CN105598956B - A kind of three axle Cartesian robots - Google Patents
A kind of three axle Cartesian robots Download PDFInfo
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- CN105598956B CN105598956B CN201610150647.1A CN201610150647A CN105598956B CN 105598956 B CN105598956 B CN 105598956B CN 201610150647 A CN201610150647 A CN 201610150647A CN 105598956 B CN105598956 B CN 105598956B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
Abstract
The invention discloses a kind of three axles Cartesian robot, including X-axis, Y-axis, Z axis, first connecting plate, second connecting plate, first drag chain, second drag chain, X-axis and Y-axis are vertically connected by the first connecting plate, Y-axis and Z axis are connected by the second connecting plate, Z axis are vertical with X-axis and Y-axis, the first supporting plate for supporting the first drag chain is fixed with X-axis side, first drag chain one end is connected with the first supporting plate, the other end is fixedly connected with Y-axis, the second supporting plate for supporting the second drag chain is fixed with Y-axis side, second drag chain one end is connected with the second supporting plate, the other end is connected with the drag chain connection sheet being fixed on Z axis；The present invention reduces the link for producing assembly error due to using integrated parts design and production, the uniformity of robot assembling, running precision, operation stability, easy to maintain can be improved, with good secondary development autgmentability and versatility.
Description
Technical field
The invention belongs to automatic field, and in particular to a kind of three axles Cartesian robot.
Background technology
Three axle Cartesian robots as most basic and most widely used three-axis robot pattern, industrial
In occupation of huge market share, with the propulsion of industry 4.0, three axle Cartesian robots will welcome more significantly every field
The development and application of degree.Traditional industrial robot further passes through splicing due to many using the single axis robot that will splice assembling
The mode of assembling, assembling process lacks effectively control, and the robot running precision for assembling is low, and uniformity is poor, in turn results in enterprise
Maintainability is poor when industry is used, it is impossible to meet actual production for high accuracy and maintainable requirement high.
The content of the invention
In order to solve the above technical problems, the invention provides a kind of three axles Cartesian robot, by by parts collection
Produced into design, improve uniformity, running precision and the stability of three axle Cartesian robot products, reduce maintenance difficulties.
To reach above-mentioned purpose, technical scheme is as follows：A kind of three axle Cartesian robots, including X-axis, Y
Axle, Z axis, the first connecting plate, the second connecting plate, the first drag chain, the second drag chain, the X-axis and the Y-axis connect by described first
Fishplate bar is vertically connected, and the Y-axis and the Z axis are by second connecting plate connection, the Z axis and the X-axis and the Y-axis
Vertically, the first supporting plate for supporting first drag chain, described first drag chain one end and institute are fixed with the X-axis side
The connection of the first supporting plate is stated, the other end is fixedly connected with the Y-axis, is fixed with for supporting described second in the Y-axis side
Second supporting plate of drag chain, described second drag chain one end is connected with second supporting plate, dragging on the other end and the Z axis
Chain connection sheet is connected；
The X-axis includes U-shaped first base, two first straight line slide rails being fixed in first base and first straight line
First straight line sliding block that slide rail is engaged, X-axis drive that servomotor, X-axis ball screw be engaged with X-axis ball screw the
One feed screw nut, the clutch shaft bearing support base being fixed in first base, first shaft coupling, clutch shaft bearing gland, it is fixed on
The first slide unit in one linear slider；Described clutch shaft bearing support base one end is fixed with the X-axis servo drive motor, the other end
In mating connection with the X-axis ball screw, the X-axis servo drive motor and the X-axis ball screw pass through described first
Shaft coupling is connected, and the first shaft coupling is arranged in the clutch shaft bearing support base Reentrant Cavity, described X-axis ball screw one end
Two clutch shaft bearings are provided with, the clutch shaft bearing is fixed by the first nut, the X-axis ball screw and the clutch shaft bearing
It is nested on the clutch shaft bearing support base, the clutch shaft bearing gland is fixed on the clutch shaft bearing support base and compresses institute
Clutch shaft bearing is stated, the X-axis ball screw other end is connected with the first screw mandrel support seat for being fixed on the first base end,
First screw mandrel support seat is embedded with a clutch shaft bearing, and the X-axis ball screw is passed through from the first axle bearing bore, in institute
State and the slide unit of assistant type first be fixed with first straight line sliding block, the first slide unit side is fixed with first feed screw nut,
