CN105643611A - Cross-shaped XOY double-axis linkage rectangular coordinate robot - Google Patents
Cross-shaped XOY double-axis linkage rectangular coordinate robot Download PDFInfo
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- CN105643611A CN105643611A CN201610192319.8A CN201610192319A CN105643611A CN 105643611 A CN105643611 A CN 105643611A CN 201610192319 A CN201610192319 A CN 201610192319A CN 105643611 A CN105643611 A CN 105643611A
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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
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Abstract
The invention relates to a cross-shaped XOY double-axis linkage rectangular coordinate robot. The cross-shaped XOY double-axis linkage rectangular coordinate robot comprises an X-axis motion mechanism, a Y-axis motion mechanism, an X-axis and Y-axis connecting mechanism, drive power units, a rack and a control system. The robot is characterized in that the X-axis motion mechanism is fixed to the rack, the X-axis and Y-axis connecting mechanism is connected to the X-axis motion mechanism, the Y-axis motion mechanism is connected to the X-axis and Y-axis connecting mechanism, the X-axis motion mechanism and the Y-axis motion mechanism are connected together through the X-axis and Y-axis connecting mechanism, the drive power units are correspondingly installed at the two ends of a cross beam of the X-axis and Y-axis connecting mechanism, the control system controls the drive power units to drive the X-axis motion mechanism and the Y-axis motion mechanism to correspondingly move on the X axis and the Y axis through a synchronous belt, and therefore the corresponding purpose is achieved. The rectangular coordinate robot has the advantages of being simple in structure, high in intelligence degree, easy and convenient to operate and maintain and capable of improving working efficiency and working capacity.
Description
Technical field
The present invention relates to a kind of cross XOY Dual-spindle linked Cartesian robot.
Background technology
Cartesian robot is the motion of multiple degree of freedom, and the space angle between each freedom of motion is right angle, can automatically control, the equal follow procedure of repeatable programming, all of motion runs. Because its working service cost is low, Cartesian robot be used as various automation equipments widely, complete such as welding, carrying, feeding, packaging, piling, de-stacking, detection, flaw detection, classification, assembling, labeling, coding, stamp, spraying, a series of activities such as explosive. It is particularly well-suited to multi items, it is simple to the flexibility operation of batch, for stable, improve product quality, raise labour productivity, improve working conditions and quickly updating of product has highly important effect.
Conventional orthogonal coordinates robot is that the motion of each degree of freedom is driven by a dynamical system, present factory is by conventional orthogonal coordinates robot's modularity, each degree of freedom motion-promotion force system one linear motion unit module of composition, the motion of each degree of freedom is controlled location by a linear motion unit, so with the requirement of the Cartesian robot of the linear motion unit module adaptive different size of different size, thus shortening the R&D cycle of product, increase the reliability of product. But the working method of Cartesian robot does not change, the motion of each degree of freedom is controlled by a linear motion unit, linear motion unit is not in contact with in motion between mutual degree of freedom, thus the speed of service generally all can not accomplish significantly high, cycle time is long; And the motion of each degree of freedom is controlled by a linear motion unit, complicated structure, factor that the Y-axis particularly moved both vertically is conducted oneself with dignity because of the body construction of linear motion unit and drive motor and affect Cartesian robot ability to work.
Simplify the developing direction that Cartesian robot structure, raising Cartesian robot ability to work and speed are Cartesian robots.
Summary of the invention
The purpose of the present invention is in order to overcome above-mentioned conventional orthogonal coordinates robot's technology Problems existing and shortcoming, and provides a kind of simple in construction, intelligence degree height, simple and convenient operation and maintenance, can improve the cross XOY Dual-spindle linked Cartesian robot of work efficiency and ability to work.
The technical scheme is that
Cross XOY Dual-spindle linked Cartesian robot, including X-axis motion, Y-axis motion, XY shaft connection mechanism, drive power unit, frame and control system, it is characterized in that: X-axis motion is fixed in frame, XY shaft connection mechanism is connected on X-axis motion, Y-axis motion is connected on XY shaft connection mechanism, X-axis motion, Y-axis motion connects into an entirety by XY shaft connection mechanism, power unit correspondence respectively is driven to be arranged on the two ends of X-axis motion crossbeam, control system controls to drive power unit to drive X-axis motion and Y-axis motion to make corresponding sports in X-axis and Y-axis by Timing Belt, thus reaching corresponding purpose.
