68 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 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.

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.

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.

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 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.

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 article to which the design of this application relates is a SCARA robot that performs industrial assembly, processing, etc.

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 present application provides a kind of screw rod assembly and robot, screw rod assembly includes: screw rod, first transmission wheel, second transmission wheel, screw rod nut inner ring, spline nut inner ring and magnetic force device, first transmission wheel can drive screw rod nut inner ring rotation, second transmission wheel can drive spline nut inner ring rotation, magnetic force device can generate magnetic force so that first transmission wheel and second transmission wheel generate force in opposite directions, in turn make spline nut inner ring generate the movement or movement tendency to the direction of far away from screw rod nut inner ring, screw rod nut inner ring generates the movement or movement tendency to the direction of far away from spline nut inner ring.According to the present application, axial pre-tightening force can be applied to the spline nut inner and outer ring, reducing the radial runout of spline nut inner ring, while applying axial pre-tightening force to the screw rod nut inner and outer ring, reducing the radial runout of screw rod nut inner ring, thereby improving the SCARA robot J3, J4 joint repeatability positioning accuracy.

This invention relates to the field of robot control technology, and particularly to a high-precision, disturbance-resistant SCARA robot control method for precision assembly. The method includes: using an ant colony algorithm to find the robot arm's working path; arranging the working paths in descending order of scores; using the optimal working path as the robot arm's preferred target path; controlling the robot arm to execute along the preferred target path; and, if a deviation occurs during execution, using a fitness function to determine whether to switch to another working path. This method, applied to SCARA robots for precision assembly, enables the robot system to have high anti-interference capabilities, a high degree of system automation, and reduced human intervention, while simultaneously considering global path optimization and local dynamic adjustment, making it suitable for precision assembly in complex environments and dynamic tasks.

This invention discloses a SCARA robot arm length and zero point calibration method using support vector regression. By establishing a kinematic model for the SCARA robot, recording joint angle data at preset points on a calibration plate, and constructing an overdetermined homogeneous linear equation system, the offset between the arm length and the zero point is initially solved. To address nonlinear errors that are difficult to handle with traditional calibration methods, this invention introduces an SVR model and utilizes radial basis kernel functions (RBFs) for error modeling and compensation, enabling dynamic error correction for the robot under different environments. This method significantly improves calibration accuracy by collecting actual error data within the robot's workspace in real time, reduces human intervention, and ensures the robot's precision stability during high-speed operation and long-term operation. Compared to existing technologies, this invention effectively handles nonlinear errors in complex environments through automated calibration and error compensation, improving industrial production efficiency and reducing downtime. It exhibits strong robustness and broad application prospects.

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.