The X-axis ball screw can drive first slide unit to be moved along a straight line along the first straight line slide rail when rotating；
The first base side is fixed with first sensor bar, and the limit is passed before X-axis is fixed with the first sensor
Sensor, X-axis origin reseting sensor and limit sensor after X-axis；
The Y-axis includes U-shaped second base, a second straight line slide rail being fixed in second base and second straight line
Second straight line sliding block that slide rail is engaged, Y-axis drive that servomotor, Y-axis ball screw be engaged with Y-axis ball screw the
Two feed screw nuts, the second bearing support base being fixed in second base, second shaft coupling, second bearing gland, it is fixed on
The second slide unit in two linear sliders；Described second bearing support base one end is fixed with the Y-axis servo drive motor, the other end
In mating connection with the Y-axis ball screw, the Y-axis servo drive motor and the Y-axis ball screw pass through described second
Shaft coupling is connected, and the second shaft coupling is arranged in the second bearing support base internal cavity, the Y-axis ball screw one
End is provided with two second bearings, and the second bearing is fixed by the second nut, the Y-axis ball screw and second axle
Hold and be nested on the second bearing support base, the second bearing gland is fixed on the second bearing support base and compresses
The second bearing, the Y-axis ball screw other end connects with the second screw mandrel support seat for being fixed on the second base end
Connect, second screw mandrel support seat is embedded with a second bearing, the Y-axis ball screw is passed through from the second bearing hole,
The slide unit of assistant type second is fixed with the second straight line sliding block, the second slide unit side is solid with second feed screw nut
Fixed, the Y-axis ball screw can drive second slide unit to be moved along a straight line along the second straight line slide rail when rotating；
The second base side is fixed with second sensor bar, and the limit is passed before Y-axis is fixed with the second sensor
Sensor, Y-axis origin reseting sensor and limit sensor after Y-axis；
The Z axis include U-shaped 3rd base, the 3rd line slide rail and the 3rd line slide rail being fixed on the 3rd base
The 3rd linear slider that is engaged, Z axis drive the 3rd that servomotor, Z axis ball screw are engaged with Z axis ball screw
Stem nut, the 3rd bearing support base being fixed on the 3rd base, the 3rd shaft coupling, 3rd bearing gland, to be fixed on the 3rd straight
The 3rd slide unit on line sliding block；Described 3rd bearing support base one end is fixed with the Z axis servo drive motor, the other end and institute
State Z axis ball screw in mating connection, the Z axis servo drive motor and the Z axis ball screw pass through the 3rd shaft coupling
Device is connected, and the 3rd shaft coupling is arranged in the 3rd bearing support base internal cavity, and described Z axis ball screw one end sets
Two 3rd bearings are equipped with, the 3rd bearing is fixed by nut, the Z axis ball screw and the 3rd bearing are nested in
On the 3rd bearing support base, the 3rd bearing gland is fixed on the 3rd bearing support base and compresses the described 3rd
Bearing, the Z axis ball screw other end is connected with the 3rd screw mandrel support seat for being fixed on the 3rd base end, and described
Three screw mandrel support seats are embedded with a 3rd bearing, and the Z axis ball screw is passed through from the 3rd bearing hole, the described 3rd
The slide unit of assistant type the 3rd is fixed with linear slider, the 3rd slide unit side is fixed with the 3rd feed screw nut, the Z axis
Ball screw can drive the 3rd slide unit to be moved along a straight line along the 3rd line slide rail when rotating；
3rd chassis side is fixed with 3rd sensor article, and the limit is passed before Z axis are fixed with the 3rd sensor
Sensor, Z axis origin reseting sensor and limit sensor after Z axis.
Preferably, also including the cushion pad with bulge loop structure, the cushion pad is separately fixed at the first axle pressure-bearing
On lid, second bearing gland, 3rd bearing gland, the first screw mandrel support seat, the second screw mandrel support seat, the 3rd screw mandrel support seat.
Preferably, also including the first upper end cover for protecting manipulator shaft, the first bottom end cover, the first cover plate, second
End cap, the second bottom end cover, the second cover plate, the 3rd upper end cover, the 3rd bottom end cover, the 3rd cover plate, first upper end cover and described
First bottom end cover is separately fixed at the X-axis two ends, and first cover plate is passed through from the first slide unit hollow bulb, is close to institute
State in first base；Second upper end cover and second bottom end cover are separately fixed at the Y-axis two ends, second cover plate
Passed through from the second slide unit concave part, be close in the second base；3rd upper end cover and the 3rd bottom end cover
The Z axis two ends are separately fixed at, the 3rd cover plate is passed through from the 3rd slide unit concave part, is close to the 3rd base
On.
