Scara robot and control method thereof

Abstract

The application provides a SCARA robot and a control method thereof, and belongs to the technical field of robots.The SCARA robot comprises a screw rod assembly, a mechanical arm, and a base.The screw rod assembly comprises a screw rod, a limiting piece arranged on the screw rod, and a screw rod female thread which is threadedly connected with the screw rod.The mechanical arm is used for driving the screw rod, the screw rod female thread, and the limiting piece to make a revolution motion around the rotation center of the mechanical arm.The base is arranged in the revolution motion direction of the limiting piece.A first buffer device is arranged in the linear motion direction of the screw rod, and a second buffer device is arranged in the revolution motion direction of the screw rod.The first buffer device is arranged on the screw rod female thread, and the second buffer device is arranged on the base.In the application, the buffer devices arranged on the screw rod female thread and the base can effectively reduce the collision force caused by high-speed collision between the robot parts, so that the normal use of the parts is not lost due to the collision, and the safety and reliability of the robot operation are improved.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a SCARA robot. Background Technology

[0002] During operation, SCARA (Selective Compliance Assembly Robot Arm) robots may experience collisions between their base, limit blocks, and lead screws due to improper use or insufficient consideration during robot program debugging. High-speed collisions may damage robot components, thereby affecting the normal operation of the robot. Summary of the Invention

[0003] To overcome the problem that components of SCARA robots are easily damaged after collisions during operation in related technologies, this invention proposes a SCARA robot and its control method.

[0004] The first aspect of this invention provides a SCARA robot, which includes:

[0005] A lead screw assembly includes a lead screw, a limiting member mounted on the lead screw, and a lead screw nut that is threadedly engaged with the lead screw. When the lead screw and the lead screw nut are threadedly engaged, the lead screw can drive the limiting member to make linear motion relative to the lead screw nut.

[0006] The robotic arm is used to drive the lead screw, lead screw nut and limit components to revolve around the rotation center of the robotic arm;

[0007] The base is positioned in the direction of the orbital motion of the limiting component;

[0008] The screw has a first buffer device in the linear motion direction and a second buffer device in the revolution direction. The first buffer device is located on the screw nut and the second buffer device is located on the base.

[0009] In the above technical solution, the first buffer device has a first open state for protecting the lead screw nut and a first closed state for removing the protection of the lead screw nut.

[0010] The second buffer device has a second open state that protects the base and a second closed state that removes the protection of the base, wherein;

[0011] The first buffer device can perform a first open state or a first closed state according to the distance between the limiting member and the lead screw nut;

[0012] The second buffer device can perform a second open state or a second closed state depending on the distance between the limiting member and the base.

[0013] In the above technical solution, the robot also includes:

[0014] The distance sensor is used to monitor the distance between the limit component and the lead screw nut, as well as the distance between the limit component and the base.

[0015] The controller is configured to: control the first buffer device to perform a first open state or a first closed state based on the received distance information between the limit member and the lead screw nut; and / or control the second buffer device to perform a second open state or a second closed state based on the received distance information between the limit member and the base.

[0016] In the above technical solution, the limiting component includes an upper limiting component and a lower limiting component disposed on the lead screw, and the upper limiting component and the lower limiting component are located on the upper and lower sides of the lead screw nut.

[0017] The distance sensor includes a first distance sensor and a second distance sensor. The first distance sensor is used to monitor the distance between the upper limit component and the lead screw nut, and the second distance sensor is used to monitor the distance between the lower limit component and the base.

[0018] In the above technical solution, the first distance sensor is installed on the lead screw nut and is used to monitor the distance between the upper limit switch and the lead screw nut in the vertical direction;

[0019] The second distance sensor is located on the lower limit component and is used to monitor the horizontal distance between the lower limit component and the lead screw nut.

