CN113733063A - Direct-drive high-speed large-stroke truss robot based on inclined plane support - Google Patents
Direct-drive high-speed large-stroke truss robot based on inclined plane support Download PDFInfo
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- CN113733063A CN113733063A CN202111090438.XA CN202111090438A CN113733063A CN 113733063 A CN113733063 A CN 113733063A CN 202111090438 A CN202111090438 A CN 202111090438A CN 113733063 A CN113733063 A CN 113733063A
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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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- 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
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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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
- B25J9/16—Programme controls
Abstract
The invention provides a direct-drive high-speed large-stroke truss robot based on inclined plane support, which belongs to the technical field of robots and comprises upright columns, an X-axis inclined plane support beam, an X-axis movement module, a Y-axis movement module, a Z-axis movement module, a wrist rotating mechanism and an online position detection feedback system. The arrangement of the X-axis inclined plane supporting cross beam enables the gravity center of the moving part to move backwards, and ensures that the gravity center of the moving part of the robot is distributed on the X-axis inclined plane supporting cross beam, so that the dynamic and static rigidity of the robot is improved, the influence of overturning moment generated by forward movement of the robot part along the Y-axis direction is reduced, and the deformation of the Y-axis sliding table of the Y-axis moving module when moving forwards and the Z-axis vertical beam of the Z-axis moving module when moving downwards is reduced. The structure of the wrist rotating mechanism realizes the linear positioning control of the truss robot and the coordinated control of the pose of the tail end of the robot, so that the robot can be suitable for various working posts. The on-line position detection feedback system ensures that the robot has high positioning precision and more accurate operation.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a direct-drive high-speed large-stroke truss robot based on inclined plane support.
Background
The truss robot is also called a rectangular coordinate robot, and is widely applied to various working posts such as carrying, loading and unloading in a modern flexible production line due to the advantages of long working movement distance, low cost, simplicity in control and operation and the like. However, in the prior art, the horizontal beam structure of the truss robot is greatly influenced by the overturning moment generated by the forward movement of the robot moving part along the Y-axis direction on the positioning accuracy, the rigidity and the bearing capacity of the whole truss robot. Meanwhile, the truss robot generally adopts mechanisms such as a screw nut or a gear rack to transfer motion, so that the rotary motion of a motor is converted into linear motion, the transmission driving mechanism enables the operation speed and the positioning accuracy of the truss robot to be poor, the operation requirements of high speed, high accuracy and large stroke are difficult to meet, the original truss robot can only realize the linear motion in three axial directions, and in sum, the existing truss robot is difficult to meet the requirements of complex working procedures and needs to be correspondingly improved.
Disclosure of Invention
In view of the above situation, the present invention aims to provide a bevel support-based direct-drive high-speed large-stroke truss robot with high rigidity and positioning accuracy, high response speed and convenient end pose control for workers, which is a bevel support-based direct-drive high-speed large-stroke truss robot and comprises an upright post, an X-axis bevel support beam, an X-axis motion module, a Y-axis motion module, a Z-axis motion module, a wrist rotation mechanism and an online position detection feedback system; the bottom of one side of the X-axis inclined plane supporting beam is provided with the stand column, the X-axis inclined plane supporting beam comprises an inclined plane to form a triangular or trapezoidal X-axis inclined plane supporting beam structure, and the inclined plane is inclined outwards from top to bottom; the X-axis motion module is mounted on the inclined plane, the Y-axis motion module is mounted on the X-axis motion module and reciprocates in the X-axis direction under the driving of the X-axis motion module, the Z-axis motion module is mounted on the Y-axis motion module and reciprocates in the Y-axis direction under the driving of the Y-axis motion module, and the Z-axis motion module drives to reciprocate in the Z-axis direction; the wrist rotating mechanism comprises a U-axis rotating assembly and a Z-axis rotating assembly, and respectively rotates around an X axis and a Y axis to realize the pose control of the tail end of the robot; the online position detection feedback system comprises an X-axis grating ruler and a grating ruler reading head, the X-axis grating ruler is installed on the X-axis inclined plane supporting beam, the grating ruler reading head is installed on the X-axis movement module, and the X-axis grating ruler is matched with the grating ruler reading head to realize online detection and feedback control of the movement position of the X-axis movement module in the X-axis direction.
