102 results about "SCARA" patented technology

The invention discloses a dynamic trajectory control method for an SCARA (selective compliance assembly robot arm) robot. According to the kinematics model, a homogeneous transformation matrix is used for analyzing the coordinate transformation relation between each joint and the connecting rod, and an initial pose and a target pose are determined; establishing a kinetic model based on a Lagrange equation, and determining kinetic parameters needing to be identified; performing parameter identification by adopting a random weight particle swarm optimization algorithm; according to an identification result, a sliding mode robust item RBF neural network adaptive controller is constructed, real-time track control is achieved, and the end manipulator is made to move to a target pose along a preset dynamic track; a real-time pose is detected through a sensor and compared with a target pose, and arrival is judged when the error is smaller than a threshold value. Model precision and identification efficiency are improved through modeling and efficient parameter identification, the composite controller effectively compensates uncertainty, disturbance and nonlinear factors of the model, closed-loop control and online adjustment are achieved, and trajectory tracking precision, system stability and dynamic response speed are improved.

The invention relates to the technical field of robot control, in particular to a high-precision anti-disturbance SCARA robot control method for precision assembly. The method comprises the following steps: searching a working path of a mechanical arm by utilizing an ant colony algorithm; the working paths are arranged according to the high-low sequence of scores; the optimal working path is used as a preferred target path of the mechanical arm; the mechanical arm is controlled to execute according to the preferred target path; and in the execution process, if deviation occurs, judging whether to switch to other working paths or not by utilizing a fitness function. The method is used for precise assembly of the SCARA robot, so that a robot system has high anti-interference performance and high system automation degree, manual intervention is reduced, global path optimization and local dynamic adjustment are considered at the same time, and the method is suitable for precise assembly of complex environments and dynamic tasks.

The invention discloses an unpacking and box feeding system, and relates to the technical field of full-automatic unstacking and automatic unstacking and feeding, and the unpacking and box feeding system comprises an unstacking and feeding system, a feeding and box unpacking system, a box unloader and a scara robot; the device has the beneficial effects that manual work is replaced by automatic box feeding, and the box feeding speed is high; according to the full-automatic unpacking and box feeding system, an original box unloading machine is changed little, after the full-automatic unpacking and box feeding system is assembled and debugged, quick butt joint can be completed only by removing two rear covers at the tail of the original box unloading machine and forming a rectangular hole in a bottom plate of the box unloading machine, and machining troubles caused by butt joint are avoided; the system is mainly composed of an unstacking and feeding system, a feeding and unpacking system and a safety protection system, the overall structure is compact, and the occupied space is small; and through accurate control and a safety protection device, risks such as personnel injury and equipment damage can be avoided, so that the occurrence rate of production accidents can be reduced, and the personal safety of employees and the stable development of enterprises are guaranteed.

The utility model discloses flexible feeding equipment based on an SCARA robot, which comprises a machine table, a flexible vibration disc and the SCARA robot are arranged on the machine table, a flexible visual positioning camera is further erected above the flexible vibration disc, a bottom secondary positioning camera is further arranged on one side of the flexible vibration disc, the SCARA robot is positioned on one side of the secondary positioning camera, and the bottom secondary positioning camera is positioned on the other side of the secondary positioning camera. The action output tail end of the SCARA robot is provided with a pair of profiling suction cups and a pair of water gap clamps, and the SCARA robot is further fixedly provided with a head camera; according to the utility model, the flexible vibration disc is adopted, the flexible vibration disc can replace a common vibration disc, so that the space utilization rate of equipment can be improved, and meanwhile, a part to be subjected to injection molding can be vibrated to a specific surface which faces upwards so as to reach the direction of being sucked and carried; the three visual cameras are arranged in the device and can position and adjust the direction of the part in the carrying process, and the precision of the direction of the part in the assembling and carrying process is improved.

The invention discloses an SCARA robot arm length and zero point calibration method based on support vector regression. The method comprises the following steps: establishing an SCARA robot kinematics model, recording joint angle data at a preset point of a calibration plate, constructing an overdetermined homogeneous linear equation set, and preliminarily resolving an offset value of the arm length and the zero point. Aiming at nonlinear errors which are difficult to process by a traditional calibration method, an SVR model is introduced, error modeling and compensation are carried out by utilizing a radial basis function (RBF), and dynamic error correction of the robot in different environments is realized. According to the method, the actual error data in the working space of the robot is collected in real time, the calibration precision is remarkably improved, human intervention is reduced, and the precision stability of the robot in high-speed operation and long-time operation is guaranteed. Compared with the prior art, by means of the automatic calibration and error compensation process, nonlinear errors in a complex environment are effectively processed, the industrial production efficiency is improved, the downtime is shortened, and the method has high robustness and wide application prospects.