Compared with prior art, the beneficial effects of the invention are as follows:
1. due to using integrated parts design and production, the link for producing assembly error is reduced, robot can be improved
The uniformity of assembling, reduces the cumulative errors in assembling process, using the structure of servomotor+ball screw+line slide rail, greatly
Amplitude improves robot running precision.
2. because manipulator shaft is using the structure of closing, various complex environment productions are suitable for, reduce external environment to machine
Device people infringement in itself, improves robot operation stability, reduces noise during high-speed cruising.
3., due to using integrated parts, in robot maintenance process, corresponding parts only need to be changed, will not be because of
The maintenance precision intrinsic to robot and mechanical location are impacted, and reduce robot maintenance time.
U-shaped slide unit design on 4.Z axles, it is not necessary to which support in addition can also embody high accuracy combination and minimum altitude
Characteristic, coordinates corresponding assembly, can complete the industrial production needs such as dispensing, IMAQ, screw locking, automatic welding, improves three
Axle robot secondary development autgmentability, reduces secondary development difficulty.
5.Y axles and Z axis are hanging, the structure of X-axis support, it is easy to which robot is fixed in production line, complete online work
Industry, with fine versatility and adaptability.
Brief description of the drawings
Technical scheme in technology in order to illustrate more clearly the embodiments of the present invention, in being described to embodiment technology below
The required accompanying drawing for using is briefly described, it should be apparent that, drawings in the following description are only some realities of the invention
Example is applied, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is schematic structural view of the invention
Fig. 2 is X-axis exploded perspective view
Fig. 3 is Y-axis exploded perspective view
Fig. 4 is Z axis exploded perspective view
Fig. 5 is exploded perspective view of the present invention
Fig. 6 is clutch shaft bearing clamping support schematic diagram
Fig. 7 is second bearing clamping support schematic diagram
Fig. 8 is cushion structure schematic diagram
Wherein, 1 is first base, and 2 is clutch shaft bearing support base, and 3 is first shaft coupling, and 4 is the first slide unit, and 5 is first
Line slide rail, 6 is X-axis ball screw, and 7 is the first screw mandrel support seat, and 8 is the first bottom end cover, and 9 is first straight line sliding block, and 10 is X
Axle servo drive motor, 11 is the first upper end cover, and 12 is clutch shaft bearing, and 13 is clutch shaft bearing gland, and 14 is cushion pad, and 15 is the
One cover plate, 16 be first sensor bar, 18 be X-axis before limit sensor, 19 be X-axis origin reseting sensor, 21 be X-axis after pole
Limit sensor, 27 is the first feed screw nut, and 31 is second base, and 32 is second bearing support base, and 33 is second shaft coupling, and 34 are
Second slide unit, 35 is second straight line slide rail, and 36 is Y-axis ball screw, and 37 is the second screw mandrel support seat, and 38 is the second bottom end cover,
39 is second straight line sliding block, and 40 is the first supporting plate, and 41 is the second supporting plate, and 42 is the first drag chain, and 43 is the second drag chain, and 44 are
First connecting plate, 45 is the second connecting plate, and 48 is X-axis, and 49 is Y-axis, and 50 is Z axis, and 310 is Y-axis servo drive motor, and 311 are
Second upper end cover, 312 is second bearing, and 313 is second bearing gland, and 314 is cushion pad, and 315 is the second cover plate, and 316 is the
Two sensor strips, 318 is limit sensor before Y-axis, and 319 is Y-axis origin reseting sensor, and 321 is limit sensor after Y-axis,
323 is the first protection cap, and 51 is the 3rd base, and 52 is 3rd bearing support base, and 53 is the 3rd shaft coupling, and 54 is the 3rd slide unit,
55 is the 3rd line slide rail, and 56 is Z axis ball screw, and 57 is the 3rd screw mandrel support seat, and 58 is the 3rd bottom end cover, and 59 is the 3rd straight
Line sliding block, 510 is Z axis servo drive motor, and 511 is the 3rd upper end cover, and 512 is 3rd bearing, and 513 is 3rd bearing gland,
514 is cushion pad, and 515 is the 3rd cover plate, and 516 is 3rd sensor bar, and 518 is limit sensor before Z axis, and 519 is Z axis origin
