CN107756436A - A kind of cylindrical pair joint drive and drive mechanism and its method for SCARA - Google Patents
A kind of cylindrical pair joint drive and drive mechanism and its method for SCARA Download PDFInfo
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- CN107756436A CN107756436A CN201710959346.8A CN201710959346A CN107756436A CN 107756436 A CN107756436 A CN 107756436A CN 201710959346 A CN201710959346 A CN 201710959346A CN 107756436 A CN107756436 A CN 107756436A
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Abstract
The invention discloses a kind of cylindrical pair joint drive and drive mechanism and its method for SCARA.The joint drive is two servomotors, is realized mobile by the transmission agency of synchronous tape member and ball screw spline part and is rotated.Wherein movable part is by single-stage band deceleration transmission；Rotating part is fixedly mounted by two-stage timing belt deceleration transmission, the jackshaft of two-stage timing belt by an independent middle axle bed.By the differential input of two drive parts, realize that cylindrical pair end two degrees of freedom exports accordingly.Revolute pair and prismatic pair motor part, belt wheel jackshaft fixed seat, ball screw spline part, are all directly installed on connecting rod.Wherein independent belt wheel jackshaft fixed seat can preferably balance the suppressive jamming of belt wheel, and can be used as the overall pretension for driving jackshaft movement, adjusting timing belt.The configuration is rotated as general SCARA robots latter half and mobile combination articulation structure, realizes roll angle pose adjustment and the vertical movement of robot end.
Description
Technical field
The present invention relates to the driving of joint of robot and transmission parts, more particularly to a kind of cylindrical pair for SCARA to close
Section driving and drive mechanism and its method.
Background technology
SCARA (Selective Compliance Assembly Robot Arm) robot is that generally have 4 freedom
Degree, including two parallel rotary joints enable its end to move in the horizontal plane, in addition it is another it is well matched put one rotate and on
The combination joint of lower movement is used as roll angle pose adjustment and vertical movement.SCARA robots are usually used in assembling work, they
There is larger flexibility in x-y plane, there is very strong rigidity along z-axis, thus it has submissive, this feature of selectivity
It is adapted to assembling work.
The content of the invention
The shortcomings that it is an object of the invention to overcome above-mentioned prior art and deficiency, there is provided a kind of cylinder for SCARA
Subjoint drives and drive mechanism and its method.It has the advantages that stable drive, installation and debugging facilitate.
The present invention is achieved through the following technical solutions：
A kind of cylindrical pair joint drive and drive mechanism for SCARA, including connecting rod 1, and it is sequentially arranged at connecting rod 1
On ball screw spline part 5, prismatic pair motor component 4, belt wheel jackshaft fixed seat 3, revolute pair motor component 2；Rotate
Auxiliary-motor part 2 includes revolute pair motor 21, revolute pair motor flange 22；The revolute pair motor 21 and revolute pair
Motor flange 22 is fixed by screws on connecting rod 1；The axle of revolute pair motor 21 and the revolute pair for rotating auxiliary driving
First order small pulley 71 is connected, and revolute pair first order big belt wheel 73 is transferred to through revolute pair first order timing belt 72；Revolute pair
One-level big belt wheel 73 is connected by the belt wheel jackshaft 35 of belt wheel jackshaft fixed seat 3 with revolute pair second level small pulley 74；Turn
Move secondary second level small pulley 74 and transmission is realized between revolute pair second level timing belt 75 and revolute pair second level big belt wheel 76；
Prismatic pair motor component 4 includes prismatic pair servomotor 41, prismatic pair motor flange 42；Prismatic pair servomotor 41
It is fixed by screws in prismatic pair motor flange 42 on connecting rod 1；The axle of prismatic pair servomotor 41 and prismatic pair small pulley 61
It is connected, prismatic pair big belt wheel 63 is transferred to by prismatic pair timing belt 62；
Ball screw spline part 5 includes ball screw spline 51, ball screw spline flange 52；Ball screw spline 51
Lower end fixed part be directly installed on connecting rod 1, upper end fixation part is fixed on connecting rod 1 point by ball screw spline flange 52
On；The ball nut and ball of revolute pair second level big belt wheel 76 and prismatic pair big belt wheel 63 respectively with ball screw spline 51 are spent
Key set is connected.