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.

The utility model discloses a limit space upper cover grabbing mechanism, which belongs to the technical field of logistics equipment, and comprises an SCARA robot, a suction cup, a laser distance measuring sensor, an optical fiber sensor and a parallel clamping jaw, the laser distance measuring sensor is arranged above the SCARA robot, the suction cup is arranged on the SCARA robot, and the optical fiber sensor is arranged on the suction cup. The optical fiber sensor is arranged on the parallel clamping jaws, when the SCARA robot moves to the position above the feeding position, the laser distance measuring sensor detects the distance between the suction cup and a cover, the SCARA robot moves to the adsorption position according to the distance, the suction cup sucks the cover, and the SCARA robot moves to the discharging position. The field space utilization rate is high; when the cover is uneven, a special sucker is used for sucking the cover; and the equipment is good in use effect, stable in operation and free of obvious noise and vibration.

The invention discloses an inverse solution rapid calculation method for an SCARA robot of a PRRR configuration. Belongs to the field of robots. The SCARA robot comprises a shaft 1, a shaft 2, a shaft 3 and a shaft 4 which are connected with one another; the method comprises the following operation steps: step 1, modeling by using a standard DH method (SDH), and determining DH parameters (theta, d, a and alpha) of each joint; 2, a robot tail end pose matrix is known, and an algebraic analysis method is used for solving a set of formulas for solving the angles or positions of all the shafts; 3, due to the fact that + / -number, arc tangent, arc cosine and other formulas are used, multiple groups of solutions exist; q3 is determined according to the set posture of the left arm or the right arm; and related variables in the matrix are selected, and the solved key angle value is verified to quickly determine q2 and q4. The method has the characteristics of high operation speed, accurate calculation result and the like, can meet the requirements of real-time operation and control of the robot, and can be applied to a real-time control system of the robot.

The invention discloses an automatic edge cutting solution (system) for workpieces subjected to hot extrusion forming (hot forging), the automatic edge cutting solution (system) replaces manual feeding and discharging of the workpieces, and the automatic edge cutting solution (system) comprises an elevator, a horizontal conveying system, a conveying line, a visual robot system, a horizontal moving and positioning clamp, a feeding mechanical arm, a discharging and detecting system and a master control system. The elevator and the horizontal conveying system are mainly used for lifting scattered workpieces to a horizontal conveying mechanism, and the workpieces are conveyed out as one by one as possible by adopting a horizontal vibration conveying method. The main function of the conveying line is to receive workpieces conveyed out from the flat vibration device, and every time one workpiece falls, the conveying line moves forwards by a certain distance and conveys the workpieces to a visual detectable range. The visual robot system comprises an industrial robot (such as an SCARA robot), a clamp and a visual detection system, and has the functions of identifying workpieces on the conveying line and clamping the workpieces by the industrial robot according to the posture of the workpieces; the translation and positioning clamp is used for placing the workpiece clamped by the industrial robot on the clamp, positioning the workpiece again and then conveying the workpiece to the front of the machine tool for the feeding manipulator to take the workpiece; the feeding manipulator is responsible for clamping the workpieces conveyed by the translation mechanism and then conveying the workpieces into a machine tool die; the discharging and detecting system ensures that workpieces can be punched off every time, no residue is left on the die, and continuous and stable production is ensured; and the master control system ensures linkage of all the systems and ensures stable operation of the whole production process.

The invention discloses a dynamic inertia control method for a high-speed heavy-load SCARA robot, and the method comprises the steps: S1, measuring the motion state of each drive joint of the SCARA robot, the SCARA robot comprising a first rotation drive joint, a second rotation drive joint, and a third linear movement drive joint; s2, calculating the mass of the carried object; s3, calculating the equivalent load inertia of a driving joint; s4, dynamic inertia control is implemented; wherein in the step S2, a motor encoder installed at a third linear movement driving joint is used for measuring the acceleration # imgabs0 #, and the mass of a carried object is calculated; calculating the equivalent load inertia of the first rotary driving joint and the second rotary driving joint in real time; and dynamic inertia control voltage signals of the first rotary driving joint and the second rotary driving joint are calculated. By adopting the method, the equivalent load inertia of each driving joint can be automatically measured and calculated, different load control requirements are met, and the control precision is improved.