Preferably, the X-axis motion module contains an X-axis sliding table, an X-axis linear guide is vice and an X-axis linear motor, the X-axis linear guide is vice to be installed on the X-axis inclined plane supporting beam, the X-axis sliding table is installed the X-axis linear guide is vice to be gone up, X-axis linear motor contains X-axis linear motor stator and X-axis linear motor active cell, the X-axis linear motor stator is installed on the X-axis inclined plane supporting beam, the X-axis linear motor active cell is installed on the X-axis sliding table, this X-axis linear motor realizes X-axis sliding table is along X-axis direction reciprocating motion.
Further, the X-axis linear guide rail pair comprises two X-axis linear guide rails and 4X-axis sliders, and the two X-axis linear guide rails are respectively provided with 2X-axis sliders, wherein the two X-axis linear guide rails are arranged on the X-axis inclined plane supporting cross beam, and the X-axis sliding table is arranged on the 4X-axis sliders. Further, Y axle motion module contains a Y axle base, a Y axle linear guide is vice, a Y axle slip table, a Y axle servo motor and a Y axle ball screw, Y axle base is a frame type base structure, its fixed mounting on the X axle slip table, Y axle linear guide is vice to be installed on the Y axle base, Y axle slip table is installed Y axle linear guide is vice to be gone up, Y axle servo motor installs on Y axle base, and its drive end is connected Y axle slip table, Y axle ball screw sets up on the length direction of Y axle base, this Y axle ball screw sliding connection Y axle slip table.
Further, Y axle linear guide is vice to contain 4Y axle linear guide and 8Y axle sliders, and every Y axle linear guide becomes 1Y axle sliding pair with 2Y axle sliders, two Y axle sliding pairs of installation are arranged respectively to the relative inboard of both sides I-beam about the Y axle base, Y axle slip table is installed 8 on the Y axle slider.
Further, Z axle motion module contains that a Z axle linear guide is vice, a Z axle erects roof beam, a Z axle servo motor, a reduction gear and a Z axle rack and pinion mechanism, the Z axle erects the roof beam and passes through Z axle linear guide is vice realize with Y axle pedestal connection, Z axle servo motor installs on the Y axle slip table, the input of reduction gear with through belt transmission between the Z axle servo motor, install the output of reduction gear the gear of Z axle rack and pinion mechanism, this Z axle rack and pinion mechanism's gear with install the rack cooperation of the Z axle rack and pinion mechanism of Z axle vertical beam realizes Z axle vertical beam carries out the up-and-down motion along Z axle direction.
Furthermore, Z axle linear guide is vice to contain 1Z axle linear guide and 2Z axle sliders, install 2 on the Z axle linear guide Z axle slider, wherein, Z axle linear guide installs on the roof beam is erected to the Z axle, 2 the other end of Z axle slider with Y axle slip table connects.
Furthermore, a tail end connecting plate is installed at the tail end of the Z-axis vertical beam, and the wrist rotating mechanism is installed on the tail end connecting plate.
Furthermore, two ends of the X-axis inclined plane supporting beam and two ends of the Y-axis base are respectively provided with 2 elastic anti-collision limiting blocks and 2 limit position proximity switches; the elastic anti-collision limiting block is used for preventing the X-axis sliding table from sliding out of the X-axis linear guide rail and preventing the Y-axis sliding table from sliding out of the Y-axis linear guide rail; the limit position proximity switch is used for limiting the normal movement travel range of the X-axis direction and limiting the normal movement travel range of the Y-axis direction.
Furthermore, 2 hard stoppers and Z axle limit position proximity switch are installed respectively at the both ends that the roof beam is erected to the Z axle, install one both ends area elasticity anticollision stopper on the Y axle slip table, both ends area elasticity anticollision stopper and 2 the cooperation of hard stopper prevents Z axle erects the roof beam roll-off Z axle linear guide, Z axle limit position proximity switch is used for injecing the normal motion stroke scope of Z axle direction.