[0020] In the above technical solution, the first buffer device and the second buffer device are telescopic buffer devices;

[0021] The first buffer device has a first open state in an extended form and a first closed state in a retracted form;

[0022] The second buffer device has a second open state in an extended form and a second closed state in a retracted form;

[0023] When the first buffer device is in the first open state, the first buffer device extends and protrudes above the lead screw nut;

[0024] When the second buffer device is in the second open state, the second buffer device extends and surrounds the outer periphery of the base.

[0025] In the above technical solution, the first buffer device includes a first retractable energy-dissipating anti-collision layer, a telescopic lifting assembly and a fixing device. The fixing device is fixed on the lead screw nut, and the telescopic lifting assembly is connected to the first retractable energy-dissipating anti-collision layer.

[0026] The second buffer device includes a fixed pile, a second retractable energy-dissipating anti-collision layer, a telescopic head, a motor, a drive assembly, pulleys, and a guide rail. The fixed pile is fixed to one side of the bottom of the base. One side of the second retractable energy-dissipating anti-collision layer is connected to the fixed pile, and the other side is connected to the telescopic head. The telescopic head is equipped with a motor, and the output end of the motor is connected to the drive assembly. The bottom of the drive assembly is equipped with a pulley. The guide rail is laid along the outer contour of the base, and the pulley is slidably installed in the guide rail.

[0027] In the above technical solution, the robot also includes:

[0028] An alarm device is activated when the first buffer device is in a first open state and / or the second buffer device is in a second open state.

[0029] The alarm device includes an alarm indicator light and a buzzer;

[0030] Braking device, used to control the operation and stopping of the lead screw assembly;

[0031] When the first buffer device is in the first open state and / or the second buffer device is in the second open state, the brake device controls the lead screw assembly to stop running.

[0032] A second aspect of this invention provides a control method for a SCARA robot, applied to the aforementioned SCARA robot, the control method comprising:

[0033] During the robot's operation;

[0034] Get the distance H1 between the upper limit block and the lead screw nut, and get the distance H2 between the lower limit block and the base;

[0035] The first buffer device is activated based on the distance H1 between the upper limit block and the lead screw nut, and the second buffer device is activated based on the distance H2 between the lower limit block and the base.

[0036] In any of the above embodiments, the method for selecting whether to activate the first buffer device based on the distance H1 between the upper limit block and the lead screw nut, and for selecting whether to activate the second buffer device based on the distance H2 between the lower limit block and the base, includes:

[0037] Obtain the distance H1 between the upper limit block and the lead screw nut and compare it with the first preset minimum safety distance H1; obtain the distance H2 between the lower limit block and the base and compare it with the second preset minimum safety distance H2.

[0038] If H1 ≤ Hset1, the first buffer device is activated;

[0039] If H2 ≤ Hset2, the second buffer device is activated;

[0040] Where H is set to 1 > 0 and H is set to 2 > 0.

[0041] In the above technical solution, the first preset minimum safety distance Hset1 and the second preset minimum safety distance Hset2 can be adaptively adjusted according to the movement speed of the lead screw.

[0042] In the above technical solution, the method for adaptively adjusting the first preset minimum safety distance H1 and the second preset minimum safety distance H2 according to the movement speed of the lead screw includes:

[0043] The speed V1 of the lead screw in the vertical direction is obtained, and the first preset minimum safety distance is adjusted based on the speed V1.

[0044] The speed V2 of the lead screw in the revolution direction is obtained, and the second preset minimum safety distance is adjusted based on the speed V2.

[0045] In the above technical solution, the method for adaptively adjusting the first preset minimum safety distance H1 and the second preset minimum safety distance H2 according to the movement speed of the lead screw further includes:

[0046] Obtain the extension speed V3 of the first buffer device, and obtain the extension speed V4 of the second buffer device;

[0047] The first preset minimum safe distance is adjusted based on the movement speed V1 and the extension speed V3;

[0048] The second preset minimum safe distance is adjusted based on the movement speed V2 and the extension speed V4.

[0049] In the above technical solution, when the first buffer device and / or the second buffer device are activated, the alarm device is activated and the braking device is activated.