Described X-axis motion is made up of a crossbeam, two transverse movement rectilinear orbits and four transverse movement slide blocks, crossbeam is fixed in frame, two transverse movement line slideways are fixed on cross rail inner by above-below direction is parallel, being provided with one group of two transverse movement slide block on every transverse movement line slideway, two groups of four transverse movement slider bottom plates are connected with the main connecting lateral plate outer surface of XY shaft connection mechanism.
Described XY shaft connection mechanism is made up of main connecting lateral plate, auxiliary connecting lateral plate and two lengthwise movement slide block bases, two lengthwise movement slide block base side sides are connected with main connecting lateral plate inner surface, opposite side is connected with auxiliary connecting lateral plate inner surface, main connecting lateral plate, auxiliary connecting lateral plate connect into an entirety by two lengthwise movement slide block bases, and XY shaft connection mechanism is connected by four transverse movement slider bottom plates of main connecting lateral plate outer surface and X-axis motion.
Described Y-axis motion is made up of a vertical rod, two lengthwise movement rectilinear orbits and two groups of four lengthwise movement slide blocks, two lengthwise movement rectilinear orbits are symmetrically mounted on vertical rod two sides, every lengthwise movement rectilinear orbit is provided with one group of two lengthwise movement slide block, two groups of lengthwise movement slider bottom plates of both sides are connected with the front of two lengthwise movement slide block bases of XY shaft connection mechanism respectively, and Y-axis motion is linked together by XY shaft connection mechanism and X-axis motion.
Described driving power unit is by two reductors, two servomotors, two driving pulleys, four guiding belt wheels, two fixing devices of Timing Belt, a piece Timing Belt, one guiding tensioning pulley composition, two reductors are separately mounted on outside the crossbeam two ends mounting seat of X-axis motion, speed reducer output shaft stretches to cross rail inner by mounting seat, the power shaft of each reductor is installed a servomotor, the output shaft of each reductor is installed a driving pulley, four guiding belt wheels are separately mounted on main connecting lateral plate and the auxiliary connecting lateral plate medial surface of XY shaft connection mechanism, two fixing devices of Timing Belt are respectively symmetrically and are arranged on bottom, Y-axis motion vertical rod side, one guiding tensioning pulley is arranged on vertical rod upper end, Timing Belt is enclosed within two driving pulleys, four guiding belt wheels, on one guiding tensioning pulley, Timing Belt two ends are separately fixed on the fixing device of two Timing Belts.
Timing Belt one end is fixed on the fixing device of the Timing Belt on the left of Y-axis motion vertical rod lower end, the Timing Belt other end from lower end edge vertical direction on the left of vertical rod start from bottom to top around, Timing Belt is after the guiding belt wheel of XY shaft connection mechanism lower left, inside guiding belt wheel, walk around guiding belt wheel from bottom to top to the left make Timing Belt break-in 90 ��, then in the horizontal direction from right to left around, Timing Belt is after the driving pulley on the left of X-axis motion, break-in 180 �� after driving pulley on the left of walking around to the right from bottom to top outside driving pulley, then in the horizontal direction from left to right around, Timing Belt is after the upper left guiding belt wheel of XY shaft connection mechanism, Timing Belt break-in 90 �� is made up around guiding belt wheel from left to right inside guiding belt wheel, then vertically from bottom to top around, Timing Belt around to Y-axis motion vertical rod upper end guiding tensioning pulley after, along guiding tensioning pulley outside from bottom to top to the right walk around guiding tensioning pulley after break-in 180 ��, then vertically from the top down around, Timing Belt is after the guiding belt wheel of only side, the XY shaft connection mechanism right side, inside guiding belt wheel, walk around to the right guiding belt wheel from the top down make Timing Belt break-in 90 ��, then in the horizontal direction from left to right around, Timing Belt is after the driving pulley on the right side of X-axis motion, break-in 180 �� after driving pulley on the right side of walking around to the left from the top down outside driving pulley, then in the horizontal direction from right to left around, Timing Belt is after the bottom-right guiding belt wheel of XY shaft connection mechanism, Timing Belt break-in 90 �� is made down around guiding belt wheel from right to left inside guiding belt wheel, then vertically from the top down around, on the right side of Y-axis motion vertical rod lower end, it is fixed on the right side of vertical rod lower end to fix Timing Belt on device.
