CN212287636U

CN212287636U - SCARA robot Z-axis structure based on guide rail groove

Info

Publication number: CN212287636U
Application number: CN202021428268.2U
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 Z-axis structure of SCARA robot based on guide rail groove, 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 the motion function with the Z axle of SCARA robot and Y axle separately realizes the mutual independent motion of diaxon, mutual noninterference to improve the motion control precision of robot, simplified the motion control algorithm, improved work efficiency, expanded the suitability of SCARA robot.

Description

SCARA robot Z-axis structure based on guide rail groove

Technical Field

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

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 guide rail groove, 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, guide rail groove, sliding block, sliding connection piece, the fixed footstock of lead screw and lead screw unable adjustment base, drive structrual installation is on the arm base, ball screw passes the top end both ends in guide rail groove, and ball screw one end rotates with the fixed footstock of lead screw to be connected, and the other end passes lead screw unable adjustment base and drive structrual connection, the sliding block be located guide rail inslot portion and with ball screw threaded connection, sliding connection piece and sliding block fixed connection.

Further, the guide rail groove is of a columnar structure, a notch is formed in the side wall of the guide rail groove, and the width of the notch is matched with the sliding connection block.

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 fixedly connected with a main shaft of the servo motor, the driving wheel is in transmission connection with the driven wheel 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 top of the spline shaft is rotatably connected with the sliding connection block.

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

Furthermore, Z axle transmission still includes adjusting screw, adjusting screw one end and guide rail groove are connected, and the other end contacts with servo motor.

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 the sliding block is along ball screw direction up-and-down motion in the notch of guide rail groove, the width and the sliding connection piece adaptation of notch to the effect of restriction and guide has been played to sliding connection piece's motion, thereby improves the stability of robot Z axle motion.

Drawings

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

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

Legend: 1. a mechanical arm base; a Z-axis transmission device; 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 guide rail groove; 231. a notch; 24. a slider; 25. a sliding connection block; 26. the screw rod fixes the footstock; 27. a screw rod fixing base; 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 guide rail groove, 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 guide rail groove 23, a sliding block 24, a sliding connecting block 25, a screw fixing top seat 26 and a screw fixing base 27, the driving structure 21 is arranged on the mechanical arm base 1, the ball screw 22 passes through the top and bottom ends of the guide rail groove 23, one end of the ball screw 22 is rotatably connected with the screw fixing top seat 26, the other end of the ball screw passes through the screw fixing base 27 to be connected with the driving structure 21, the screw fixing top seat 26 and the screw fixing base 27 are respectively and fixedly arranged at the top and bottom ends of the guide rail groove 23, the stability of the ball screw 22 on the guide rail groove 23 is improved, the sliding block 24 is positioned in the guide rail groove 23 and is in threaded connection with the ball screw 22, under the driving action of the driving structure 21, the ball screw 22 can drive and guide the sliding block 24 to move up and down along the direction of the ball screw 22, and the sliding connecting block 25 is fixedly connected with the sliding block 24;

spline module 3 includes integral key shaft 31 and spline housing 32, spline housing 32 installs on arm base 1, and installs integral key shaft 31 in spline housing 32, and integral key shaft 31 and spline housing 32 are relative motion in the vertical direction, and spline housing 32 can drive integral key shaft 31 rotatory, integral key shaft 31 top is connected with sliding connection piece 25 rotation, and under ball screw 22's rotating action, sliding block 24 is along ball screw 22 direction up-and-down motion, and integral key shaft 31 moves along with sliding block 24's up-and-down reciprocating motion.

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.

Guide rail groove 23 is the columnar structure, and has seted up notch 231 on the lateral wall, the width and the sliding connection piece 25 adaptation of notch 231 have played the effect of restriction and guide to the motion of sliding connection piece 25 to improve the stability of robot Z axle motion.

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 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 driving signal and drives the driving wheel 212 to rotate, the synchronous belt 213 is in transmission connection with the driving wheel 212 and the driven wheel 214 to ensure that the driven wheel 214 can rotate synchronously with the driving wheel 212, the driven wheel 214 is fixedly connected with the tail end of the ball screw 22, and the driven wheel 214 drives the ball screw 22 to rotate so as to drive the sliding block 24 to move up and.

The Z-axis transmission device 2 further comprises an adjusting screw 28, one end of the adjusting screw 28 is connected with the guide rail groove 23, the other end of the adjusting screw is in contact with the servo motor 211, and the installation position of the servo motor 211 is adjusted through the depth of the adjusting screw 28, so that the distance between the driving wheel 212 and the driven wheel 214 is adjusted, and the tensioning degree of the synchronous belt 213 is adjusted.

During actual operation, the servo motor 211 drives the driving wheel 212 installed 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 installed 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 rotatably connected with the spline shaft 31, and the sliding connection block 25 drives the spline shaft 31 to reciprocate in the Z-axis direction of the robot under the limitation and guidance of the guide rail groove 23.

The invention discloses an operation method of a Z-axis structure of an SCARA robot based on a guide rail groove,

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 sliding block 24 in threaded connection with the ball screw 22 moves up and down along the ball screw 22 in the guide rail groove 23;

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 can drive the spline shaft 31 to move up and down in the spline housing 32 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 guide rail groove 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 Z-axis structure of the SCARA robot based on the guide rail groove as claimed in claim 1, wherein: z axle transmission (2) are including drive structure (21), ball screw (22), guide rail groove (23), sliding block (24), sliding connection piece (25), lead screw fixed footstock (26) and lead screw unable adjustment base (27), install on arm base (1) drive structure (21), ball screw (22) pass the top end both ends in guide rail groove (23), and ball screw (22) one end and lead screw fixed footstock (26) rotate and be connected, and the other end passes lead screw unable adjustment base (27) and is connected with drive structure (21), sliding block (24) are located inside guide rail groove (23) to with ball screw (22) threaded connection, sliding connection piece (25) and sliding block (24) fixed connection.

3. The Z-axis structure of the SCARA robot based on the guide rail groove as claimed in claim 2, wherein: guide rail groove (23) are the columnar structure, and seted up notch (231) on the lateral wall, the width and the sliding connection piece (25) adaptation of notch (231).

4. The Z-axis structure of the SCARA robot based on the guide rail groove as claimed in 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 fixedly connected with 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 Z-axis structure of the SCARA robot based on the guide rail groove as claimed in 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) top and sliding connection piece (25) rotate and are connected.

6. A SCARA robot Z-axis structure based on guide rail grooves as claimed in claim 5, wherein: 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).

7. The Z-axis structure of the SCARA robot based on the guide rail groove as claimed in claim 1, wherein: z axle transmission (2) still include adjusting screw (28), adjusting screw (28) one end is connected with guide rail groove (23), and the other end contacts with servo motor (211).