The belt wheel jackshaft fixed seat 3 is used for fixed pulley jackshaft 35, bears the He of revolute pair first order timing belt 72
The pulling force of revolute pair second level timing belt 75, it include 31, two blocks of fixed seat side plates 32 of fixed seat bottom plate, fixed seat top plate 33,
Upper and lower two rolling bearings 34 and belt wheel jackshaft 35；
Wherein, 31, two blocks of fixed seat side plates 32 of fixed seat bottom plate and fixed seat top plate 33 are combined into frame structure, in belt wheel
Countershaft 35 is coupled revolute pair first order big belt wheel 73 and revolute pair second level small pulley 74, and passes through upper and lower two rolling bearings 34
On framework.
The belt wheel jackshaft fixed seat 3 is arranged on connecting rod 1 by fixed seat bottom plate 31, the position corresponding thereto of connecting rod 1
Open up and go back rectangular shaped slot, with through hole of the bolt through fixed seat bottom plate surrounding and corresponding rectangular shaped slot, jackshaft can be fixed
Seat 3 is fixed on connecting rod 1；Integrally it can be slided when belt wheel jackshaft fixed seat 3 is installed along the length direction of connecting rod 1, with fine-adjustment rotary
The pretension degree of secondary first order timing belt 72, revolute pair second level timing belt 75.
It is a kind of to comprise the following steps for SCARA cylindrical pair joint drive with the operation method of drive mechanism, its spy：
The rotating shaft of ball screw spline 51 moves up and down step：
When revolute pair motor 21 stops, prismatic pair servomotor 41 drives ball nut by prismatic pair timing belt 62
During rotation, the rotating shaft of ball screw spline 51, which is realized, to be moved up and down；
The pure rotation step of rotating shaft of ball screw spline 51；
When revolute pair motor 21 and prismatic pair servomotor 41 move simultaneously, and ball nut and ball spline sleeve turn
When speed is identical, pure rotation is realized in the rotating shaft of ball screw spline 51.
The Union Movement step for rotating and moving up and down is realized in the rotating shaft of ball screw spline 51；
When prismatic pair servomotor 41 stops, revolute pair motor 21 is by revolute pair first order timing belt 72 and rotates
When secondary second level timing belt 75 drives ball spline sleeve rotation, the rotating shaft of ball screw spline 51 realize fixed proportion rotation and
The Union Movement moved up and down；
When revolute pair motor 21 and prismatic pair servomotor 41 are according to the rotational speed each set, then ball wire
The rotating shaft of bar spline 51 makes the Union Movement of velocity of rotation and translational speed accordingly according to the rotating speed ratio of the two.
The present invention is had the following advantages and effect relative to prior art：
The present invention is by the cooperation transmission of timing belt and ball screw spline by motor postposition close to robot base, reduction
Own rotation inertia, reduce the rotation load of driving needed for above joint.
The present invention rationally utilizes connecting rod space, and all parts are all directly installed on connecting rod, compact-sized.
The present invention has an independent belt wheel jackshaft fixed seat, the suppressive jamming of belt wheel all by the bearing reaction in fixed seat compared with
Balance well, make the transmission of timing belt more steady；Mounted jackshaft fixed seat can be used as overall band movable belt pulley jackshaft
It is mobile, make timing belt installation and pretension more convenient.
Brief description of the drawings
Fig. 1 is the cylindrical pair joint drive and drive mechanism schematic diagram that the present invention is used for SCARA.
Fig. 2 is Fig. 1 sectional view.
Fig. 3 is the sectional view of belt wheel jackshaft fixed seat.
Fig. 4 is Fig. 1 top view.
Fig. 5 is Fig. 1 upward view.