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.

The utility model relates to the technical field of dispensing machines, and provides a four-shaft driving module of a dispensing machine, which comprises a first shaft mechanism, a second shaft mechanism and a ball spline lead screw mechanism, the first shaft mechanism and the second shaft mechanism in the four-shaft driving module are arranged to be of a cross structure, meanwhile, the ball spline lead screw mechanism is arranged at one end of the second shaft mechanism, and compared with an existing gantry type four-shaft module, the four-shaft driving module is more compact in structure and more concise in tail end installation; and compared with an existing SCARA four-axis robot, the dispensing operation space is wider, and the dispensing operation range is larger.

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.

The present invention discloses a four-degree-of-freedom parallel robot mechanism capable of realizing SCARA-like motion, comprising a fixed platform, a moving platform, and four branches evenly distributed around the moving platform; the branches comprise an active arm, an auxiliary active arm, a triangular joint, a U-shaped bracket, an upper connecting shaft, a telescopic parallel rod, and a lower connecting shaft. The auxiliary active arm is parallel to the active arm, one end of which is respectively rotatably connected to two places of the fixed platform, and the other end is respectively rotatably connected to the upper and lower parts of the triangular joint; the upper end of the U-shaped bracket is rotatably connected to the lower wall of the triangular joint, and the lower ends of the left and right side wing plates are rotatably connected to the upper connecting shaft; the upper end of the telescopic parallel rod is rotatably connected to the two ends of the upper connecting shaft, and the lower end is hinged to the two ends of the lower connecting shaft through a ball joint, and the lower connecting shaft is fixed on the moving platform. The branches of the present invention all contain two parallelogram structures, have greater rigidity and stability, and the ends can realize three translations and one rotation, and the movement is more flexible.

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.

A SCARA robot, the robot comprises a base (110) comprising a prismatic joint; and a plurality of arm parts (10, 20, 30, 40, 50, 60, 70) connected to the base (110) and arranged in serial. Two adjacent arm parts (40, 50) each comprise an arm body (200), the arm body comprising a tubular body with 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 revolute joint of the SCARA robot is arranged in the first opening (215), a fixed part (320) of the first actuator (120) being fixed to the one arm part, and a movable part (310) of the first actuator being fixed to the other arm part of the two adjacent arm parts.

According to the double-Scara mechanical arm calibration method based on the TCP, the limited number of calibration points are selected on the chessboard, the coordinate points of the calibration points relative to the chessboard and the mechanical arm base are obtained, operation and calibration are carried out, and the tedious steps of early-stage double-mechanical-arm calibration can be greatly reduced; it can be ensured that the double-mechanical-arm system can accurately position and operate a target object when executing a task, and the production efficiency and the product quality are improved. Meanwhile, the method further has wide application prospects and important significance, and powerful technical support is provided for development of the fields of industrial automation, robot service, scientific research and exploration and the like.

1. Name of the Design Product: Industrial Robot (ESR20). 2. Use of the Design Product: The design product is a multi-purpose SCARA robot, which can be used in operations such as handling, sorting, assembly, etc. 3. Design Key Points of the Design Product: It lies in the combination of shape and pattern. 4. Picture or Photograph that Best Illustrates the Design Key Points: Perspective view of Design 1. 5. Design 1 is designated as the basic design.

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.

The present invention discloses a variable-gain vibration suppression control method for a high-speed SCARA robot. The method involves testing the robot's task trajectory, collecting the angular acceleration of the drive joint motor, the Z-axis coordinate, and the vibration amplitude of the acceleration sensor, and taking the maximum or minimum absolute value of these data. The robot then officially executes the task trajectory, collecting these data in real time, and adjusting the controller's proportional gain, differential gain, and vibration suppression setting coefficient based on the trajectory's execution direction and vibration amplitude. The method repeats these steps until the residual vibration amplitude at the end effector falls within a minimum threshold. This method automatically adjusts the controller's proportional and differential gains by simply measuring the angular acceleration of the drive joint servo motor, the Z-axis coordinate, and the vibration amplitude of the acceleration sensor mounted on the end effector, thereby improving vibration suppression effectiveness and automating gain adjustment.