Reseting sensor, 521 is limit sensor after Z axis, and 523 is the second protection cap, and 527 is the 3rd feed screw nut；
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Embodiment
As shown in figures 1 to 6, a kind of three axles Cartesian robot, including X-axis, Y-axis, Z axis, X are disclosed in the present embodiment
Axle and Y-axis are vertically connected by the first connecting plate, the first connecting plate be mould molding after, Precision Machining, it can be ensured that X-axis and Y-axis
Perpendicularity after connection, while easy to maintenance, Y-axis and Z axis are connected by the second connecting plate, and the second connecting plate is mould molding
Afterwards, Precision Machining, it can be ensured that the perpendicularity after Y-axis and Z axis connection, while easy to maintenance, Z axis are vertical with X-axis and Y-axis, first
Connecting plate and the second connecting plate, after using cooperatively, can improve the accuracy of rectangular coordinate system, be fixed with for propping up in X-axis side
The first supporting plate of the first drag chain is supportted, first drag chain one end is connected with the first supporting plate, and the other end is fixedly connected with Y-axis, first
Drag chain is used to protect the power line and data wire of Y-axis servo drive motor, is fixed with for supporting the second drag chain in Y-axis side
The second supporting plate, second drag chain one end is connected with the second supporting plate, and the other end and the drag chain connection sheet being fixed on Z axis connect
Connect, the second drag chain is used to protect the power line and data wire of Z axis servo drive motor；
In X-axis, two first straight line slide rails 5 are fixed with along the axis of U-shaped first base 1, first straight line slide rail 5 is fixed
In first base 1, U-shaped first base 1 is formed in one processing, compares traditional splicing construction, and assembling uniformity is good, precision
It is easily controllable, coordinate on first straight line slide rail 5 and 4 symmetrical first straight line sliding blocks 9 are installed, it is also solid in first base 1
Fixed first has bearing support block 2, and the one end of clutch shaft bearing support base 2 is fixed with X-axis servo drive motor 10, and the other end is rolled with X-axis
Ballscrew 6 is connected, and X-axis servo drive motor 10 and X-axis ball screw 6 are connected by first shaft coupling 3, first shaft coupling
3 are arranged in the concave cavity of clutch shaft bearing support base 2, and Precision Machining is produced after clutch shaft bearing support base 2 is formed in one, and will be passed
Servo motor seat and ball screw supporting mechanism on system combine together, can improve X-axis servo drive motor 10 and X-axis ball wire
The alignment of bar 6, reduces abrasion, improves operation stability, and the other end of X-axis ball screw 6 and the first screw mandrel support seat 7 coordinate and connect
Connect, the first screw mandrel support seat 7 is fixed on the end of first base 1, relative with X-axis servo drive motor 10, in clutch shaft bearing support
Seat 2 connects the side of X-axis ball screw 6 and is provided with the hole for installing clutch shaft bearing 12, and the one end of X-axis ball screw 6 is provided with for embedding
The step and the screw thread for fixing bearing 12 of clutch shaft bearing 12 are covered, X-axis ball screw 6 is cased with two clutch shaft bearings 12, first
Bearing 12 is fixed by nut, and X-axis ball screw 6 and clutch shaft bearing 12 are nested in hole, hole periphery be provided with for
The clutch shaft bearing gland 13 of fixed clutch shaft bearing 12, the other end of X-axis ball screw 6 is fixed in the first screw mandrel support seat 7, and first
An other clutch shaft bearing 12 is provided with screw mandrel support seat 7, X-axis ball screw 6 is passed through from the centre bore of clutch shaft bearing 12, the
Card has convex hoop shape structure cushion pad 14 in one screw mandrel support seat 7, and cushion pad 14 may be stuck in the first screw mandrel support seat 7, is providing
While cushioning effect, may also operate as obstruct dust etc. and enter Bearing inner, improve bearing service life；In first base 1
Two ends are respectively arranged with the first upper end cover 11 and the first bottom end cover 8, and the first upper end cover 11 is fixed on the left side of base 1 for protecting X