[0050] By adopting the above technical solution, the present invention has the following beneficial effects compared with the prior art:

[0051] I. In this embodiment of the invention, by setting buffer devices on the lead screw nut and the base respectively, the collision force of high-speed collisions between robot parts can be effectively reduced, so as to prevent the collision from causing the parts to lose their normal use ability, thereby improving the safety and reliability of robot operation. Attached Figure Description

[0052] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0053] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the SCARA robot of the present invention;

[0054] Figure 2 for Figure 1 An enlarged structural diagram at point A in the embodiment;

[0055] Figure 3 This is a schematic diagram of the structure of the first buffer device in an embodiment of the SCARA robot of the present invention;

[0056] Figure 4 This is a schematic diagram of the structure of the second buffer device in an embodiment of the SCARA robot of the present invention;

[0057] Wherein: 1-lead screw; 2-limiting component; 21-upper limiting component; 22-lower limiting component; 3-lead screw nut; 4-robotic arm; 5-base; 6-first buffer device; 61-first retractable energy-dissipating anti-collision layer; 62-lifting assembly; 63-fixing device; 7-second buffer device; 71-fixed pile; 72-second retractable energy-dissipating anti-collision layer; 73-telescopic head; 74-motor; 75-drive assembly; 76-pulley; 77-guide rail; Detailed Implementation

[0058] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the invention as detailed in the appended claims.

[0059] Currently, existing SCARA robots are prone to damage after collisions between components during operation. In this embodiment of the invention, by setting buffer devices (a first buffer device and a second buffer device) on the lead screw nut and the base respectively, the collision force of high-speed collisions between robot components can be effectively reduced, thus preventing collisions from causing the components to lose their normal usability, thereby improving the safety and reliability of robot operation.

[0060] The following is in conjunction with the appendix Figure 1-4 The technical solution of this embodiment is described in detail. Unless otherwise specified, the following implementation methods and embodiments can be combined with each other.

[0061] Example

[0062] like Figures 1-4 As shown, the first aspect of this embodiment proposes a SCARA robot, comprising:

[0063] The lead screw assembly includes a lead screw 1, a limiting member 2 disposed on the lead screw, and a lead screw nut 3 that is threadedly engaged with the lead screw 1. When the lead screw 1 and the lead screw nut 3 are threadedly engaged, the lead screw 1 can drive the limiting member 2 to perform linear motion relative to the lead screw nut 3.

[0064] The robotic arm 4 is used to drive the lead screw 1, lead screw nut 3 and limit member 2 to revolve around the rotation center of the robotic arm 4. Specifically, the lead screw nut 3 includes a rotor and a stator. The stator is fixed on the lead screw nut mounting plate, which is fixed on the robotic arm. The robotic arm drives the lead screw nut 3 to rotate through the lead screw nut mounting plate, thereby driving the lead screw nut 3, lead screw 1 and limit member 2 to revolve around the rotation center of the robotic arm 4.

[0065] Base 5, which is positioned in the direction of the revolution of the limiting member 2;

[0066] The lead screw 1 is provided with a first buffer device 6 in the linear motion direction and a second buffer device 7 in the revolution direction. The first buffer device 6 is provided on the lead screw nut 3 and the second buffer device 7 is provided on the base 5, thereby avoiding direct collision between the limiting member 2 and the lead screw nut 3 in the linear motion direction and the base 5 in the revolution direction.

[0067] In existing SCARA robots, improper operation or incomplete programming during robot debugging can lead to collisions between the limiting component 2 of the lead screw 1 and the lead screw nut 3, spline nut; between the base 5 and the limiting component 2; and between the arm limiting bolt and the base flange. This collision can damage robot components, and in severe cases, directly cause the robot to malfunction, resulting in significant economic losses. In this embodiment of the invention, by setting a first buffer device 6 and a second buffer device 7 on the lead screw nut 3 and the base 5 respectively, the collision force of high-speed collisions between robot components can be effectively reduced, thus preventing collisions from causing loss of normal operation and improving the safety and reliability of robot operation.