Technical key point is in that:
1. the motion of two degree of freedom links together motion, two degree of freedom motions can independently moving can also while coupled movements;
2. two of two degree of freedom motions drive power unit not have X-axis (trunnion axis) to drive actuating unit, Y-axis (vertical axis) to drive dividing of actuating unit, and two driving actuating units can drive actuating unit simultaneously as X-axis (trunnion axis), can also drive actuating unit simultaneously as Y-axis (vertical axis);
3. two driving actuating units are all fixedly mounted on horizontal gird, rather than along with the motion of X-axis (trunnion axis) or Y-axis (vertical axis) and movement;
4. vertical axis does not drive actuating unit to move up and down with vertical movement mechanism, then significantly reduce the weight of vertical movement mechanism so that under equal conditions the lifting heavy ability of this rectangular coordinate mechanism is greatly improved;
5. the load rotating inertia alleviating, making this vertical moving unit of vertical moving unit weight reduces, then the system rotational inertia coefficient of vertical moving unit (when power is identical) diminishes the ratio of electric machine rotation inertia (load rotating inertia with), thus improving the control accuracy of Cartesian robot;
6. it is driven around two by a Timing Belt power unit output shaft to be fixed on Y-axis (vertical axis) vertical rod lower end after driving pulley and makes Timing Belt form closed loop simultaneously;
7. by the different rotary direction in equidirectional (or different direction) of two driving actuating units, friction speed combination, and drive the Timing Belt surrounded to realize the side-to-side movement of X-axis (trunnion axis) or the up and down motion of Y-axis (vertical axis) or the build-up curve motion of X-axis (trunnion axis) Y-axis (vertical axis).
8. two driving actuating units single movement, strength both can also can be added and can also subtract each other in action simultaneously, particularly when rectangular coordinate mechanism vertical movement mechanism obtains big acceleration at the big power of motion actuated needs from bottom to top, the advantage that drives actuating unit strength to be added just clearly, so select the scope driving actuating unit power of motor just much larger so that Cartesian robot scheme when driving power type selecting is more rich.
Accompanying drawing explanation
Fig. 1 is the theory of mechanics of the present invention;
Fig. 2 is the structural representation of the present invention;
Fig. 3 is the structural representation of the present invention.
Detailed description of the invention
In conjunction with accompanying drawing, the present invention will be described in detail:
Such as Fig. 1, Fig. 2, shown in Fig. 3, the present invention includes X-axis motion, Y-axis motion, XY shaft connection mechanism, drive power unit, frame 1 and control system, it is characterized in that: X-axis motion is fixed in frame, XY shaft connection mechanism is connected on X-axis motion, Y-axis motion is connected on XY shaft connection mechanism, X-axis motion, Y-axis motion connects into an entirety by XY shaft connection mechanism, power unit correspondence respectively is driven to be arranged on the two ends of X-axis motion crossbeam, control system controls to drive power unit to drive X-axis motion and Y-axis motion to make corresponding sports in X-axis and Y-axis by Timing Belt, thus reaching corresponding purpose.
As shown in Figure 2, described X-axis motion is made up of 13, two transverse movement rectilinear orbits 4 of a crossbeam and four transverse movement slide blocks 5, crossbeam 13 is fixed in frame 1, two transverse movement line slideways 4 are fixed on inside crossbeam 13 by above-below direction is parallel, being provided with one group of two transverse movement slide block 5 on every transverse movement line slideway 4, the base plate of two groups of four transverse movement slide blocks 5 is connected with main connecting lateral plate 6 outer surface of XY shaft connection mechanism.
