Selective compliance assembly robot

Abstract

The invention provides a selective compliance assembly robot. The selective compliance assembly robot comprises a base, a first cantilever arranged on the base and capable of rotating with a first hypothetical axis as the center relative to the base, a second cantilever arranged on the first cantilever and capable of rotating with a second hypothetical axis as the center relative to the first cantilever, a shaft motor and rotary motors. The shaft motor comprises a fixing piece arranged on the second cantilever and a shaft rod capable of moving along a third hypothetical axis relative to the fixing piece. The first hypothetical axis, the second hypothetical axis and the third hypothetical axis are substantially parallel to one another. The rotary motors are arranged on the second cantilever and capable of driving the shaft rod to rotate with the third hypothetical axis as the center. In this way, according to the selective compliance assembly robot, the shaft rod is high in drive efficiency, stable in drive and capable of being controlled easily and precisely, and the maintenance cost is lower due to the fact that parts are not prone to damage.

Description

technical field [0001] The present invention relates to a mechanical arm, in particular to a horizontal multi-joint mechanical arm (SCARA Robot). Background technique [0002] Please refer to the invention patent of Taiwan Patent Publication No. 201242731. The known horizontal multi-joint mechanical arm mainly includes a base, a first cantilever on the base, and a second cantilever on the first cantilever. , and a shaft vertically passing through the second cantilever, the first cantilever is driven by a first motor built in the base, and the second cantilever is driven by a second motor built in itself , and the shaft can be rotated and axially displaced separately or simultaneously by a relatively complicated driving method. [0003] In detail, the shaft is a ball screw with a spline groove, and a shaft driving device is also provided in the second cantilever, including two motors, two belts, and a spline nut sleeved on the shaft and a ball nut, the spline nut and the ba...

AI Technical Summary

Problems solved by technology

[0004] However, the aforementioned shaft driving device adopts an indirect driving method, so the efficiency is low, and the belt cannot maintain a certain tension for a long time, so its transmission effect will be unstable as the tension changes, and the belt will also exert force on the shaft. Lateral forces cause the shaft to deflect, thereby reducing the accuracy of the shaft position control

In addition, when the shaft is driven by the spline nut to rotate, the ball nut must be controlled according to the rotation of the shaft so that the shaft only rotates without displacement or produces a required displacement. Therefore, the control method of the shaft drive device is relatively complicated.

Furthermore, the structure of the shaft driving device is relatively complicated, so it is not easy to replace parts. For example, to replace the belt, many parts need to be disassembled first, so its maintenance cost is high.

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