Digital number represents following technical characteristic shown in upper figure：
1- connecting rods；
2- revolute pair motor components, 21- revolute pairs servomotor (including brake), 22- revolute pair motor flanges；
3- belt wheel jackshaft fixed seats, 31- fixed seat bottom plates, 32- fixed seat side plates, 33- fixed seat top plates, 34- are rolled
Bearing, 35- belt wheel jackshafts, synchronous tape member 6,7；
4- prismatic pair motor components, 41- prismatic pairs servomotor (including brake), 42- prismatic pair motor flanges；
5- ball screw spline parts, 51- ball screw splines, 52- ball screw spline flanges
6- prismatic pair synchronization tape members, 61- prismatic pair small pulleys, 62- prismatic pair timing belts, 63- prismatic pair big belt wheels；
7- revolute pair synchronization tape members, 71- revolute pair first order small pulleys, 72- revolute pair first order timing belts, 73- turn
Move secondary first order big belt wheel, 74- revolute pairs second level small pulley, 75- revolute pairs second level timing belt, the 76- revolute pairs second level
Big belt wheel.
Embodiment
The present invention is described in further detail with reference to specific embodiment.
Embodiment
The invention discloses a kind of cylindrical pair joint drive and drive mechanism for SCARA, including connecting rod 1, Yi Jiyi
Secondary ball screw spline part 5, prismatic pair motor component 4, belt wheel jackshaft fixed seat 3, revolute pair electricity on connecting rod 1
Machine part 2；Revolute pair motor component 2 includes revolute pair motor 21, revolute pair motor flange 22；The revolute pair driving electricity
Machine 21 is fixed by screws on connecting rod 1 with revolute pair motor flange 22；The axle of revolute pair motor 21 is with being used for revolute pair
The revolute pair first order small pulley 71 of transmission is connected, and revolute pair first order big belt wheel is transferred to through revolute pair first order timing belt 72
73；The belt wheel jackshaft 35 and revolute pair second level small band that revolute pair first order big belt wheel 73 passes through belt wheel jackshaft fixed seat 3
Wheel 74 is connected；Revolute pair second level small pulley 74 via revolute pair second level timing belt 75 and revolute pair second level big belt wheel 76 it
Between realize transmission；
Prismatic pair motor component 4 includes prismatic pair servomotor 41, prismatic pair motor flange 42；Prismatic pair servomotor 41
It is fixed by screws in prismatic pair motor flange 42 on connecting rod 1；The axle of prismatic pair servomotor 41 and prismatic pair small pulley 61
It is connected, prismatic pair big belt wheel 63 is transferred to by prismatic pair timing belt 62；
Ball screw spline part 5 includes ball screw spline 51, ball screw spline flange 52；Ball screw spline 51
Lower end fixed part be directly installed on connecting rod 1, upper end fixation part is fixed on connecting rod 1 point by ball screw spline flange 52
On；The ball nut and ball of revolute pair second level big belt wheel 76 and prismatic pair big belt wheel 63 respectively with ball screw spline 51 are spent
Key set is connected.
The belt wheel jackshaft fixed seat 3 is used for fixed pulley jackshaft 35, bears the He of revolute pair first order timing belt 72
The pulling force of revolute pair second level timing belt 75, it include 31, two blocks of fixed seat side plates 32 of fixed seat bottom plate, fixed seat top plate 33,
Upper and lower two rolling bearings 34 and belt wheel jackshaft 35；
Wherein, 31, two blocks of fixed seat side plates 32 of fixed seat bottom plate and fixed seat top plate 33 are combined into frame structure, in belt wheel
Countershaft 35 is coupled revolute pair first order big belt wheel 73 and revolute pair second level small pulley 74, and passes through upper and lower two rolling bearings 34
On framework.
The belt wheel jackshaft fixed seat 3 is arranged on connecting rod 1 by fixed seat bottom plate 31, the position corresponding thereto of connecting rod 1
Also rectangular shaped slot is opened up, the surrounding of fixed seat bottom plate 31 passes through rectangular shaped slot by bolt；Belt wheel jackshaft fixed seat 3 is installed
When integrally can be slided along the length direction of connecting rod 1, with fine-adjustment rotary pair first order timing belt 72, revolute pair second level timing belt 75
Pretension degree.
During assembling, distinguished first by the ball nut of ball screw spline and the screwed hole of ball spline sleeve and positioning hole
Prismatic pair big belt wheel 63 and revolute pair second level big belt wheel 76 is mounted thereto.Again by prismatic pair timing belt 62 and revolute pair
Secondary synchronization band 75 is inserted in respective belt wheel.The above-mentioned ball screw spline static part installed is installed to what connecting rod 1 was reserved
Kong Zhong, the top half of ball screw spline 51 is fixed via ball screw spline flange 52.