Axle servo drive motor 10, the first bottom end cover 8 is fixed on the right side of first base 1, for protecting the first screw mandrel support seat 7；
The first feed screw nut 27 with matching is nested with X-axis ball screw 6, it is fixed on first straight line sliding block 9
There is the first slide unit 4, the radial direction of the first slide unit 4 is U-shaped hollow structure, and the first cover plate 15 is passed through from hollow bulb, and the design of U-shape structure can
Make not contacted with the first cover plate 15 in the motion process of the first slide unit 4, the first cover plate 15 can preferably protect robot inner chamber, the
The side of one slide unit 4 is fixed with the first feed screw nut 27, and X-axis ball screw 6 can drive the first slide unit 4 to be slided along first straight line when rotating
Rail 5 moves along a straight line；
In Y-axis, a second straight line slide rail 35 is equally fixed with along the axis of U-shaped second base 31, second straight line is slided
Rail 35 is fixed in second base 31, and U-shaped second base 31 is formed in one processing, compares traditional splicing construction, assembling one
Cause property is good, and precision is easily controllable, coordinates on second straight line slide rail 35 and is provided with two second straight line sliding blocks 39, in second base
Second is further fixed on 31 bearing support block 32, and the one end of second bearing support base 32 is fixed with Y-axis servo drive motor 310,
The other end is connected with Y-axis ball screw 36, and Y-axis servo drive motor 310 and Y-axis ball screw 36 pass through second shaft coupling
33 connections, second shaft coupling 33 is arranged in the internal cavity of second bearing support base 32, and second bearing support base 32 is integrated into
Precision Machining production, servo motor seat traditionally and ball screw supporting mechanism are combined together after type, can improve Y-axis servo
The alignment of motor 310 and Y-axis ball screw 36, reduces abrasion, improves operation stability, and Y-axis ball screw 36 is another
End is connected with the second screw mandrel support seat 37, and the second screw mandrel support seat 37 is fixed on the end of second base 31, is driven with Y-axis servo
Dynamic motor 310 is relative, and the hole for installing second bearing 312 is provided with the connection Y-axis ball screw 36 of second bearing support base 32 side
Hole, one end of Y-axis ball screw 36 is provided with step and the screw thread for fixing bearing 312 for nested second bearing 312, Y
Shaft ball screw 36 is cased with two second bearings 312, and second bearing 312 is fixed by nut, the axle of Y-axis ball screw 36 and second
Hold 312 to be nested in hole, hole periphery is provided with the second bearing gland 313 for fixing second bearing 312, Y-axis rolling
The other end of ballscrew 36 is fixed in the second screw mandrel support seat 37, and other one second is provided with the second screw mandrel support seat 37
Bearing 312, Y-axis ball screw 36 is passed through from the centre bore of second bearing 312, and card has convex hoop shape structure in the second screw mandrel support seat 37
Cushion pad 14, cushion pad 14 may be stuck in the second screw mandrel support seat 37, while cushioning effect is provided, may also operate as intercepting
Dust etc. enters inside second bearing 312, improves the service life of second bearing 312；It is respectively arranged with the two ends of second base 31
Second upper end cover 311 and the second bottom end cover 38, the second upper end cover 311 are fixed on the left side of base 31 for protecting Y-axis servo-drive
Motor 310, the second bottom end cover 38 is fixed on the right side of second base 31, for protecting the second screw mandrel support seat 37, while first protects
The protection Y-axis of protecting cover 323 drives servomotor 310；
The second feed screw nut with matching is nested with Y-axis ball screw 36, it is fixed on second straight line sliding block 39
There is the second slide unit 34, the radial direction of the second slide unit 34 is U-shaped hollow structure, the second cover plate 315 is passed through from hollow bulb, U-shape structure sets
Meter can make not contacted with the second cover plate 315 in the motion process of the second slide unit 34, and the second cover plate 315 can preferably protect robot
Inner chamber, the side of the second slide unit 34 is fixed with the second feed screw nut, and Y-axis ball screw 36 can drive the second slide unit 34 along the when rotating