Compared with the prior art, the invention has the following beneficial effects: the invention provides a direct-drive high-speed large-stroke truss robot based on inclined plane support, which comprises an upright post, an X-axis inclined plane support beam, an X-axis movement module, a Y-axis movement module, a Z-axis movement module, a wrist rotating mechanism and an online position detection feedback system, wherein the X-axis movement module is arranged on the upright post; wherein;
1. the unique structural design of the X-axis inclined plane supporting beam is adopted, so that the gravity center of the robot moves backwards, the influence of overturning moment generated by forward movement of a moving part of the robot along the Y-axis direction is reduced, and the deformation of the Y-axis sliding table of the Y-axis moving module and the deformation of the Z-axis vertical beam of the Z-axis moving module during downward movement are reduced. And the Y-axis base of the Y-axis movement module adopts a frame type base structure, so that the rigidity, the bearing capacity and the running stability and reliability of the truss robot are greatly improved. Certainly, the influence that pollutants such as waste gas, dust produced in the production and processing environment caused to the relevant parts of X axle motion module can also be overcome to the structure of X axle inclined plane supporting beam.
2. The structure of the wrist rotating mechanism realizes the linear positioning control of the truss robot and the coordinated control of the pose of the tail end of the robot, so that the robot can be suitable for various working posts.
3. The arrangement of the online position detection feedback system enables the robot to perform online detection and feedback on the movement position in the X-axis direction, so that the robot is high in positioning accuracy and more accurate in operation.
4. The X-axis flat linear motor contained in the X-axis motion module can extend the motor guide rail according to the required stroke, simplifies the middle transmission mechanism, realizes the structural form of zero transmission, saves the installation space and the installation time, and simultaneously improves the motion speed, the acceleration, the positioning precision, the repeated positioning precision and the like of the robot along the X axis. The Y-axis servo motor and the Y-axis ball screw which are contained in the Y-axis motion module are matched, so that the rigidity and the stability and the reliability of the operation of the robot are effectively improved. The Z-axis servo motor and the Z-axis gear and rack mechanism contained in the Z-axis motion module are matched, so that the bearing capacity is high, the operation is stable, the transmission precision is high, and the transmission efficiency is high.
5. X axle inclined plane supporting beam's both ends and 2 elasticity anticollision stoppers and 2 extreme position proximity switches are all installed at Y axle base both ends, 2 hard stoppers and the extreme position proximity switch of Z axle are installed respectively to the both ends that the roof beam is erected to the Z axle for prevent the relevant linear guide of roll-off, inject normal motion stroke scope simultaneously, very big improvement the security of robot operation.
In conclusion, the direct-drive high-speed large-stroke truss robot based on the inclined plane support has high bearing capacity and rigidity and good dynamic performance, and is suitable for the requirements of an intelligent flexible production line with high speed, high precision, large stroke and complex processes.
Drawings
Fig. 1 is a schematic front structural diagram of a direct-drive high-speed large-stroke truss robot based on an inclined plane support according to the invention;
FIG. 2 is a schematic side structural view of a direct-drive high-speed large-stroke truss robot based on an inclined plane support according to the invention;
FIG. 3 is an enlarged schematic view of FIG. 2 at A;
FIG. 4 is a rear schematic view of the direct-drive high-speed large-stroke truss robot based on the inclined plane support;
FIG. 5 is an enlarged schematic view of FIG. 4 at the circle;
FIG. 6 is a schematic top view of a direct-drive high-speed large-stroke truss robot based on an inclined plane support according to the present invention;
wherein:
the system comprises a 1-upright post, a 2-X-axis inclined plane supporting beam, a 7-X-axis grating ruler, a 9-X-axis linear guide rail pair, an 11-X-axis sliding table, a 12-X-axis linear motor, a 13-X-axis elastic anti-collision limiting block, a 15-Y-axis limit position proximity switch, a 16-X-axis limit position proximity switch, a 17-Z-axis limit position proximity switch, an 18-Y-axis base, a 19-Y-axis linear guide rail pair, a 21-Y-axis servo motor, a 22-Y-axis elastic anti-collision limiting block, a 24-Y-axis sliding table, a 27-Z-axis servo motor, a 30-belt elastic anti-collision limiting block, a 32-Z-axis vertical beam, a 33-hard limiting block, a 35-Z-axis linear guide rail pair, a 37-Z-axis gear rack mechanism, a 40-end connecting plate and a 41-wrist rotating mechanism.