When belt wheel jackshaft fixed seat 3 is processed, it is necessary to first that fixed seat bottom plate 31, fixed seat side plate 32 is affixed, order is fixed
Bearing hole on seat bottom plate 31, with work, utilizes finger setting with the bearing hole on fixed seat top plate 33.It is fixed during assembling (such as Fig. 3)
Seat bottom plate 31 is considered as an entirety with fixed seat side plate 32, and rolling bearing 34 (deep groove ball bearing) is respectively charged into fixed seat top plate
33 and fixed seat bottom plate 31 bearing hole in；Revolute pair first order big belt wheel 73 is installed successively on belt wheel jackshaft 35 and rotated
Secondary second level small pulley 74, then revolute pair second level timing belt 75 is inserted in revolute pair second level small pulley 74.Among belt wheel
Axle 35 is installed in rolling bearing 34, and revolute pair first order big belt wheel 73 is inserted in revolute pair first order timing belt 72.Finally install
Fixed seat top plate 33 fixes belt wheel jackshaft 35, enough belt wheel jackshaft fixed seats 3 into an entirety.In connecting rod 1 and belt wheel
The relative position of countershaft fixed seat 3 offers rectangular shaped slot, with through hole of the bolt through the surrounding of fixed seat bottom plate 31 and corresponding square
Shape slotted eye, jackshaft fixed seat 3 can be fixed on connecting rod 1；Can be integrally along connecting rod 1 during installation belt wheel jackshaft fixed seat 3
Bar length direction slides, with the pretension degree of fine-adjustment rotary pair first order timing belt 72, revolute pair second level timing belt 75, such as Fig. 4
With 5.
The revolute pair servomotor 21 of band brake and its revolute pair motor flange 22 are affixed, the electricity of revolute pair servomotor 21
Arbor and revolute pair first order small pulley 71 it is affixed it is good after, be inserted in revolute pair first order timing belt 72.Using with dynamometer
Rope pulls whole belt wheel jackshaft fixed seat 3, observes the registration of dynamometer, revolute pair second level timing belt 75 is reached pretension
Power requirement, fixed seat 3 is locked on connecting rod 1.Revolute pair motor component 2 equally is pulled with the rope with dynamometer, makes rotation
Secondary first order timing belt 72 reaches pretightning force requirement, and revolute pair servo motor flange 22 is fixed on connecting rod 1.
The prismatic pair servomotor 41 of band brake and its prismatic pair motor flange 42 are affixed, the electricity of prismatic pair servomotor 41
Arbor and prismatic pair small pulley 61 it is affixed it is good after, be inserted in prismatic pair timing belt 62.Equally pulled and moved with the rope with dynamometer
Dynamic auxiliary-motor part 4, makes prismatic pair timing belt 62 reach pretightning force requirement, prismatic pair servo motor flange 42 is fixed on into connecting rod
On 1.
So far, mobile combination joint and its driving is rotated completely to be arranged on connecting rod (such as Fig. 1).The connecting rod is as machine
Device people latter half can be connected by the joint of the plane motion with SCARA robots front ends, form the machine of a four-degree-of-freedom
Device people.
The present invention, can be real by following step for SCARA cylindrical pair joint drive and the operation method of drive mechanism
It is existing：
First, the rotating shaft of ball screw spline 51 moves up and down step：
When revolute pair motor 21 stops, prismatic pair servomotor 41 drives ball nut by prismatic pair timing belt 62
During rotation, the rotating shaft of ball screw spline 51, which is realized, to be moved up and down；
2nd, the pure rotation step of the rotating shaft of ball screw spline 51；
When revolute pair motor 21 and prismatic pair servomotor 41 move simultaneously, and ball nut and ball spline sleeve turn
When speed is identical, pure rotation is realized in the rotating shaft of ball screw spline 51.
3rd, the Union Movement step for rotating and moving up and down is realized in the rotating shaft of ball screw spline 51；
When prismatic pair servomotor 41 stops, revolute pair motor 21 is by revolute pair first order timing belt 72 and rotates
When secondary second level timing belt 75 drives ball spline sleeve rotation, the rotating shaft of ball screw spline 51 realize fixed proportion rotation and
The Union Movement moved up and down；
When revolute pair motor 21 and prismatic pair servomotor 41 are according to the rotational speed each set, then ball wire
The rotating shaft of bar spline 51 makes the Union Movement of velocity of rotation and translational speed accordingly according to the rotating speed ratio of the two.
