公开(公告)号：US06212968B1

公开(公告)日：2001-04-10

申请号：US09353730

申请日：1999-07-14

申请人： Kenichiro Hiruma ,  Shinji Suzuki ,  Rika Miyazawa ,  Yoshihito Sakashita ,  Haruhiko Tanaka ,  Kikue Hosono

发明人： Kenichiro Hiruma ,  Shinji Suzuki ,  Rika Miyazawa ,  Yoshihito Sakashita ,  Haruhiko Tanaka ,  Kikue Hosono

IPC分类号： B25J1800

CPC分类号： B25J9/1602 ,  G05B2219/36399 ,  G05B2219/40301 ,  Y10T74/20317

摘要： Disclosed is a SCARA robot having a robot body, a mount movable vertically of the robot body, a first arm having one end operatively connected to the mount such that the first arm may turningly move in a horizontal plane, a second arm having one end operatively connected to the opposite end of the first arm such that the second arm may turningly move in a horizontal plane, and an R shaft rotatably mounted on the free end of the second arm, wherein stepping motors 12, 22, 32 and 42 are provided to move the first and second arms, the R-shaft and the mount respectively, and encoders are provided to count the stepping pulses of the stepping motors. The counted pulses are feedbacked to CPU1 so that the CPU1 may correct errors when the errors are detected between the counted number of pulses and a required number of pulses. When the errors are detected, the stepping motors may be stopped and the errors may be indicated.

摘要翻译： 公开了一种具有机器人主体的机器人主体，可在机器人主体上垂直移动的安装件的第一臂，第一臂，其一端可操作地连接到安装件，使得第一臂可在水平面内转动，第二臂可操作地具有一端 连接到第一臂的相对端，使得第二臂可以在水平面中转动，以及可旋转地安装在第二臂的自由端上的R轴，其中步进电动机12,22,32和42设置成 分别移动第一和第二臂，R轴和安装座，并提供编码器来对步进电机的步进脉冲进行计数。 计数的脉冲被反馈到CPU1，使得CPU1可以在计数的脉冲数与所需的脉冲数之间检测到错误时校正错误。 当检测到错误时，可能停止步进电机并且可能会指示错误。