The Z-axis principle of the Epson Scara robot

Create Date: 2024-8-30 12:03:23|Source: Epson/Epson

How does the Z-axis of the SCARA robot work together to lift and rotate?

                                 The Z-axis principle of the Epson Scara robot

First of all, the most intuitive plan is done by two axes. A splined shaft to complete the rotation. A spindle shaft is used to complete the lifting. The structure of SCARA in this way is more bulky. In particular, the robot arm is a cantilever beam structure, and the load at the end should be minimized.

As a result, the engineers invented the spline screw structure. At present, the first thing is still THK to do this more. The principle of spline screw is to open a number of spline grooves along the direction of the circular shaft of a screw shaft. On one shaft, the ball screw nut and the ball spline nut are installed together. The screw nut allows the shaft to move up and down. The spline nut can transmit the torque, together without affecting the up and down movement of the shaft.

At the time of the demand lifting, the screw nut is rotated, and the shaft is lifted up and down.

When rotation is required, the spline nut and screw nut are rotated, and the shaft can be rotated.

At the time of the demand compounding action, only the spline nut is turned, and the shaft can spiral up or down.

The detailed structure is completed by two servo motors, driven by a synchronous belt. The placement of the synchronous belt is divided into two layers, one is connected to the screw nut and the other is connected to the spline shaft.
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