[0068] In any of the above embodiments, the first buffer device 6 has a first open state for protecting the lead screw nut 3 and a first closed state for removing the protection of the lead screw nut 3.

[0069] The second buffer device 7 has a second open state that protects the base 5 and a second closed state that removes the protection of the base, wherein;

[0070] The first buffer device 6 can perform a first open state or a first closed state according to the distance between the limiting member 2 and the lead screw nut 3;

[0071] The second buffer device 7 can perform a second open state or a second closed state depending on the distance between the limiting member 2 and the base 5.

[0072] That is, the buffer device in the embodiment of the present invention can adjust between two states, an open state and a closed state, according to the change in distance between the components, so as to adaptively protect the components according to the change in distance between the components.

[0073] Specifically, the robots also include:

[0074] The distance sensor is used to monitor the distance between the limit member 2 and the lead screw nut 3, and the distance between the limit member 2 and the base 5.

[0075] The controller is configured to: control the first buffer device 6 to perform a first open state or a first closed state based on the received distance information between the limit member 2 and the lead screw nut 3; and / or control the second buffer device 7 to perform a second open state or a second closed state based on the received distance information between the limit member 2 and the base 5.

[0076] In this embodiment of the invention, a distance sensor is set to monitor the distance between components in real time, thereby enabling timely and accurate activation of the first buffer device 6 and the second buffer device 7, thus improving the protection effect on the components.

[0077] In any of the above embodiments, such as Figure 1 As shown, the limiting member 2 includes an upper limiting member 21 and a lower limiting member 22 disposed on the lead screw 1, and the upper limiting member 21 and the lower limiting member 22 are located on the upper and lower sides of the lead screw nut 3.

[0078] The distance sensor includes a first distance sensor and a second distance sensor. The first distance sensor is used to monitor the distance between the upper limit member 21 and the lead screw nut 3, and the second distance sensor is used to monitor the distance between the lower limit member 22 and the base 5.

[0079] The inventors discovered that during the operation of the SCARA robot, collisions easily occur between the upper limit stop 21 on the lead screw 1 and the lead screw nut 3, and between the lower limit stop 22 on the lead screw 1 and its base. Therefore, in this embodiment of the invention, a first buffer device 6 is provided on the lead screw nut 3 and a second buffer device 7 is provided on the base 5. By providing the first buffer device 6 on the lead screw nut 3 and the second buffer device 7 on the base 5, the lead screw 1 can effectively protect the components in its direction of motion, whether it is performing linear or rotary motion, thereby avoiding damage to the components caused by violent collisions between the upper limit stop 21 and the lower limit stop 22 and the components.

[0080] In any of the above embodiments, a first distance sensor is disposed on the lead screw nut 3 to monitor the distance between the upper limit switch 21 and the lead screw nut 3 in the vertical direction.

[0081] The second distance sensor is installed on the lower limit member 22 and is used to monitor the distance between the lower limit member 22 and the lead screw nut 3 in the horizontal direction.

[0082] In this embodiment of the invention, by setting the first distance sensor on the lead screw nut 3 and the second distance sensor on the lower limit member 22, the installation of the sensors is facilitated, and the shortest distance between the two components can be directly measured, thereby improving the monitoring effect.

[0083] In any of the above embodiments, the first buffer device 6 and the second buffer device 6 are telescopic buffer devices.

[0084] The first buffer device 6 has an extended first open state and a retracted first closed state;

[0085] The second buffer device 7 has a second open state in an extended form and a second closed state in a retracted form;

[0086] When the first buffer device 6 is in the first open state, the first buffer device 6 extends and protrudes above the lead screw nut 3.

[0087] When the second buffer device 7 is in the second open state, the second buffer device 7 extends and surrounds the outer periphery of the base 5.