As shown in Figure 2, described XY shaft connection mechanism is made up of main connecting lateral plate 6, auxiliary connecting lateral plate 16 and two lengthwise movement slide block bases 7, side, two lengthwise movement slide block base 7 sides is connected with main connecting lateral plate 6 inner surface, opposite side is connected with auxiliary connecting lateral plate inner surface, main connecting lateral plate 6, auxiliary connecting lateral plate 16 connect into an entirety by two lengthwise movement slide block bases 7, and XY shaft connection mechanism is connected with the base plate of four transverse movement slide blocks 5 of X-axis motion by main connecting lateral plate 6 outer surface.
As shown in Figure 2, described Y-axis motion is made up of 12, two lengthwise movement rectilinear orbits of a vertical rod 10 and two groups of four lengthwise movement slide blocks 8, two lengthwise movement rectilinear orbits 10 are symmetrically mounted on vertical rod 12 two sides, every lengthwise movement rectilinear orbit 10 is provided with one group of two lengthwise movement slide block 8, two groups of lengthwise movement slide blocks 8 of both sides are connected with the front of two lengthwise movement slide block bases 7 of XY shaft connection mechanism respectively, and Y-axis motion is linked together by XY shaft connection mechanism and X-axis motion.
Described driving power unit is by two reductors 2, two servomotors 3, two driving pulleys 14, four guiding belt wheels 9, two fixing devices 17 of Timing Belt, a piece Timing Belt 15, one guiding tensioning pulley 11 forms, two reductors 2 are separately mounted on outside the crossbeam 13 two ends mounting seat of X-axis motion, reductor 2 output shaft is inside crossbeam 13, the power shaft of each reductor 2 is installed a servomotor 3, the output shaft of each reductor 2 is installed a driving pulley 14, four guiding belt wheels 9 are separately mounted on main connecting lateral plate 6 and auxiliary connecting lateral plate 16 medial surface of XY shaft connection mechanism, two fixing devices 17 of Timing Belt are respectively symmetrically and are arranged on bottom, Y-axis motion vertical rod 12 side, one guiding tensioning pulley 11 is arranged on vertical rod 12 upper end, Timing Belt 15 is enclosed within two driving pulleys 14, four guiding belt wheels 9, on one guiding tensioning pulley 11, Timing Belt 15 two ends are separately fixed on the fixing device 17 of two Timing Belts.
Timing Belt 15 one end is fixed on the fixing device 17 of the Timing Belt on the left of Y-axis motion vertical rod 12 bottom, Timing Belt 15 other end vertically start from bottom on the left of vertical rod 12 from bottom to top around, Timing Belt 15 is after the guiding belt wheel 9 of XY shaft connection mechanism lower left, along guiding belt wheel 9 inside from bottom to top to the left around, after Timing Belt 15 is walked around guiding belt wheel 9 is made Timing Belt 15 break-in 90 ��, in the horizontal direction from right to left around, Timing Belt 15 is after the driving pulley 14 on the left of X-axis motion, outside driving pulley 14 from bottom to top to the right around, Timing Belt 15 walk around left side driving pulley 14 after make Timing Belt 15 break-in 180 �� after, in the horizontal direction from left to right around, Timing Belt 15 is after the upper left guiding belt wheel 9 of XY shaft connection mechanism, along guiding belt wheel 9 inside from left to right upwards about, after Timing Belt 15 is walked around guiding belt wheel 9 is made Timing Belt 15 break-in 90 ��, vertically from bottom to top around, Timing Belt 15 around to Y-axis motion vertical rod 12 upper end guiding tensioning pulley 11 after, to the right down around after break-in 180 �� after guiding tensioning pulley 9 along guiding tensioning pulley 11 lateral, vertically from the top down around, Timing Belt 15 is after the top-right guiding belt wheel 9 of XY shaft connection mechanism, after walking around to the right guiding inside guiding belt wheel 9 from the top down belt wheel 9 making Timing Belt break-in 90 ��, in the horizontal direction from left to right around, Timing Belt 15 is after the driving pulley 14 on the right side of X-axis motion, after driving pulley 14 on the right side of walking around to the left from the top down outside driving pulley 14 after break-in 180 ��, in the horizontal direction from right to left around, Timing Belt 15 is after the bottom-right guiding belt wheel 9 of XY shaft connection mechanism, after making Timing Belt break-in 90 �� down around guiding belt wheel 9 from right to left inside guiding belt wheel 9, vertically from the top down around, after on the right side of Y-axis motion vertical rod 12 bottom, it is fixed on the right side of vertical rod 12 lower end to fix Timing Belt 15 on device 17.