Two line slide rails 35 move along a straight line；
On Z axis, one article of the 3rd line slide rail 55 is equally fixed with along the U-shaped axis of 3rd base 51, the 3rd straight line is slided
Rail 55 is fixed on the 3rd base 51, and U-shaped 3rd base 51 is formed in one processing, compares traditional splicing construction, assembling one
Cause property is good, and precision is easily controllable, coordinates on the 3rd line slide rail 55 and is provided with two the 3rd linear sliders 59, in the 3rd base
The 3rd is further fixed on 51 bearing support block 52, and the one end of 3rd bearing support base 52 is fixed with Z axis servo drive motor 510,
The other end is connected with Z axis ball screw 56, and Z axis servo drive motor 510 and Z axis ball screw 56 pass through the 3rd shaft coupling
53 connections, the 3rd shaft coupling 53 is arranged in the internal cavity of 3rd bearing support base 52, and 3rd bearing support base 52 is integrated into
Precision Machining production, servo motor seat traditionally and ball screw supporting mechanism are combined together after type, can improve Z axis servo
The alignment of motor 510 and Z axis ball screw 56, reduces abrasion, improves operation stability, and Z axis ball screw 56 is another
End is connected with the 3rd screw mandrel support seat 57, and the 3rd screw mandrel support seat 57 is fixed on the end of the 3rd base 51, is driven with Z axis servo
Dynamic motor 510 is relative, and the hole for installing 3rd bearing 512 is provided with the side of the connection Z axis of 3rd bearing support base 52 ball screw 56
Hole, one end of Z axis ball screw 56 is provided with step and the screw thread for fixing bearing 512 for nested 3rd bearing 512, Z
Shaft ball screw 56 is cased with two 3rd bearings 512, and 3rd bearing 512 is fixed by nut, the axle of Z axis ball screw 56 and the 3rd
Hold 512 to be nested in hole, hole periphery is provided with the 3rd bearing gland 513 for fixing 3rd bearing 512, Z axis rolling
The other end of ballscrew 56 is fixed in the 3rd screw mandrel support seat 57, and other one the 3rd is provided with the 3rd screw mandrel support seat 57
Bearing 512, Z axis ball screw 56 is passed through from the centre bore of 3rd bearing 512, and card has convex hoop shape structure in the 3rd screw mandrel support seat 57
Cushion pad 14, cushion pad 14 may be stuck in the 3rd screw mandrel support seat 57, while cushioning effect is provided, may also operate as intercepting
Dust etc. enters inside 3rd bearing 512, improves the service life of 3rd bearing 512；It is respectively arranged with the two ends of the 3rd base 51
3rd upper end cover 511 and the 3rd bottom end cover 58, the 3rd upper end cover 511 are fixed on the left side of base 51 for protecting Z axis servo-drive
Motor 510, the 3rd bottom end cover 58 is fixed on the right side of the 3rd base 51, for protecting the 3rd screw mandrel support seat 57 while the second protection
The protection Z axis of lid 523 drive servomotor 510；
The 3rd feed screw nut 527 with matching is nested with Z axis ball screw 56, it is solid in the 3rd linear slider 59
Surely there is the 3rd slide unit 54, the radial direction of the 3rd slide unit 54 is U-shaped hollow structure, and the 3rd cover plate 515 is passed through from hollow bulb, U-shape structure
Design can make not contacted with the 3rd cover plate 515 in the motion process of the 3rd slide unit 54, and the 3rd cover plate 515 can preferably protect machine
People inner chamber, the side of the 3rd slide unit 54 is fixed with the 3rd feed screw nut 527, and Z axis ball screw 56 can drive the 3rd slide unit when rotating
54 move along a straight line along the 3rd line slide rail 55；
Additionally, being also respectively mounted first sensor article 16, second sensor article 316, on X-axis, Y-axis, Z axis side
Three sensor strips 516, are fixed with limit sensor 18, X-axis origin reseting sensor 19, X-axis before X-axis on first sensor bar 16
Limit sensor 21, are fixed with limit sensor 318, Y-axis origin reseting sensor 319, Y before Y-axis afterwards in second sensor 316
Limit sensor 321 after axle, are fixed with limit sensor 518, Z axis origin reseting sensor before Z axis in 3rd sensor 516
519th, limit sensor 521 after Z axis.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or uses the present invention.
Various modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, the present invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The scope most wide for causing.