[0088] In this embodiment of the invention, the first buffer device 6 and the second buffer device 7 are designed to be telescopic, so that the buffer device can be retracted when there is no risk of collision between the two parts. This avoids the buffer device from affecting the operation of the robot and the heat dissipation of the robot after it is deployed. The robot generates a lot of heat during actual operation, so the buffer device should not block too much of the robot's parts, thus affecting its heat dissipation.

[0089] In any of the above embodiments, such as Figure 3 and Figure 4 As shown, the first buffer device 6 includes a first retractable energy-dissipating anti-collision layer 61, a telescopic lifting assembly 62, and a fixing device 63. The fixing device 63 is fixed on the lead screw nut 3, and the telescopic lifting assembly 62 is connected to the first retractable energy-dissipating anti-collision layer 61.

[0090] The second buffer device 7 includes a fixed pile 71, a second retractable energy-dissipating anti-collision layer 72, a telescopic head 73, a motor 74, a drive assembly 75, a pulley 76, and a guide rail 77. The fixed pile 71 is fixed to one side of the bottom of the base 5. One side of the second retractable energy-dissipating anti-collision layer 72 is connected to the fixed pile 71, and the other side is connected to the telescopic head 73. The telescopic head 73 contains a motor 74, and the output end of the motor 74 is connected to the drive assembly 75. The bottom of the drive assembly 75 is provided with a pulley 76. The guide rail 77 is laid along the outer contour of the base 5, and the pulley 76 is slidably disposed in the guide rail 77. Specifically;

[0091] like Figure 3 As shown, the first buffer device 6 mainly includes a first retractable energy-dissipating buffer layer 61, a telescopic lifting assembly 62, and a fixing device 63, etc. The fixing device 63 is fixed to the lead screw nut 3 by bolts. During the operation of the robot, as the extension length of the lead screw 1 increases, the first distance sensor monitors the distance H1 between the upper limit member 21 and the lead screw nut 3; when H1 = the first preset minimum safe distance H_set1, the first distance sensor transmits the signal to the first buffer device, the first buffer device is activated, the telescopic lifting assembly 62 begins to rise, raising the first retractable energy-dissipating buffer layer 61, thereby forming an anti-collision protective layer on the surface of the lead screw nut 3, which can reduce the collision force consumption of the upper limit member 21 to a safe range;

[0092] like Figure 4 As shown, the second buffer device 7 mainly includes a fixed pile 71, a second retractable energy-dissipating anti-collision layer 72, a telescopic head 73, a motor 74, a drive device 75, a pulley 76, a guide rail 77, etc. The fixed pile 71 is fixed next to the bottom plate of the base 5, and the guide rail 77 is laid along the outer contour of the base 5. As the robot rotates, the second distance sensor monitors the distance H2 between the lower limit member 22 and the base 5 as the range of joint rotation changes. When H = the first preset minimum safe distance Hset2, the second distance sensor transmits the signal to the second buffer device, which then starts working. The motor 74 in the telescopic head 73 is activated in the forward direction, driving the drive device 75. Through the driving force of the drive device 75, the pulley 76 starts to roll along the guide rail 77, thereby pulling open the second retractable energy-dissipating anti-collision layer 72. This causes the pulley 76 at its bottom to move simultaneously along the guide rail 77, thus forming an anti-collision layer composed of energy-dissipating buffer material on the outer surface of the base 5. When the lower limit member 22 of the lead screw 1 collides with the base 5, it will directly contact the energy-dissipating anti-collision layer, thereby greatly reducing the impact force and consuming the energy generated by the collision, preventing the collision from damaging the normal function of the robot's structural components.

[0093] It is worth noting that, in addition to the above, the robots also include:

[0094] An alarm device is activated when the first buffer device 6 is in a first open state and / or the second buffer device 7 is in a second open state.

[0095] The alarm device includes an alarm indicator light and a buzzer;

[0096] Braking device, used to control the operation and stopping of the lead screw assembly;

[0097] When the first buffer device 6 is in the first open state and / or the second buffer device 7 is in the second open state, the brake device controls the lead screw assembly to stop running.