The principle of the invention is: adopt two to drive power unit, but two driving power units do not have horizontal movement to drive power unit drives dividing of power unit with moving both vertically, and two driving power units are all fixing on horizontal gird, two are driven to be gone here and there mutually by a Timing Belt between power units to couple together and carry out associated movement together and complete the athletic performance of Cartesian robot, and operation principle is shown in accompanying drawing 1.
Cross XOY Dual-spindle linked Cartesian robot, by two multiple input modes combinations driving the different rotary direction of power unit, different rotating speeds, and drive Timing Belt to realize the track of multiple different motion of Cartesian robot actuator outfan requirement, namely the output of the forms of motion of actuator can be the independently moving of single degree of freedom (single shaft), can also be motion while two degree of freedom (twin shaft), and its movement locus both can be that straight line can also specific camber line.
Described cross XOY Dual-spindle linked Cartesian robot specific works mode is, specific works input and output conversion sees attached list 1.
Table 1, cross XOY Dual-spindle linked Cartesian robot work input and output conversion table
Claims (5)
1. cross XOY Dual-spindle linked Cartesian robot, including X-axis motion, Y-axis motion, XY shaft connection mechanism, drive power unit, frame and control system, it is characterized in that: X-axis motion is fixed in frame, XY shaft connection mechanism is connected on X-axis motion, Y-axis motion is connected on XY shaft connection mechanism, X-axis motion, Y-axis motion connects into an entirety by XY shaft connection mechanism, power unit correspondence respectively is driven to be arranged on the two ends of X-axis motion crossbeam, control system controls to drive power unit to drive X-axis motion and Y-axis motion to make corresponding sports in X-axis and Y-axis by Timing Belt, thus reaching corresponding purpose.
2. cross XOY Dual-spindle linked Cartesian robot according to claim 1, it is characterized in that: described X-axis motion is made up of a crossbeam, two transverse movement rectilinear orbits and four transverse movement slide blocks, crossbeam is fixed in frame, two transverse movement line slideways are fixed on cross rail inner by above-below direction is parallel, being provided with one group of two transverse movement slide block on every transverse movement line slideway, the base of two groups of four transverse movement slide blocks is connected with the main connecting lateral plate outer surface of XY shaft connection mechanism.
3. cross XOY Dual-spindle linked Cartesian robot according to claim 1, it is characterized in that: described XY shaft connection mechanism is by main connecting lateral plate, auxiliary connecting lateral plate and two lengthwise movement slide block base compositions, two lengthwise movement slide block base side sides are connected with main connecting lateral plate inner surface, opposite side is connected with auxiliary connecting lateral plate inner surface, main connecting lateral plate, auxiliary connecting lateral plate connects into an entirety by two lengthwise movement slide block bases, XY shaft connection mechanism is connected by main connecting lateral plate outer surface and is connected with the base of four transverse movement slide blocks of X-axis motion.
4. cross XOY Dual-spindle linked Cartesian robot according to claim 1, it is characterized in that: described Y-axis motion is by a vertical rod, two lengthwise movement rectilinear orbits and two groups of four lengthwise movement slide blocks compositions, two lengthwise movement rectilinear orbits are symmetrically mounted on vertical rod two sides, every lengthwise movement rectilinear orbit is provided with one group of two lengthwise movement slide block, two groups of lengthwise movement slide blocks of both sides are connected with the front of two lengthwise movement slide block bases of XY shaft connection mechanism respectively, Y-axis motion is linked together by XY shaft connection mechanism and X-axis motion.