The invention discloses an SCARA mechanical arm kinematics parameter calibration method, and relates to the technical field of robots, and the method comprises the steps that a calibration block is installed on a rotating joint at the tail end of a mechanical arm, and a measurement point is arranged on the calibration block; obtaining measurement data corresponding to joints to be calibrated, wherein the joints to be calibrated comprise a tail end rotating joint, a middle rotating joint and a starting end rotating joint; calculating the actual rotation angle of the to-be-calibrated joint during each rotation based on the measurement data corresponding to the to-be-calibrated joint; calculating a reduction ratio calibration value of the to-be-calibrated joint based on the actual rotation angle of the to-be-calibrated joint during each rotation and the rotation angle of the motor; and calculating the arm length between the two adjacent rotary joints and the coupling ratio calibration value of the middle rotary joint and the tail rotary joint based on the third group of measurement data corresponding to the initial rotary joint. According to the method, the reduction ratio, the arm length and the coupling ratio can be calibrated through the coordinate data of the measuring points in the third group of measuring data collected at a time and the motor rotating angles of the three joints, and operation and calculation are easy to achieve.

The invention discloses a control method for cooperative carrying of double SCARA robots, and further comprises a system of a first SCARA robot and a system of a second SCARA robot, and the first SCARA robot and the second SCARA robot jointly clamp a workpiece through an end effector. The method comprises the steps that a cooperative control mode is adopted, a first robot independently moves according to a preset track, and a second robot keeps a relative position; acquiring an expected position and an acting force according to environmental constraints; acquiring positions and acting force of the two robots in real time; the first robot adopts a position control strategy and applies a proportional differential control law output acting force based on a position error through position feedback; and the second robot adopts a damping control strategy, applies a force error-based proportional differential control law through acting force feedback, and outputs a speed correction amount. Decoupling of the position and force is achieved through differential control, and the carrying stability, precision and adaptability are improved. The master-slave architecture avoids position grabbing or mutual dragging, reduces dependence on positioning precision, and is suitable for carrying precise or vulnerable workpieces.

This invention discloses a collaborative grasping and placing planning method for dual SCARA robots. The method involves first using a visual system to determine the center point position vector, posture angle, and object length of the object being grasped and placed at its starting point; then generating path points for the grasping and placing trajectory based on the target endpoint; and finally generating grasping point position vectors for the master and slave robots. These grasping point position vectors are then adjusted based on the two-dimensional force sensing information at the end of the slave robot. This invention utilizes two SCARA robots on a production line to collaboratively grasp and place higher-quality materials that exceed the load capacity of a single robot. This method eliminates the need to modify existing production lines or upgrade robot models, resulting in lower equipment costs.

The present invention relates to the field of manipulator control, and more particularly to a remote control system and method for a SCARA manipulator based on the Internet of Things (IoT). The control system comprises a SCARA manipulator, a motion controller, an IoT gateway, a cloud server, and an internet-connected teach pendant. The motion controller's signal terminal is connected to the SCARA manipulator for outputting received motion control signals to a corresponding driver or actuator of the SCARA manipulator, thereby completing control of the SCARA manipulator. The interface connecting the motion controller and the IoT gateway is an RS485 serial communication interface. The interface connecting the IoT gateway and the motion controller is also an RS485 serial communication interface. A wireless communication module is used to communicate between the IoT gateway and the server. The server is provided with a server database for storing controller data. The teach pendant is used to transmit user-entered teaching data for the SCARA manipulator to the server. The present invention enables remote control and data monitoring of the SCARA manipulator.

The invention discloses an inverse kinematics solution method and system for a scara robot. The method comprises the following steps that S1, the motion range of each joint of the scara robot is configured; s2, according to the current tail end pose, a kinematics top view of each joint is constructed; s3, according to the current tail end pose, configuration variables of a second joint and a fourth joint are determined; and S4, solving the position or attitude of each joint according to the current position and attitude angle of the tail end and the configuration variables of the second joint and the fourth joint. The invention provides an inverse kinematics solution method and system for a scara type robot, so that inverse kinematics solution can be carried out on the scara robot of which a third joint and a fourth joint generate coupling motion due to a lead screw spline shaft, condition division in the inverse kinematics solution process of the scara robot is reduced, the number of inverse solutions is reduced, and the solution efficiency is improved. Therefore, the calculation efficiency of inverse kinematics is improved.

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.