Detailed Description
The embodiments described below are only a part of the embodiments of the present invention, and not all of them. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a direct-drive high-speed large-stroke truss robot based on inclined plane support comprises an upright post 1, an X-axis inclined plane support beam 2, an X-axis movement module, a Y-axis movement module, a Z-axis movement module, a wrist rotation mechanism 41 and an online position detection feedback system;
referring to fig. 1, the bottom of one side of the X-axis inclined plane supporting beam 2 is provided with the column 1, and the X-axis inclined plane supporting beam 2 forms a triangular or trapezoidal X-axis inclined plane supporting beam 2 structure including an inclined plane, and the inclined plane inclines outwards from top to bottom. The upright column 1 comprises 2 upright columns and 2 upright columns, the upright columns 1 are arranged on the ground through foundation screws, the inclined plane supporting cross beam is fixedly arranged on the upright columns 1 through bolts, and a gantry type frame structure is formed through the connection.
The X-axis movement module is installed on the inclined surface. Particularly, X axle motion module contains a X axle slip table 11, the vice 9 of an X axle linear guide and an X axle linear electric motor 12, the vice 9 of X axle linear guide is installed on X axle inclined plane supporting beam 2, X axle slip table 11 is installed on the vice 9 of X axle linear guide, X axle linear electric motor 12 contains X axle linear electric motor stator and X axle linear electric motor active cell, X axle linear electric motor stator is installed on X axle inclined plane supporting beam 2, X axle linear electric motor active cell is installed on X axle slip table 11, this X axle linear electric motor 12 realizes X axle slip table 11 is along X axle direction reciprocating motion.
With reference to fig. 2 and fig. 3, further, the X-axis linear guide pair 9 includes two X-axis linear guide rails and 4X-axis sliders, two each of which is installed on the X-axis linear guide rail the X-axis slider, wherein two the X-axis linear guide rails are installed on the X-axis inclined plane supporting beam 2, the X-axis sliding table 11 is installed on 4 the X-axis slider. Meanwhile, in the present embodiment, the X-axis linear motor 12 is a flat linear motor. It should be noted that the X-axis sliding table 11 is driven by the X-axis linear motor 12 to reciprocate in the X-axis direction, and the X-axis linear guide rail pair 9 improves the stability and transmission efficiency of the movement of the X-axis sliding table 11, and the reaction is sensitive and has no retardation. Meanwhile, when the X-axis linear motor 12 between the inclined plane supporting beam and the X-axis sliding table 11 works, the strong attraction force generated by the linear X-axis linear motor stator and the X-axis linear motor rotor in the direction perpendicular to the mounting surface can balance the overturning moment generated by the forward movement of the robot moving part along the Y-axis base 18.
Referring to fig. 6, the Y-axis motion module is installed on the X-axis motion module, and this Y-axis motion module includes a Y-axis base 18, a Y-axis linear guide pair 19, a Y-axis sliding table 24, a Y-axis servo motor 21 and a Y-axis ball screw, the Y-axis base 18 is a frame-shaped base structure, and its fixed mounting is on the X-axis sliding table 11, the Y-axis linear guide pair 19 is installed on the Y-axis base 18, the Y-axis sliding table 24 is installed on the Y-axis linear guide pair 19, the Y-axis servo motor 21 is installed on the Y-axis base 18, and its driving end is connected to the Y-axis sliding table 24, the Y-axis ball screw is disposed in the length direction of the Y-axis base 18, and this Y-axis ball screw is slidably connected to the Y-axis sliding table 24. Further, Y axle linear guide pair 19 contains 4Y axle linear guide and 8Y axle sliders, and every Y axle linear guide becomes 1Y axle sliding pair with 2Y axle sliders, two Y axle sliding pairs of installation are arranged respectively to the relative inboard of both sides I-beam about Y axle base 18, Y axle slip table 24 is installed 8 on the Y axle slider. It should be noted that, through the matching linear motion of the Y-axis servo motor 21 and a Y-axis ball screw, the Y-axis sliding table 24 is driven to reciprocate in the Y-axis direction, and the Y-axis linear guide rail pair 19 improves the smoothness and transmission efficiency of the motion of the Y-axis sliding table 24.
