanical tail end position under the scara is achieved; meanwhile, the working space boundary is calculated by deducing joint angle constraints, the collision risk in the sewing process is predicted, and the sewing precision and the operation safety are improved. According to the method, the defect that a traditional Monte Carlo sampling method cannot effectively predict the random vector working space is overcome.

The invention relates to the technical field of storage battery production equipment, and particularly discloses a storage battery electrode plate thickness measuring and weighing all-in-one machine which comprises an equipment frame, and an SCARA robot, an electrode plate weighing device, an electrode plate thickness measuring device and a storage table are installed on the equipment frame. A visual positioning system and a robot jig are arranged on the SCARA robot, and at least two suction cups are mounted on the robot jig and used for alternately grabbing and placing polar plates; the polar plate weighing device and the polar plate thickness measuring device are integrated in space, and weighing and thickness measuring are continuously carried out; the storage table is used for temporarily storing polar plates to be put back to the conveying chain, and plate lug directions are consistent when the polar plates are put back. According to the invention, automatic, alternate and continuous high-precision weighing and thickness measurement of the storage battery pole plate on a production line are realized, manual operation is effectively replaced, and the detection efficiency, precision and production safety are improved.

The utility model relates to the technical field of product feeding, in particular to a vertical manipulator feeding machine which comprises a machine frame, a control panel is installed on the surface of the machine frame, two sets of feeding mechanisms are arranged on one side of the surface of the machine frame, and an SCARA robot is arranged between every two adjacent feeding mechanisms. A material receiving jig is arranged on the surface of the rack and located on one side of the SCARA robot. A carrying mechanism is further installed on the surface of the machine frame, and a discharging mechanism is arranged on one side of the machine frame. According to the double-station feeding device, the double-station alternate feeding function is achieved through the two sets of feeding mechanisms, the problem that a machine needs to be stopped during feeding is solved, and therefore the working efficiency during feeding is improved; according to the feeding machine, the feeding CCD camera and the feeding CCD camera are arranged, so that the visual detection function is achieved when products are grabbed, and the accuracy of the feeding machine when the products are grabbed is improved.

To provide a highly reliable SCARA robot and a robot system.SOLUTION: The robot includes a base, a first arm coupled to the base and rotating about a first shaft, a second arm 30 coupled to the first arm and rotating about a second shaft parallel to the first shaft, a first shaft 41 provided in the second arm 30 and movable along a third shaft J3 parallel to the second shaft and rotating about the third shaft J3, a second shaft 42 provided in the second arm 30 and extending along a ball screw shaft BS parallel to the third shaft J3, an upper coupling member 61 provided in the second shaft 42, rotatably supporting an upper end 41a of the first shaft 41, and movable along the ball screw shaft BS, and an inertial sensor 80 disposed in the upper coupling member 61 and detecting at least one of acceleration and angular speed.SELECTED DRAWING: Figure 4

This invention discloses a method and system for inverse kinematics of SCara robots. The method includes the following steps: S1: configuring the range of motion of each joint of the SCara robot; S2: constructing a kinematic top view of each joint based on the current end effector pose; S3: determining the configuration variables of the second and fourth joints based on the current end effector pose; S4: solving the position or pose of each joint based on the current end effector position and attitude angle, and the configuration variables of the second and fourth joints. This invention provides a method and system for inverse kinematics of SCara robots, which can solve the inverse kinematics of SCara robots where the third and fourth joints are coupled due to the lead screw spline axis, and reduces the number of cases in the inverse kinematics solution process, thereby improving the computational efficiency of inverse kinematics.

1. Name of the product in this design: Handling Robot (SA20A-1000). 2. Application of this design: for use in the assembly and handling of SCARA robots. 3. The key design feature of this product is its shape. 4. The image or photograph that best illustrates the design's key points: 3D view 1.

This invention provides a SCARA robotic arm, characterized by comprising: a movable base, at least two articulated arms, and articulated motors disposed at each articulated arm; the movable base is sequentially connected to each articulated arm; each articulated motor is a planetary gear motor, and each articulated motor is rigidly directly connected to a follower structure via coaxial bearings; an end effector is mounted on the end articulated arm. This invention, by selecting an integrated articulated motor with a planetary reducer as the drive unit, enables the joint output to achieve high torque and sufficient speed without the need for external multi-stage reduction links, directly increasing the output capacity per unit volume on the drive side, thereby reducing the need for additional structural and transmission components to meet dynamic performance requirements. The rigid direct connection scheme between the articulated motor and the follower structure shortens the power transmission path, reduces backlash and flexibility introduced by components such as synchronous belts / linkage mechanisms, and lowers phase lag and energy loss.

