Human-like dual-arm cooperative robot based on synchronous pulley transmission

Abstract

The invention discloses a human-like dual-arm cooperative robot based on synchronous pulley transmission, and relates to the field of robots. The human-like dual-arm cooperative robot comprises two SCARA mechanical arms and a lumbar joint mechanism; the two sides of a rotor of the lumbar joint mechanism are each connected with one SCARA mechanical arm; each SCARA mechanical arm comprises a forearm, a middle arm, a last arm, a forearm transmission mechanism, a middle arm transmission mechanism and a last arm transmission mechanism, wherein the forearm, the middle arm and the last arm are arranged in order from front to back, the forearm transmission mechanism is a first-stage transmission mechanism, an output shaft of a motor of the forearm transmission mechanism is connected with a rotating shaft of the front arm through a set of synchronous pulley, the middle arm transmission mechanism is a secondary transmission mechanism, an output shaft of a motor of the middle arm transmission mechanism is sequentially connected to a rotating shaft of the middle arm in a transmitting manner through two sets of synchronous pulleys, the last arm transmission mechanism is a three-stage transmission mechanism, and an output shaft of a motor of the last arm transmission mechanism is sequentially connected with the last arm in a transmitting manner through three sets of synchronous pulleys. Thehuman-like dual-arm cooperative robot has the advantages that the rotating angles of the mechanical arms are not limited and the volume of the mechanical arms is reduced.

Description

technical field [0001] The invention relates to the field of robots, in particular to a humanoid dual-arm collaborative robot based on synchronous pulley transmission. Background technique [0002] The planar articulated SCARA robot has three degrees of freedom in rotation and one degree of freedom in the vertical direction. It can quickly locate and complete specified tasks in the horizontal plane. It is especially suitable for assembling printed circuit boards and electronic components, moving and picking up integrated circuit boards, etc. Work, is widely used in plastics industry, automobile industry, electronics industry, pharmaceutical industry and food industry and other fields. [0003] The traditional SCARA robot is driven by direct drive, which has the characteristics of low price, but the motor is located in each joint, and the cable routing makes the rotation angle of the joint limited; the vertical space of the end arm is large and cannot be used in the working s...

AI Technical Summary

Problems solved by technology

[0003] The traditional SCARA robot is driven by direct drive, which has the characteristics of low price, but the motor is located in each joint, and the cable routing makes the rotation angle of the joint limited; the vertical space of the end arm is large and cannot be used in the working space Smaller occasions; the direct drive transmission method makes the end of the robot vibrate greatly, which cannot meet the occasions with high-precision positioning requirements, such as wafer loading and unloading

The SCARA robot for wafer loading and unloading has the advantages of flat structure and high performance, but its structure relies on expensive torque motors and harmonic reducers

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