[0098] When the buffer device is activated, the alarm indicator light of the alarm device will flash, and the buzzer will sound to remind the robot operator that the robot's operating condition may result in a collision between the limit piece 2 and other components. This will cause the robot to automatically adjust the controller, thereby stopping the motor J4 through the braking device to prevent a collision.

[0099] A second aspect of this invention also provides a control method for a SCARA robot, which is applied to the aforementioned SCARA robot, wherein the control method includes:

[0100] During the robot's operation;

[0101] Get the distance H1 between the upper limit block and the lead screw nut, and get the distance H2 between the lower limit block and the base;

[0102] The first buffer device is activated based on the distance H1 between the upper limit block and the lead screw nut, and the second buffer device is activated based on the distance H2 between the lower limit block and the base.

[0103] In the above technical solution, the method for selecting whether to activate the first buffer device based on the distance H1 between the upper limit block and the lead screw nut, and the method for selecting whether to activate the second buffer device based on the distance H2 between the lower limit block and the base, includes:

[0104] Obtain the distance H1 between the upper limit block and the lead screw nut and compare it with the first preset minimum safety distance H1; obtain the distance H2 between the lower limit block and the base and compare it with the second preset minimum safety distance H2.

[0105] If H1 ≤ Hset1, the first buffer device is activated;

[0106] If H2 ≤ Hset2, the second buffer device is activated;

[0107] Where H is set to 1 > 0 and H is set to 2 > 0.

[0108] In this embodiment of the invention, by monitoring the distance H1 between the upper limit block and the lead screw nut and the distance H2 between the lower limit block and the base during the operation of the robot, the buffer device can be activated in time when the distance between the two components is less than the safe distance, thereby avoiding direct collision between the two components.

[0109] In any of the above embodiments, the first preset minimum safety distance Hset1 and the second preset minimum safety distance Hset2 can be adaptively adjusted according to the movement speed of the lead screw.

[0110] In other words, the robot in this embodiment of the invention can adaptively adjust the preset safety distance according to the speed of the lead screw assembly during operation. Specifically, the preset safety distances Hset1 and Hset2 in this embodiment of the invention are variable values ​​that can adaptively change according to the movement speed of the lead screw assembly, thereby avoiding the situation where the two parts collide before the buffer device is fully activated due to the lead screw assembly moving too fast.

[0111] Specifically, the methods for adaptively adjusting the first preset minimum safety distance H1 and the second preset minimum safety distance H2 according to the movement speed of the lead screw include:

[0112] The speed V1 of the lead screw in the vertical direction is obtained, and the first preset minimum safety distance is adjusted based on the speed V1.

[0113] The speed V2 of the lead screw in the revolution direction is obtained, and the second preset minimum safety distance is adjusted based on the speed V2.

[0114] The robot in this embodiment of the invention is equipped with a first speed sensor and a second speed sensor. The first speed sensor is used to monitor the vertical speed of the lead screw 1, and the second speed sensor is used to detect the rotational speed of the lead screw 1 in the rotational direction. In this way, the speed of the lead screw 1 in different directions of motion is monitored during the specific operation of the lead screw 1, thereby avoiding the situation where the two parts collide before the buffer device is fully activated due to the lead screw assembly moving too fast.

[0115] In any of the above embodiments, in order to further reduce the probability of collision between two components before the buffer device is fully activated due to the excessively fast movement of the lead screw assembly, the method in this embodiment of the invention for adaptively adjusting the first preset minimum safety distance Hset1 and the second preset minimum safety distance Hset2 according to the movement speed of the lead screw further includes:

[0116] Obtain the extension speed V3 of the first buffer device, and obtain the extension speed V4 of the second buffer device;

[0117] The first preset minimum safe distance is adjusted based on the movement speed V1 and the extension speed V3;

[0118] The second preset minimum safe distance is adjusted based on the movement speed V2 and the extension speed V4.