The application discloses a kind of industrial robot gap hinge collision state detection methods, this method includes: the driving torque required by the end of SCARA type robot moves according to preset trajectory;Establish the nonlinear dynamics model of robot;Processing dynamics behavior obtains deviation sequence;ARIMA model is used to fit position deviation time series, and the linear approximation time series of position deviation is obtained;The detection threshold of the difference time series after the difference of position deviation sequence and its linear approximation sequence is calculated, with pulse factor as detection index, the collision state of robot gap hinge is detected online.By using the application, the collision state of gap hinge can be indirectly detected to prevent frequent collision of robot shaft and bearing, which can prevent the wear of hinge and cause the failure of hinge pair.The application can be widely applied to the field of robot system state monitoring as a kind of industrial robot gap hinge collision state detection method.

The invention belongs to the technical field of industrial robot assembling, and particularly relates to a tool for assembling an SCARA robot harmonic reducer and an assembling method. The tool for assembling comprises an annular body and a center positioning boss, and the center positioning boss is arranged in the middle of the top face of the annular body in a protruding mode. By means of the innovative assembly tool and the corresponding assembly method, only one joint casting exists between the harmonic reducer and the servo motor after assembly and serves as a transition piece, the assembly structure is optimized, and the machining error and the assembly accumulative error are reduced; therefore, the transmission precision and stability after the servo motor and the harmonic reducer are assembled can be ensured. In the assembling process, the problem of positioning the installation depth of the wave generator can be solved, the problem that the motor shaft rotates when the wave generator is connected with the motor shaft can be solved, it is ensured that assembling between the wave generator and the motor shaft is accurate and reliable, and the assembling efficiency can be effectively improved in batch assembling.

The utility model discloses a compliance control system of a high-speed heavy-load SCARA robot, which comprises a plurality of drivers, the drivers drive the SCARA robot to move, the drivers are electrically connected with a motion controller and an industrial personal computer in sequence, and the drivers in the other drivers are electrically connected with a coupler, a digital quantity I / O interface, a relay and a contactor in sequence; the torque sensors comprise a plurality of torque sensors, and all the torque sensors are electrically connected with an analog quantity input interface and a coupler in sequence; wherein the driver and the torque sensor are communicated with the same coupler; and the digital quantity I / O interface is also electrically connected with a control panel. According to the utility model, the driver is controlled through the motion controller, the functions of data display, real-time control and the like of the SCARA robot arm and the tail end moving rod are realized, the torque sensor is monitored in real time, and the rotating shaft angle and torque change sensing function is realized.

The present invention relates to a method for calculating an end point. A method for calculating an end point according to one embodiment of the present invention comprises: a conveyor device having one or more joints and a SCARA device coupled to the conveyor device having one or more joints, wherein the method calculates an end point of a unloading robot for unloading cargo, and comprises the steps of: defining DH parameters (Denavit-Hartenberg Parameters) of each joint; analyzing the inverse kinematics of the conveyor device based on the DH parameters; and analyzing the overall inverse kinematics of the unloading robot through Lagrange's Multiplier Estimation. By optimizing and simultaneously finding the optimal conveyor position and grip point that enable cargo unloading, the present invention can improve the cargo unloading volume using the robot and improve the stability of cargo unloading using the robot.

This invention belongs to the field of distilled liquor brewing technology, and particularly relates to a SCARA-type still-loading robot. The advantage of this invention lies in the fact that, through the intelligent collaboration of visual sensing and a multi-degree-of-freedom SCARA robotic arm, it achieves proactive and precise response to random steaming points, reproducing the traditional steam-pressing process, completely eliminating reliance on human experience, and significantly improving the uniformity of the mash distribution and steam utilization rate. At the same time, the offset design of the end effector's discharge port on one side eliminates the need for significant movement of the upper or lower arm when covering the edge of the still, effectively avoiding interference between the mechanical structure and the still wall, resulting in smoother movement and ensuring that the mash is light, loose, thin, and uniform. Thus, while reducing labor intensity and achieving standardized production, it greatly improves the yield and quality of liquor.

This invention discloses a method, apparatus, and readable medium for inverse kinematics using a SCARA robot for grinding wheels, relating to the field of grinding robots. Based on a 3D model of the SCARA robot's arm, a linkage coordinate system is established, along with transformation matrices between these systems. The SCARA robot has four joints, and the grinding wheel has a virtual fifth joint. Virtual tool position points and virtual tool axis directions are established based on the grinding wheel radius. Equations are established by aligning these virtual tool position points and virtual tool axis directions with the tool position points and tool axis directions in the workpiece coordinate system within the SCARA robot's base coordinate system. The inverse kinematics solution is then derived from these equations. A virtual rotation axis and tool direction are created using the outer circle shape of the grinding wheel, coordinating with the four axes of the SCARA robot. Five-axis linkage inverse kinematics enables five-degree-of-freedom machining of the tool relative to the workpiece, while also allowing offline programming of the workpiece machining code. This solves problems such as poor interchangeability, poor readability, and low programming efficiency associated with on-site teaching programming.

1. Name of the design product: Robot (SCARA horizontal four-joint). 2. Use of the design product: The design product is used to replace human work in the manufacturing industry of automobiles, 3C semiconductors, etc., medical care, daily chemicals, food, logistics and warehousing industries, etc. 3. Design points of the design product: in shape. 4. Picture or photo best indicating the design points: perspective view 1.