The present invention is used for the rotation of general four-degree-of-freedom SCARA robots latter half and mobile two degrees of freedom combination joint
Driving and drive mechanism configuration；The joint drive is two servomotors, is driven by synchronous tape member and ball screw flower
Key member is realized mobile and rotated.Wherein movable part is by single-stage band deceleration transmission；Rotating part is slowed down by two-stage timing belt to be passed
Dynamic, the jackshaft of two-stage timing belt is fixedly mounted by an independent middle axle bed.By the differential input of two drive parts,
Realize that cylindrical pair end two degrees of freedom exports accordingly.
Revolute pair motor part in the present invention, prismatic pair motor part, belt wheel jackshaft fixed seat, ball wire
Bar spline part, is all directly installed on connecting rod.Wherein independent belt wheel jackshaft fixed seat can preferably balance belt wheel
Suppressive jamming, and the overall pretension for driving jackshaft movement, adjusting timing belt can be used as.The configuration is as general SCARA robots
Latter half rotates and mobile combination articulation structure, realizes roll angle pose adjustment and the vertical movement of robot end.
As described above, the present invention can be better realized.
Embodiments of the present invention are simultaneously not restricted to the described embodiments, other any Spirit Essences without departing from the present invention
With made under principle change, modification, replacement, combine, simplification, should be equivalent substitute mode, be included in the present invention's
Within protection domain.
Claims (4)
1. a kind of cylindrical pair joint drive and drive mechanism for SCARA, including connecting rod (1), and it is sequentially arranged at connecting rod
(1) ball screw spline mechanism (5), prismatic pair motor mechanism (4), belt wheel jackshaft fixed seat (3), rotation auxiliary-motor machine on
Structure (2)；It is characterized in that：
Revolute pair motor mechanism (2) includes revolute pair motor (21), revolute pair motor flange (22)；The revolute pair driving
Motor (21) is fixed by screws on connecting rod (1) with revolute pair motor flange (22)；The axle of revolute pair motor (21) with
Revolute pair first order small pulley (71) for rotating auxiliary driving is connected, and rotation is transferred to through revolute pair first order timing belt (72)
Secondary first order big belt wheel (73)；The belt wheel jackshaft that revolute pair first order big belt wheel (73) passes through belt wheel jackshaft fixed seat (3)
(35) it is connected with revolute pair second level small pulley (74)；Revolute pair second level small pulley (74) is via revolute pair second level timing belt
(75) transmission is realized between revolute pair second level big belt wheel (76)；
Prismatic pair motor mechanism (4) includes prismatic pair servomotor (41), prismatic pair motor flange (42)；Prismatic pair servomotor
(41) it is fixed by screws in prismatic pair motor flange (42) on connecting rod (1)；The axle of prismatic pair servomotor (41) and movement
Secondary small pulley (61) is connected, and prismatic pair big belt wheel (63) is transferred to by prismatic pair timing belt (62)；
Ball screw spline mechanism (5) includes ball screw spline (51), ball screw spline flange (52)；Ball screw spline
(51) lower end fixed part is directly installed on connecting rod (1), and upper end fixation part point is solid by ball screw spline flange (52)
It is scheduled on connecting rod (1)；Revolute pair second level big belt wheel (76) and prismatic pair big belt wheel (63) respectively with ball screw spline (51)
Ball nut and ball spline sleeve be connected.
2. it is used for SCARA cylindrical pair joint drive and drive mechanism according to claim 1, it is characterised in that：The band
Wheel jackshaft fixed seat (3) is used for fixed pulley jackshaft (35), bears revolute pair first order timing belt (72) and revolute pair the
The pulling force of secondary synchronization band (75), it include fixed seat bottom plate (31), two pieces of fixed seat side plates (32), fixed seat top plate (33),
Upper and lower two rolling bearings (34) and belt wheel jackshaft (35)；
Wherein, fixed seat bottom plate (31), two pieces of fixed seat side plates (32) and fixed seat top plate (33) are combined into frame structure, belt wheel
Jackshaft (35) is coupled revolute pair first order big belt wheel (73) and revolute pair second level small pulley (74), and passes through upper and lower two rollings
Dynamic bearing (34) is arranged on framework.