[0119] This allows for more precise setting of the preset safety distance, ensuring both sufficient movement space for the lead screw and effectively preventing direct collisions between the two components, while also achieving the desired buffer extension speed and lead screw movement speed.

[0120] In any of the above embodiments, when the first buffer device and / or the second buffer device are activated, the alarm device is activated and the braking device is activated.

[0121] It is worth noting that the extension speeds V3 and V4 of the buffer device in this embodiment of the invention can be either fixed values ​​pre-stored in the robot storage system during robot manufacturing, or detection values ​​uploaded to the robot storage system after the speed sensor monitors the speed data during the extension of the buffer device.

[0122] Other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the embodiments disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of the invention are indicated by the following claims.

[0123] It should be understood that the present invention is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

[0124] Other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the embodiments disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of the invention are indicated by the following claims.

[0125] It should be understood that the present invention is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A SCARA robot, characterized in that, include: The lead screw assembly includes a lead screw (1), a limiting member (2) disposed on the lead screw, and a lead screw nut (3) that is threadedly engaged with the lead screw (1). When the lead screw (1) and the lead screw nut (3) are threadedly engaged, the lead screw (1) can drive the limiting member (2) to make linear motion relative to the lead screw nut (3). The robotic arm (4) is used to drive the lead screw (1), lead screw nut (3) and the limiting member (2) to revolve around the rotation center of the robotic arm (4); Base (5), the base (5) is arranged in the revolution direction of the limiting member (2); Among them, a first buffer device (6) is provided in the linear motion direction of the lead screw (1), and a second buffer device (7) is provided in the revolution motion direction of the lead screw (1). The first buffer device (6) is provided on the lead screw nut (3), and the second buffer device (7) is provided on the base (5). The first buffer device (6) has a first open state for protecting the lead screw nut (3) and a first closed state for removing the protection of the lead screw nut (3); The second buffer device (7) has a second open state that protects the base (5) and a second closed state that removes the protection of the base, wherein; The first buffer device (6) can perform a first open state or a first closed state according to the distance between the limiting member (2) and the lead screw nut (3); The second buffer device (7) can perform a second open state or a second closed state according to the distance between the limiting member (2) and the base (5).

2. The robot according to claim 1, characterized in that, The robot also includes: A distance sensor is used to monitor the distance between the limiting member (2) and the lead screw nut (3) and the distance between the limiting member (2) and the base (5); The controller is configured to: control the first buffer device (6) to perform a first open state or a first closed state based on the received distance information between the limit member (2) and the lead screw nut (3); and / or control the second buffer device (7) to perform a second open state or a second closed state based on the received distance information between the limit member (2) and the base (5).

3. The robot according to claim 2, characterized in that, The limiting member (2) includes an upper limiting member (21) and a lower limiting member (22) disposed on the lead screw (1), and the upper limiting member (21) and the lower limiting member (22) are located on the upper and lower sides of the lead screw nut (3); The distance sensor includes a first distance sensor and a second distance sensor. The first distance sensor is used to monitor the distance between the upper limit member (21) and the lead screw nut (3), and the second distance sensor is used to monitor the distance between the lower limit member (22) and the base (5).

4. The robot according to claim 3, characterized in that... ； The first distance sensor is mounted on the lead screw nut (3) and is used to monitor the distance between the upper limit positioner (21) and the lead screw nut (3) in the vertical direction; The second distance sensor is mounted on the lower limit member (22) and is used to monitor the distance between the lower limit member (22) and the lead screw nut (3) in the horizontal direction.

5. The robot according to any one of claims 1-4, characterized in that, The first buffer device (6) and the second buffer device (6) are telescopic buffer devices; The first buffer device (6) has a first open state in an extended form and a first closed state in a retracted form; The second buffer device (7) has a second open state in an extended form and a second closed state in a retracted form; When the first buffer device (6) is in the first open state, the first buffer device (6) extends and protrudes above the lead screw nut (3); When the second buffer device (7) is in the second open state, the second buffer device (7) extends and surrounds the outer periphery of the base (5).