Claims (3)
1. a kind of three axles Cartesian robot, it is characterised in that：Including X-axis, Y-axis, Z axis, the first connecting plate, the second connection
Plate, the first drag chain, the second drag chain, the X-axis and the Y-axis are vertically connected by first connecting plate, the Y-axis and described
Z axis are connected by second connecting plate, and the Z axis are vertical with the X-axis and the Y-axis, and use is fixed with the X-axis side
In the first supporting plate for supporting first drag chain, described first drag chain one end be connected with first supporting plate, the other end and
The Y-axis is fixedly connected, and the second supporting plate for supporting second drag chain, described are fixed with the Y-axis side
Two drag chain one end are connected with second supporting plate, and the other end is connected with the drag chain connection sheet on the Z axis；
The X-axis includes U-shaped first base, the two first straight line slide rails and first straight line slide rail being fixed in first base
The first straight line sliding block that is engaged, X-axis drive first that servomotor, X-axis ball screw are engaged with X-axis ball screw
Stem nut, the clutch shaft bearing support base being fixed in first base, first shaft coupling, clutch shaft bearing gland, to be fixed on first straight
The first slide unit on line sliding block；Described clutch shaft bearing support base one end is fixed with the X-axis servo drive motor, the other end and institute
State X-axis ball screw in mating connection, the X-axis servo drive motor and the X-axis ball screw pass through first shaft coupling
Device is connected, and the first shaft coupling is arranged in the clutch shaft bearing support base Reentrant Cavity, and described X-axis ball screw one end is set
There are two clutch shaft bearings, the clutch shaft bearing is fixed by the first nut, and the X-axis ball screw is nested with the clutch shaft bearing
On the clutch shaft bearing support base, the clutch shaft bearing gland is fixed on the clutch shaft bearing support base and compresses described
One bearing, the X-axis ball screw other end is connected with the first screw mandrel support seat for being fixed on the first base end, described
First screw mandrel support seat is embedded with a clutch shaft bearing, and the X-axis ball screw is passed through from the first axle bearing bore, described
The slide unit of assistant type first is fixed with one linear slider, the first slide unit side is fixed with first feed screw nut, the X
Shaft ball screw can drive first slide unit to be moved along a straight line along the first straight line slide rail when rotating；
The first base side is fixed with first sensor bar, be fixed with the first sensor limit sensor before X-axis,
Limit sensor after X-axis origin reseting sensor and X-axis；
The Y-axis includes U-shaped second base, the second straight line slide rail and second straight line slide rail being fixed in second base
The second straight line sliding block that is engaged, Y-axis drive second that servomotor, Y-axis ball screw are engaged with Y-axis ball screw
Stem nut, the second bearing support base being fixed in second base, second shaft coupling, second bearing gland, to be fixed on second straight
The second slide unit on line sliding block；Described second bearing support base one end is fixed with the Y-axis servo drive motor, the other end and institute
State Y-axis ball screw in mating connection, the Y-axis servo drive motor and the Y-axis ball screw pass through second shaft coupling
Device is connected, and the second shaft coupling is arranged in the second bearing support base internal cavity, and described Y-axis ball screw one end sets
Two second bearings are equipped with, the second bearing is fixed by the second nut, the Y-axis ball screw and the second bearing are embedding
It is enclosed within the second bearing support base, the second bearing gland is fixed on the second bearing support base and compresses described
Second bearing, the Y-axis ball screw other end is connected with the second screw mandrel support seat for being fixed on the second base end, institute
State the second screw mandrel support seat and be embedded with a second bearing, the Y-axis ball screw is passed through from the second bearing hole, described
The slide unit of assistant type second is fixed with second straight line sliding block, the second slide unit side is fixed with second feed screw nut, institute
Stating when Y-axis ball screw is rotated can drive second slide unit to be moved along a straight line along the second straight line slide rail；
The second base side is fixed with second sensor bar, be fixed with the second sensor limit sensor before Y-axis,
Limit sensor after Y-axis origin reseting sensor and Y-axis；
The Z axis include that U-shaped 3rd base, the 3rd line slide rail being fixed on the 3rd base and the 3rd line slide rail match
3rd linear slider of conjunction, Z axis drive the 3rd screw mandrel spiral shell that servomotor, Z axis ball screw are engaged with Z axis ball screw
Female, the 3rd bearing support base that is fixed on the 3rd base, the 3rd shaft coupling, 3rd bearing gland, it is fixed on the 3rd straight line cunning
The 3rd slide unit on block；Described 3rd bearing support base one end is fixed with the Z axis servo drive motor, the other end and the Z
Shaft ball screw is in mating connection, and the Z axis servo drive motor and the Z axis ball screw are connected by the 3rd shaft coupling
Connect, the 3rd shaft coupling is arranged in the 3rd bearing support base internal cavity, described Z axis ball screw one end is provided with
Two 3rd bearings, the 3rd bearing is fixed by nut, and the Z axis ball screw and the 3rd bearing are nested in described
On 3rd bearing support base, the 3rd bearing gland is fixed on the 3rd bearing support base and compresses the 3rd axle
Hold, the Z axis ball screw other end is connected with the 3rd screw mandrel support seat for being fixed on the 3rd base end, the described 3rd
Screw mandrel support seat is embedded with a 3rd bearing, and the Z axis ball screw is passed through from the 3rd bearing hole, straight the described 3rd
The slide unit of assistant type the 3rd is fixed with line sliding block, the 3rd slide unit side is fixed with the 3rd feed screw nut, the Z axis rolling
Ballscrew can drive the 3rd slide unit to be moved along a straight line along the 3rd line slide rail when rotating；
3rd chassis side is fixed with 3rd sensor article, be fixed with the 3rd sensor limit sensor before Z axis,
Limit sensor after Z axis origin reseting sensor and Z axis.
