SCARA robot Z-shaft structure based on guide rail groove and running method

Abstract

The invention discloses an SCARA robot Z-shaft structure based on a guide rail groove and a running method. The structure comprises a mechanical arm base, a Z-shaft transmission device and a spline module, the Z-shaft transmission device and the spline module are mounted on the mechanical arm base, the Z-shaft transmission device and the spline module are connected, along with transmission of theZ-shaft transmission device, the spline module is driven to move, through the structure, motion functions of a Z shaft and a Y shaft of an SCARA robot are separated, the two shafts can achieve mutually independent motion, noninterference is achieved, the motion control precision of the robot can be improved, the motion control algorithm is simplified, the work efficiency is improved, and the adaptation of the SCARA robot can be widened.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a Z-axis structure and operation method of a SCARA robot based on guide rail grooves. Background technique [0002] The conventional SCARA robot realizes the Z-axis lifting function and the Y-axis rotation function of the functional axis through the straight guide groove of the screw spline structure and the thread structure respectively. This design structure is simple, occupies a small space, and is easy to realize miniaturization. However, due to the structural characteristics of the screw spline, the movement of any one of the Y-axis and Z-axis will involve the other axis, resulting in linkage. The displacement error caused by this linkage brings a lot to the high-precision control of the position of the front jaw. At the same time, the high-precision application and flexible production of SCARA robots on industrial production lines cause great production hidden dangers. Usual...

AI Technical Summary

Problems solved by technology

However, due to the structural characteristics of the screw spline, the movement of any one of the Y-axis and Z-axis will involve the other axis, resulting in linkage. The displacement error caused by this linkage brings a lot to the high-precision control of the position of the front jaw. At the same time, the high-precision application and flexible production of SCARA robots on industrial production lines cause great production hidden dangers. Usually, more complex motion control algorithms are required for compensation and correction to ensure that SCARA robots meet modern industrial production lines. The demand for high-precision control and flexible production in the world limits the application field and scope of this type of SCARA robot

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