6. The robot according to claim 5, characterized in that, The first buffer device (6) includes a first retractable energy-dissipating anti-collision layer (61), a telescopic lifting assembly (62), and a fixing device (63). The fixing device (63) is fixed on the lead screw nut (3), and the telescopic lifting assembly (62) is connected to the first retractable energy-dissipating anti-collision layer (61). The second buffer device (7) includes a fixed pile (71), a second retractable energy-dissipating anti-collision layer (72), a telescopic head (73), a motor (74), a drive assembly (75), a pulley (76), and a guide rail (77). The fixed pile (71) is fixed to one side of the bottom of the base (5). One side of the second retractable energy-dissipating anti-collision layer (72) is connected to the fixed pile (71), and the other side is connected to the telescopic head (73). The telescopic head (73) is provided with a motor (74). The output end of the motor (74) is connected to the drive assembly (75). The bottom of the drive assembly (75) is provided with a pulley (76). The guide rail (77) is laid along the outer contour of the base (5), and the pulley (76) is slidably disposed in the guide rail (77).

7. The robot according to claim 1, characterized in that, The robot also includes: An alarm device is activated when the first buffer device (6) is in a first open state and / or the second buffer device (7) is in a second open state. The alarm device includes an alarm indicator light and a buzzer; A braking device, which is used to control the operation and stopping of the lead screw assembly; When the first buffer device (6) is in the first open state and / or the second buffer device (7) is in the second open state, the brake device controls the lead screw assembly to stop running.

8. A control method for a SCARA robot, applied to the SCARA robot according to any one of claims 1-7, characterized in that, The control method includes: During the robot's operation; Get the distance H1 between the upper limit block and the lead screw nut, and get the distance H2 between the lower limit block and the base; The first buffer device is activated based on the distance H1 between the upper limit block and the lead screw nut, and the second buffer device is activated based on the distance H2 between the lower limit block and the base.

9. The control method according to claim 8, characterized in that, The method for selecting whether to activate the first buffer device based on the distance H1 between the upper limit block and the lead screw nut, and for selecting whether to activate the second buffer device based on the distance H2 between the lower limit block and the base, includes: Obtain the distance H1 between the upper limit block and the lead screw nut and compare it with the first preset minimum safety distance H1; obtain the distance H2 between the lower limit block and the base and compare it with the second preset minimum safety distance H2. If H1 ≤ H1, then the first buffer device is activated. If H2 ≤ Hset2, the second buffer device is activated; Wherein H is set 1 > 0 and H is set 2 > 0.

10. The control method according to claim 9, characterized in that, The first preset minimum safety distance Hset1 and the second preset minimum safety distance Hset2 can be adaptively adjusted according to the movement speed of the lead screw.

11. The control method according to claim 10, characterized in that, The method for adaptively adjusting the first preset minimum safety distance H1 and the second preset minimum safety distance H2 according to the movement speed of the lead screw includes: The speed V1 of the lead screw in the vertical direction is obtained, and the first preset minimum safety distance is adjusted based on the speed V1. The speed V2 of the lead screw in the revolution direction is obtained, and the second preset minimum safety distance is adjusted based on the speed V2.

12. The control method according to claim 11, characterized in that, The method for adaptively adjusting the first preset minimum safety distance H1 and the second preset minimum safety distance H2 according to the movement speed of the lead screw further includes: Obtain the extension speed V3 of the first buffer device, and obtain the extension speed V4 of the second buffer device; The first preset minimum safe distance is adjusted based on the movement speed V1 and the extension speed V3; The second preset minimum safe distance is adjusted based on the movement speed V2 and the extension speed V4.

13. The control method according to any one of claims 8-12, characterized in that, When the first buffer device and / or the second buffer device are activated, the alarm device is activated and the braking device is activated.

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