2. a kind of three axles Cartesian robot according to claim 1, it is characterised in that：Also include that there is bulge loop structure
Cushion pad, the cushion pad is separately fixed at the clutch shaft bearing gland, second bearing gland, 3rd bearing gland, first
In screw mandrel support seat, the second screw mandrel support seat, the 3rd screw mandrel support seat.
3. a kind of three axles Cartesian robot according to claim 1, it is characterised in that：Also include for protecting machine
First upper end cover of people's axle, the first bottom end cover, the first cover plate, the second upper end cover, the second bottom end cover, the second cover plate, the 3rd upper end
Lid, the 3rd bottom end cover, the 3rd cover plate, first upper end cover and first bottom end cover are separately fixed at the X-axis two ends, institute
State the first cover plate to be passed through from the first slide unit hollow bulb, be close in the first base；Second upper end cover and described
Second bottom end cover is separately fixed at the Y-axis two ends, and second cover plate is passed through from the second slide unit concave part, is close to institute
State in second base；3rd upper end cover and the 3rd bottom end cover are separately fixed at the Z axis two ends, the 3rd cover plate
Passed through from the 3rd slide unit concave part, be close on the 3rd base.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610150647.1A CN105598956B (en) | 2016-03-17 | 2016-03-17 | A kind of three axle Cartesian robots |
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| CN201610150647.1A CN105598956B (en) | 2016-03-17 | 2016-03-17 | A kind of three axle Cartesian robots |
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| CN105598956A CN105598956A (en) | 2016-05-25 |
| CN105598956B true CN105598956B (en) | 2017-06-23 |
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| CN106427633A (en) * | 2016-10-26 | 2017-02-22 | 深圳市新沧海机械有限公司 | Automobile charging robot |
| CN107825437B (en) * | 2017-12-05 | 2023-09-22 | 深圳市芬能自动化设备有限公司 | Double-end triaxial tears gluey machine |
| CN109093607B (en) * | 2018-09-07 | 2023-09-05 | 浙江斯柯特科技有限公司 | High-speed mute totally-enclosed rectangular coordinate manipulator |
| CN112871720A (en) * | 2021-01-13 | 2021-06-01 | 江西艾科控股有限公司 | Unmanned automatic positioning, detecting and classifying device and method for magnetic powder core |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH08150579A (en) * | 1994-11-25 | 1996-06-11 | Kao Corp | Rectangular coordinate system scanner |
| KR100232285B1 (en) * | 1995-12-26 | 1999-12-01 | 이구택 | Three-dimensional surface shape measuring equipment |
| CN2782615Y (en) * | 2005-01-12 | 2006-05-24 | 苏州工业园区职业技术学院 | In/out warehouse feeding mechanism |
| CN202062167U (en) * | 2010-12-08 | 2011-12-07 | 柳州高华机械有限公司 | Cartesian five-degree-of-freedom welding manipulator |
| CN102674041B (en) * | 2012-04-24 | 2014-07-23 | 华中科技大学 | Sheet vacuum pickup and release device |
| CN102841265B (en) * | 2012-09-04 | 2014-11-05 | 成都锦江电子系统工程有限公司 | Three-dimensional high-precision fully-automatic ultra-high frequency band radar antenna near-field testing system |
| CN105252263B (en) * | 2015-11-20 | 2017-12-05 | 东莞市聚川装配自动化技术有限公司 | A kind of articulated robot of automatic lock screw |
| CN205497471U (en) * | 2016-03-17 | 2016-08-24 | 苏州特瑞特机器人有限公司 | Triaxial cartesian robot |
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Address after: 215011 building 3, No. 189, Kunlunshan Road, high tech Zone, Suzhou, Jiangsu Province (floor 3, No. 3, Tong'an plant) Patentee after: Suzhou Zhuozhao dispensing Co.,Ltd. Address before: 215011 building 3, No. 189, Kunlunshan Road, high tech Zone, Suzhou, Jiangsu Province (floor 3, No. 3, Tong'an plant) Patentee before: SUZHOU TERUITE ROBOT Co.,Ltd. |
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Address after: No. 189, Wutaishan Road, Suzhou High tech Zone, Jiangsu Province, 215000 Patentee after: Suzhou Zhuozhao dispensing Co.,Ltd. Address before: 215011 building 3, No. 189, Kunlunshan Road, high tech Zone, Suzhou, Jiangsu Province (floor 3, No. 3, Tong'an plant) Patentee before: Suzhou Zhuozhao dispensing Co.,Ltd. |