5. cross XOY Dual-spindle linked Cartesian robot according to claim 1, it is characterized in that: described driving power unit is by two reductors, two servomotors, two driving pulleys, four guiding belt wheels, two fixing devices of Timing Belt, a piece Timing Belt, one guiding tensioning pulley composition, two reductors are separately mounted on outside the crossbeam two ends of X-axis motion, speed reducer output shaft is at cross rail inner, the power shaft of each reductor is installed a servomotor, the output shaft of each reductor is installed a driving pulley, four guiding belt wheels are separately mounted on main connecting lateral plate and the auxiliary connecting lateral plate medial surface of XY shaft connection mechanism, two fixing devices of Timing Belt are respectively symmetrically and are arranged on lower end, Y-axis motion vertical rod side, one guiding tensioning pulley is arranged on vertical rod upper end, Timing Belt is enclosed within two driving pulleys, four guiding belt wheels, on one guiding tensioning pulley, Timing Belt two ends are separately fixed on the fixing device of two Timing Belts.
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| CN2016201193792 | 2016-02-06 | ||
| CN201620119379 | 2016-02-06 |
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| CN201620256413.0U Active CN205521381U (en) | 2016-02-06 | 2016-03-30 | Cross XOY biax linkage cartesian robot |
| CN201610192319.8A Pending CN105643611A (en) | 2016-02-06 | 2016-03-30 | Cross-shaped XOY double-axis linkage rectangular coordinate robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106181980A (en) * | 2016-08-30 | 2016-12-07 | 富创得科技（沈阳）有限公司 | Synchronous driven type Cartesian robot |
| CN106315240A (en) * | 2016-11-18 | 2017-01-11 | 山东爱而生智能科技有限公司 | Y-axis suspension mechanism and manipulator stably moving in y-axis direction |
| CN106346459A (en) * | 2016-10-26 | 2017-01-25 | 宁波创控智能科技有限公司 | Cross writing and drawing robot |
| CN107758335A (en) * | 2017-09-30 | 2018-03-06 | 中银（宁波）电池有限公司 | A kind of battery tray haulage equipment |
| CN107758204A (en) * | 2017-09-30 | 2018-03-06 | 中银（宁波）电池有限公司 | A kind of transport mechanism and battery production equipment |
| CN107839929A (en) * | 2017-12-04 | 2018-03-27 | 武汉人天包装自动化技术股份有限公司 | A kind of high speed rectangular co-ordinate recrater and vertical bag packing method |
| CN108382650A (en) * | 2018-02-13 | 2018-08-10 | 武汉人天包装自动化技术股份有限公司 | Gripping-type sack filling machine |
| CN110142749A (en) * | 2018-02-11 | 2019-08-20 | 邯郸市海拓机械科技有限公司 | A kind of T axis robot |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205521381U (en) * | 2016-02-06 | 2016-08-31 | 武汉人天包装自动化技术股份有限公司 | Cross XOY biax linkage cartesian robot |
| CN106583178B (en) * | 2016-11-01 | 2019-01-18 | 浙江理工大学 | A kind of edge positioning method and device of the leather substance of automatic oil edge machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106181980A (en) * | 2016-08-30 | 2016-12-07 | 富创得科技（沈阳）有限公司 | Synchronous driven type Cartesian robot |
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| CN107758335A (en) * | 2017-09-30 | 2018-03-06 | 中银（宁波）电池有限公司 | A kind of battery tray haulage equipment |
| CN107758204A (en) * | 2017-09-30 | 2018-03-06 | 中银（宁波）电池有限公司 | A kind of transport mechanism and battery production equipment |
| CN107839929A (en) * | 2017-12-04 | 2018-03-27 | 武汉人天包装自动化技术股份有限公司 | A kind of high speed rectangular co-ordinate recrater and vertical bag packing method |
| CN107839929B (en) * | 2017-12-04 | 2019-10-25 | 武汉人天包装自动化技术股份有限公司 | A kind of high speed rectangular co-ordinate recrater and vertical bag packing method |
| CN110142749A (en) * | 2018-02-11 | 2019-08-20 | 邯郸市海拓机械科技有限公司 | A kind of T axis robot |
| CN108382650A (en) * | 2018-02-13 | 2018-08-10 | 武汉人天包装自动化技术股份有限公司 | Gripping-type sack filling machine |
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