Planar joint robot

Abstract

The embodiment of the invention relates to the industrial field and discloses a planar joint robot. The planar joint robot comprises a base, a big arm, a front arm and a tool end, wherein the base isprovided with a concave structure; the big arm is located in a cavity of the base and connected with the base; the front arm is connected with the end, located outside the cavity of the base, of the big arm; and the tool end is arranged at the tail end of the front arm; and a first motor used for controlling rotation of the big arm in the horizontal direction and a second motor used for controlling rotation of the front arm in the horizontal direction are arranged in the base, a third motor used for controlling rotation of the tool end in the horizontal direction is arranged in the big arm, and a fourth motor used for controlling rotation of the tool end in the vertical direction is arranged in the front arm. According to the planar joint robot, part of motors in the front arm are arrangedon the rear portion, so that the dimension and movement inertia of the front arm are reduced; and in addition, when the planar joint robot moves vertically, only the tool end at the tail end of the front arm needs to be driven, the big arm and the front arm do not need to move vertically, and thus the response speed during movement and the stability during operation are improved.

Description

technical field [0001] The embodiments of the present invention relate to the industrial field, in particular to a planar joint robot. Background technique [0002] Industrial robots integrate advanced manufacturing technologies such as precision, flexibility, intelligence, and software application development. By implementing detection, control, optimization, scheduling, management, and decision-making on the process, they can increase production, improve quality, reduce costs, and reduce Resource consumption and environmental pollution are the highest manifestations of industrial automation. The currently widely used planar joint robot (Selective Compliance Assembly Robot Arm, SCARA) is a multi-axis robot suitable for working on a horizontal plane. Typically a SCARA robot includes a fixed axis, such as a base fixed to a tabletop. The robot is also provided with a boom movable about a fixed axis, usually a vertical axis of rotation. In addition, the robot is also equippe...

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Problems solved by technology

[0006] The inventor finds that there are at least the following problems in the prior art: image 3 Although the structure of the robot shown reduces the size of the forearm of the robot and the moment of inertia when the forearm of the big arm rotates, the movement of the vertical direction of the end is changed to be performed by the connection between the base and the big arm, resulting in the vertical direction of the end of the robot The forearm and forearm need to be driven during movement, so that the mass and inertia of the driven load greatly increase when running vertically, requiring a larger power actuator and slowing down the response, and when the forearm and forearm are longer The movement of the cantilever structure in the vertical direction will easily cause the shaking of the forearm or even the whole machine, seriously affecting the accuracy and stability of the end

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