Combine fig. 4 and fig. 5, the Z axle motion module install on the Y axle motion module, this Z axle motion module contain the vice 35 of a Z axle linear guide, a Z axle erect roof beam 32, a Z axle servo motor 27, a reduction gear and a Z axle rack and pinion mechanism 37, the Z axle erects the roof beam 32 and passes through the vice 35 realization of Z axle linear guide with Y axle base 18 connects, Z axle servo motor 27 installs on Y axle slip table 24, the input of reduction gear with through belt drive between the Z axle servo motor 27, install the output of reduction gear the gear of Z axle rack and pinion mechanism 37, this Z axle rack and pinion mechanism 37's gear with install the Z axle rack and pinion mechanism 37's of Z axle erect roof beam 32 rack and pinion mechanism's rack cooperation realizes Z axle erect roof beam 32 carries out the up-and-down motion along the Z axle direction. Further, Z axle linear guide is vice 35 to contain 1Z axle linear guide and 2Z axle sliders, install 2 on the Z axle linear guide Z axle slider, wherein, Z axle linear guide installs on the Z axle erects roof beam 32, 2 the other end of Z axle slider with Y axle slip table 24 connects. It should be noted that the rotational motion of the Z-axis servo motor 27 is converted into a linear motion by the motion transmission between the speed reducer and the Z-axis rack-and-pinion mechanism 37, so that the Z-axis rack-and-pinion mechanism 37 is driven to realize the up-and-down motion of the Z-axis vertical beam 32 along the Z-axis direction, that is, the reciprocating motion in the Z-axis direction is driven, and the motion stability and the transmission efficiency of the Z-axis vertical beam 32 are improved by the Z-axis linear guide pair 35.
With reference to fig. 4, a terminal connecting plate 40 is installed at the terminal of the Z-axis vertical beam 32, the wrist rotating mechanism 41 is installed on the terminal connecting plate 40, the wrist rotating mechanism 41 includes a U-axis rotating assembly and a Z-axis rotating assembly, and is driven by separate servo motors to realize rotational motions around the X-axis and around the Y-axis, so as to realize terminal pose control of the robot.
The online position detection feedback system comprises an X-axis grating ruler 7 and a grating ruler reading head, the X-axis grating ruler 7 is installed on the X-axis inclined plane supporting beam 2, the grating ruler reading head is installed on the X-axis movement module, and the X-axis grating ruler 7 and the grating ruler reading head are matched to realize online detection and feedback control of the movement position of the X-axis movement module in the X-axis direction. Specifically, the grating scale reading head is mounted on the X-axis slide table 11.
Preferably, in this embodiment, 2 elastic anti-collision limit blocks and 2 limit position proximity switches are installed at both ends of the X-axis inclined plane supporting beam 2 and both ends of the Y-axis base 18. Namely, two ends of the X-axis inclined plane supporting beam 2 are respectively provided with 1X-axis elastic anti-collision limiting block 13 and 1X-axis limit position proximity switch 16, wherein the X-axis elastic anti-collision limiting blocks 13 at the two ends are used for preventing the X-axis sliding table 11 from sliding out of the X-axis linear guide rail when an accident occurs, and have a damping effect; the X-axis limit position proximity switch 16 is used to define the normal range of motion travel in the X-axis direction. The both ends upper surface of Y axle base 18 respectively installs 1Y axle utmost point limit position proximity switch 15 for inject Y axle slip table 24's motion stroke scope, 1Y axle elasticity anticollision stopper 22 is installed respectively to the relative medial surface of Y axle base 18 simultaneously, avoids Y axle slip table 24 roll-off Y axle linear guide, and plays the cushioning effect.
