CN212287635U

CN212287635U - SCARA robot Z-axis structure based on double guide rails

Info

Publication number: CN212287635U
Application number: CN202021427998.0U
Authority: CN
Inventors: 何瑞; 郭梅; 刘丹; 韩浚源
Original assignee: Yunzhi Technology Beijing Co ltd
Current assignee: Yunzhi Technology Beijing Co ltd
Priority date: 2020-07-20
Filing date: 2020-07-20
Publication date: 2021-01-05
Anticipated expiration: 2030-07-20

Abstract

The utility model discloses a SCARA robot Z-axis structure based on double guide rails, which comprises a mechanical arm base, a Z-axis transmission device and a spline module, wherein the Z-axis transmission device and the spline module are respectively arranged on the mechanical arm base, and the Z-axis transmission device is connected with the spline module and drives the spline module to move along with the transmission of the Z-axis transmission device; through implementing the utility model discloses separate the motion function of the Z axle of SCARA robot and Y axle, realize that the diaxon moves independently each other, mutual noninterference to improve the motion control precision of robot, simplify the motion control algorithm, improve work efficiency, expanded the suitability of SCARA robot; the utility model discloses a reciprocating motion is to two guide rail guides and restriction sliding blocks on ball screw, and then has improved stability.

Description

SCARA robot Z-axis structure based on double guide rails

Technical Field

The utility model relates to a robotechnology field, concretely relates to SCARA robot Z axle construction based on double guide rail.

Background

The conventional SCARA robot respectively realizes the Z-axis lifting function and the Y-axis rotating function of the functional shaft through the straight guide groove and the thread structure of the screw rod spline structure, and the design structure is simple, small in occupied space and easy to realize miniaturization. But because of the structural characteristics of the lead screw spline, the action of any one of the Y axis and the Z axis can involve the other axis, so that linkage is caused, the displacement error caused by the linkage brings great difficulty to the high-precision control of the position of the front-end clamping jaw, meanwhile, great hidden danger is caused to the high-precision application and flexible production of the SCARA robot on an industrial production line, generally, a more complex motion control algorithm is needed to be adopted for compensation and correction, so that the SCARA robot can be ensured to meet the requirements of high-precision control and flexible production on a modern industrial production line, and the application field and the range of the SCARA robot are limited.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, the purpose of this patent is to provide a SCARA robot Z axle structure based on double guide rail, separates the motion function of the Z axle of SCARA robot and Y axle, realizes the mutual independent motion of diaxon, mutual noninterference to improve the motion control precision of robot, simplified motion control algorithm, improved work efficiency, expanded SCARA robot's suitability.

The utility model discloses a Z axle construction of SCARA robot, including arm base, Z axle transmission and spline module are installed respectively on the arm base, and Z axle transmission and spline module are connected, drive the motion of spline module along with Z axle transmission's transmission.

Further, Z axle transmission includes drive structure, ball screw, linear guide, sliding block, sliding connection piece, linear bearing, lead screw unable adjustment base and guide rail installing support, drive structure installs on the arm base, ball screw passes lead screw unable adjustment base, guide rail installing support in proper order and is connected with drive structure to with sliding block threaded connection, linear guide quantity is 2, is located one side of ball screw, and the parallel solid dress is on the guide rail installing support, every linear guide sliding connection has linear bearing, sliding connection piece respectively with linear bearing and sliding block rigid coupling.

Furthermore, the Z-axis transmission device further comprises a fixed plate, and two ends of the fixed plate are fixedly connected with the top end of the linear guide rail respectively.

Furthermore, the driving structure comprises a servo motor, a driving wheel, a synchronous belt, a driven wheel and a mounting plate, wherein the mounting plate is fixedly mounted on the mechanical arm base, the servo motor is fixedly mounted on the mounting plate, the driving wheel is fixed on a main shaft of the servo motor, the driving wheel and the driven wheel are in transmission connection through the synchronous belt, and the driven wheel is fixedly connected with the tail end of the ball screw.

Further, the spline module comprises a spline shaft and a spline housing, the spline housing is installed on the mechanical arm base, the spline shaft is installed in the spline housing, and the spline shaft is rotatably connected with the sliding connection block.

Furthermore, the spline module also comprises a locking ring which is fixedly connected at the tail end of the spline shaft.

Has the advantages that: by implementing the technical proposal of the utility model,

1. the motion functions of the Z axis and the Y axis of the SCARA robot are separated, so that the two axes can move independently without mutual interference, the motion control precision of the robot is improved, the motion control algorithm is simplified, the working efficiency is improved, and the applicability of the SCARA robot is expanded;

2. the utility model discloses a reciprocating motion is to two guide rail guides and restriction sliding blocks on ball screw, and then has improved stability.