3. it is used for SCARA cylindrical pair joint drive and drive mechanism according to claim 2, it is characterised in that：The band
Take turns jackshaft fixed seat (3) to be arranged on connecting rod (1) by fixed seat bottom plate (31), connecting rod (1) offers position corresponding thereto
Rectangular shaped slot, the surrounding of fixed seat bottom plate (31) pass through rectangular shaped slot by bolt；Can during installation belt wheel jackshaft fixed seat (3)
The overall length direction along connecting rod (1) slides, with fine-adjustment rotary pair first order timing belt (72), revolute pair second level timing belt (75)
Pretension degree.
It is 4. a kind of for SCARA cylindrical pair joint drive and the operation method of drive mechanism, it is characterised in that including following step
Suddenly：
The rotating shaft of ball screw spline (51) moves up and down step：
When revolute pair motor (21) stops, prismatic pair servomotor (41) drives ball spiral shell by prismatic pair timing belt (62)
When cap rotates, the rotating shaft of ball screw spline (51), which is realized, to be moved up and down；
The pure rotation step of rotating shaft of ball screw spline (51)；
When revolute pair motor (21) and prismatic pair servomotor (41) move simultaneously, and ball nut and ball spline sleeve turn
When speed is identical, pure rotation is realized in the rotating shaft of ball screw spline (51).
The Union Movement step for rotating and moving up and down is realized in the rotating shaft of ball screw spline (51)；
When prismatic pair servomotor (41) stops, revolute pair motor (21) is by revolute pair first order timing belt (72) and turns
When dynamic secondary second level timing belt (75) drives ball spline sleeve rotation, fixed proportion is realized in the rotating shaft of ball screw spline (51)
The Union Movement for rotating and moving up and down；
When revolute pair motor (21) and prismatic pair servomotor (41) are according to the rotational speed each set, then ball wire
The rotating shaft of bar spline (51) makes the Union Movement of velocity of rotation and translational speed accordingly according to the rotating speed ratio of the two.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710959346.8A CN107756436A (en) | 2017-10-16 | 2017-10-16 | A kind of cylindrical pair joint drive and drive mechanism and its method for SCARA |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710959346.8A CN107756436A (en) | 2017-10-16 | 2017-10-16 | A kind of cylindrical pair joint drive and drive mechanism and its method for SCARA |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108544481A (en) * | 2018-05-17 | 2018-09-18 | 深圳市领略数控设备有限公司 | A kind of SCARA industrial robots |
| CN108568839A (en) * | 2018-06-06 | 2018-09-25 | 华南理工大学 | A kind of zero resetting device and its method for SCARA cylinder subjoints |
| CN109434869A (en) * | 2018-12-14 | 2019-03-08 | 上海交通大学 | A kind of active drive joint of cylindrical pair form |
| CN110065053A (en) * | 2019-05-30 | 2019-07-30 | 珠海格力电器股份有限公司 | Robot forearm structure and robot |
| CN111156941A (en) * | 2020-02-18 | 2020-05-15 | 安徽工业大学 | Vehicle brake block surface full run-out detection device |
| CN111283661A (en) * | 2020-02-13 | 2020-06-16 | 北京工业大学 | Wearable single-motor-driven waist power assisting device |
| CN111673723A (en) * | 2020-07-20 | 2020-09-18 | 昀智科技（北京）有限责任公司 | Double-guide-rail-based Z-axis structure of SCARA robot and operation method |
| CN111673724A (en) * | 2020-07-20 | 2020-09-18 | 昀智科技（北京）有限责任公司 | Guide rail groove-based Z-axis structure of SCARA robot and operation method |
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| CN207359114U (en) * | 2017-10-16 | 2018-05-15 | 华南理工大学 | A kind of cylindrical pair joint drive and drive mechanism for SCARA |
Cited By (12)
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| CN111673723A (en) * | 2020-07-20 | 2020-09-18 | 昀智科技（北京）有限责任公司 | Double-guide-rail-based Z-axis structure of SCARA robot and operation method |
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