Drawings

Fig. 1 is a schematic structural diagram of a double-guide-rail-based Z-axis structure of a SCARA robot of the present invention;

fig. 2 is the utility model discloses a A-A cross-sectional view of SCARA robot Z axle construction based on dual guide rail.

Legend: 1. a mechanical arm base; a Z-axis transmission device; 20. a fixing plate; 21. a drive structure; 211. a servo motor; 212. a driving wheel; 213. a synchronous belt; 214. a driven wheel; 215. mounting a plate; 22. a ball screw; 23. a linear guide rail; 24. a slider; 25. a sliding connection block; 26. a linear bearing; 27. a screw rod fixing base; 28. a guide rail mounting bracket; 29. a bearing fixing sleeve; 3. a spline module; 31. a spline shaft; 32. a spline housing; 33. a locking ring.

Detailed Description

The present invention is further illustrated by the following examples, but is not limited to the contents of the specification.

The following description of the embodiments of the present disclosure is provided by way of specific examples, and other advantages and effects of the present disclosure will be readily apparent to those skilled in the art from the disclosure herein. It is to be understood that the disclosed embodiments are merely exemplary of the disclosure, and not restrictive of the broad invention. The present disclosure may also be embodied or practiced in other different specific embodiments, and various details may be set forth in the description for various modifications and changes without departing from the spirit of the disclosure. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. Based on the embodiments in the present disclosure, all other embodiments obtained by a person skilled in the art without creative efforts belong to the scope of the present disclosure.

As shown in fig. 1-2, the utility model discloses a Z-axis structure of SCARA robot based on double guide rails, including arm base 1, Z-axis transmission 2 and spline module 3 are installed on arm base 1 respectively, and Z-axis transmission 2 and spline module 3 are connected, and spline module 3 is driven to reciprocate in the Z-axis direction along with the transmission of Z-axis transmission 2;

the Z-axis transmission device 2 comprises a driving structure 21, a ball screw 22, a linear guide rail 23, a sliding block 24, a sliding connecting block 25, a linear bearing 26, a screw fixing base 27, a guide rail mounting bracket 28 and a bearing fixing sleeve 29. The driving structure 21 is installed on the mechanical arm base 1, the ball screw 22 sequentially penetrates through the screw fixing base 27 and the guide rail mounting bracket 28 to be connected with the driving structure 21 and is in threaded connection with the sliding block 24, the number of the linear guide rails 23 is 2, the linear guide rails are located on one side of the ball screw 22 and are parallelly and fixedly installed on the guide rail mounting bracket 28, each linear guide rail 23 is slidably connected with a linear bearing 26, the sliding connection block 25 is fixedly connected with the linear bearing 26 and the sliding block 24 respectively, and the bearing fixing sleeve 29 is used for fixedly connecting the sliding connection block 25 with the linear bearing 26. When the ball screw 22 rotates under the action of the driving structure 21, and the sliding connection block 25 moves up and down in the Z-axis direction, the linear guide rail 23 plays a role in guiding and limiting, so that the stability is improved, and when the sliding block 24 moves up and down along the direction of the ball screw 22, the spline shaft 31 moves along with the up-and-down reciprocating motion of the sliding block 24.

Z axle transmission 2 still includes fixed plate 20, fixed plate 20 both ends respectively with linear guide 23's top rigid coupling, through fixed plate 20's fixed action, further increased the stability of sliding block motion.

The spline module 3 includes a spline shaft 31 and a spline housing 32. The spline housing 32 is mounted on the mechanical arm base 1, the spline shaft 31 is mounted in the spline housing 32, the spline shaft 31 and the spline housing 32 make relative motion in the vertical direction, the spline housing 32 can drive the spline shaft 31 to rotate, the spline shaft 31 is rotatably connected with the sliding connection block 25, under the rotation action of the ball screw 22, the sliding block 24 moves up and down along the direction of the ball screw 22, and the spline shaft 31 moves along with the up-and-down reciprocating motion of the sliding block 24.

The spline module 3 further comprises a locking ring 33, the locking ring 33 is fixedly connected to the top end of the spline shaft 31, and the locking ring 33 is used for limiting the position of the spline shaft 31 and preventing the spline shaft 31 from being separated from the sliding connection block 25 during reciprocating motion.

The driving structure 21 includes a servo motor 211, a driving pulley 212, a timing belt 213, a driven pulley 214, and a mounting plate 215. The mounting plate 215 is fixedly mounted on the mechanical arm base 1, the servo motor 211 is fixedly mounted on the mounting plate 215, the driving wheel 212 is fixedly connected with a main shaft of the servo motor 211, the servo motor 211 rotates under the control of an external drive signal and drives the driving wheel 212 to rotate, the synchronous belt 213 is used for driving and connecting the driving wheel 212 and the driven wheel 214, the driven wheel 214 can be ensured to synchronously rotate with the driving wheel 212, the driven wheel 214 is fixedly connected with the tail end of the ball screw 22, the driven wheel 214 rotates under the drive of the synchronous belt 213 and drives the ball screw 22 to rotate, and then the sliding block 24 is driven to move up and down along the direction of the ball.

In actual operation, the servo motor 211 drives the driving wheel 212 mounted on the main shaft of the servo motor 211 to rotate under the control of an external intelligent driving control signal, the driving wheel 212 drives the driven wheel 214 to rotate through the transmission of the synchronous belt 213, the driven wheel 214 is fixed at one end of the ball screw 22, when the ball screw 22 is driven to rotate, the sliding block 24 mounted on the ball screw 22 is driven by the ball screw 22 to move up and down, the sliding block 24 is fixedly connected with one end of the sliding connection block 25, the other end of the sliding connection block 25 is fixedly connected with the tail end of the spline shaft 31, the two linear bearings 26 are fixedly mounted in the mounting holes of the sliding connection block 25 and are connected with the two linear guide rails 23 in a sliding manner, the, under the guide of the two linear guide rails 23, the robot moves up and down along with the sliding block 24, so that the robot reciprocates in the Z-axis direction.

The utility model discloses an operation method of a Z-axis structure of a SCARA robot based on double guide rails,

respectively installing a Z-axis transmission device 2 and a spline module 3 on a mechanical arm base 1;

the driving structure 21 drives the ball screw 22 to rotate, and the linear guide rail 23 guides and limits the sliding connection block 25 to move up and down along the ball screw 22;

the sliding connecting block 25 is rotationally connected with the spline shaft 31, the locking ring 33 limits the sliding connecting block 25 at the end of the spline shaft 31, and the sliding block 24 drives the spline shaft 31 to move up and down in the spline housing 34 through the sliding connecting block 25.

The utility model discloses separate SCARA robot's Z axle and Y axle's motion function, realize the mutual independent motion of diaxon, mutual noninterference to improved the motion control precision of robot, simplified the motion control algorithm, improved work efficiency, expanded SCARA robot's suitability.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on the second feature or indirectly via intermediate members. "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

The above description is for illustrative purposes only and is not intended to limit the present invention, and any modifications, equivalent substitutions, improvements, etc. that do not depart from the spirit and principles of the present invention should be construed as within the scope of the present invention.

Claims

1. The utility model provides a SCARA robot Z axle construction based on dual guide rail which characterized in that: the mechanical arm comprises a mechanical arm base (1), a Z-axis transmission device (2) and a spline module (3), wherein the Z-axis transmission device (2) and the spline module (3) are respectively installed on the mechanical arm base (1), the Z-axis transmission device (2) is connected with the spline module (3), and the spline module (3) is driven to move along with the transmission of the Z-axis transmission device (2).

2. The dual-guideway-based SCARA robot Z-axis structure of claim 1, wherein: z axle transmission (2) are including drive structure (21), ball screw (22), linear guide (23), sliding block (24), sliding connection piece (25), linear bearing (26), lead screw unable adjustment base (27) and guide rail installing support (28), drive structure (21) is installed on arm base (1), ball screw (22) pass lead screw unable adjustment base (27), guide rail installing support (28) in proper order and are connected with drive structure (21) to be connected with sliding block (24) threaded connection, linear guide (23) quantity is 2, is located one side of ball screw (22), and the parallel dress is on guide rail installing support (28), and every linear guide (23) sliding connection has linear bearing (26), sliding connection piece (25) respectively with linear bearing (26) and sliding block (24) rigid coupling.

3. The dual-guideway-based SCARA robot Z-axis structure of claim 2, wherein: the Z-axis transmission device (2) further comprises a fixing plate (20), and two ends of the fixing plate (20) are fixedly connected with the top end of the linear guide rail (23) respectively.

4. The dual-guideway-based SCARA robot Z-axis structure of claim 2, wherein: the driving structure (21) comprises a servo motor (211), a driving wheel (212), a synchronous belt (213), a driven wheel (214) and a mounting plate (215), wherein the mounting plate (215) is fixedly arranged on the mechanical arm base (1), the servo motor (211) is fixedly arranged on the mounting plate (215), the driving wheel (212) is fixed on a main shaft of the servo motor (211), the synchronous belt (213) is used for driving and connecting the driving wheel (212) and the driven wheel (214), and the driven wheel (214) is fixedly connected with the tail end of a ball screw (22).

5. The dual-guideway-based SCARA robot Z-axis structure of claim 1, wherein: spline module (3) include integral key shaft (31) and spline housing (32), install on arm base (1) spline housing (32), and install integral key shaft (31) in spline housing (32), integral key shaft (31) rotate with sliding connection piece (25) and be connected.

6. A dual-guide-rail-based SCARA robot Z-axis structure according to claim 5, characterized in that: the spline module (3) further comprises a locking ring (33), and the locking ring (33) is fixedly connected to the top end of the spline shaft (31).