Preferably, 2 hard stoppers 33 and Z axle limit position proximity switch 17 are installed respectively at the both ends that the roof beam 32 is erected to the Z axle, elasticity anticollision stopper 30 is taken at both ends of installation on Y axle slip table 24, elasticity anticollision stopper 30 and 2 are taken at both ends hard stopper 33 cooperation prevents Z axle erects roof beam 32 roll-off Z axle linear guide, Z axle limit position proximity switch 17 is used for injecing the normal motion stroke scope of Z axle direction, plays the cushioning effect simultaneously.
Through the two ends of the X-axis inclined plane supporting beam 2, the two ends of the Y-axis base 18 and the two ends of the Z-axis vertical beam 32, the structure is arranged, so that the linear axes of each movement of the robot play a double protection role, and the operation is safer.
The high-speed big stroke truss robot of direct drive formula based on inclined plane support that this embodiment provided adopts the unique structural design of X axle inclined plane supporting beam 2 for the focus of this robot moves backward, reduces the influence of the moment of overturning that the robot moving part produced along the antedisplacement of Y axle direction, and the deformation when reducing Y axle slip table 24 antedisplacement of Y axle motion module and the Z axle of Z axle motion module and erecting roof beam 32 downstream. In addition, a strong attraction force exists between the X-axis linear motor mover and the X-axis linear motor stator of the X-axis linear motor 12, and the moment generated by the cantilever structure of the Y axis is offset, so that the rigidity of the robot in the Z axis direction is greatly improved. And the Y-axis base 18 of the Y-axis movement module adopts a frame-shaped base structure, so that the rigidity, the bearing capacity and the running stability and reliability of the truss robot are greatly improved. Of course, the structure of the X-axis inclined plane supporting beam 2 can also overcome the influence of pollutants such as waste gas and dust generated in the production and processing environment on relevant parts of the X-axis movement module.
The structure of the wrist rotating mechanism 41 realizes the linear positioning control of the truss robot and the coordination control of the pose of the tail end of the robot, so that the robot can be suitable for various working posts.
The provided online position detection feedback system enables the robot to perform online detection and feedback on the movement position in the X-axis direction, so that the robot is high in positioning accuracy and more accurate in operation.
The X-axis flat linear motor contained in the X-axis motion module can extend the motor guide rail according to the required stroke, simplifies the middle transmission mechanism, realizes the structural form of zero transmission, saves the installation space and the installation time, and simultaneously improves the motion speed, the acceleration, the positioning precision, the repeated positioning precision and the like of the robot along the X axis. The Y-axis servo motor 21 contained in the Y-axis motion module is matched with the Y-axis ball screw, so that the rigidity and the stability and the reliability of the operation of the robot are effectively improved. The Z-axis servo motor 27 and the Z-axis gear rack mechanism 37 contained in the Z-axis motion module are matched, so that the bearing capacity is large, the operation is stable, the transmission precision is high, and the transmission efficiency is high.
X axle inclined plane supporting beam 2's both ends and 2 elasticity anticollision stopper and 2 extreme position proximity switch are all installed at 18 both ends of Y axle base, 2 hard stoppers 33 and Z axle extreme position proximity switch 17 are installed respectively at the both ends that the roof beam 32 is erected to the Z axle for prevent the relevant linear guide of roll-off, inject normal motion stroke scope simultaneously, very big improvement the security of robot operation.
Therefore, the invention provides the direct-drive high-speed large-stroke truss robot based on the inclined plane support, which has excellent performance, multiple functions, convenience and practicability.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention.
Claims (10)
1. The utility model provides a direct-drive high-speed large-stroke truss robot based on inclined plane supports which characterized in that: the system comprises an upright post, an X-axis inclined plane supporting beam, an X-axis motion module, a Y-axis motion module, a Z-axis motion module, a wrist rotating mechanism and an online position detection feedback system;
the bottom of one side of the X-axis inclined plane supporting beam is provided with the stand column, the X-axis inclined plane supporting beam comprises an inclined plane to form a triangular or trapezoidal X-axis inclined plane supporting beam structure, and the inclined plane is inclined outwards from top to bottom;
the X-axis motion module is mounted on the inclined plane, the Y-axis motion module is mounted on the X-axis motion module and reciprocates in the X-axis direction under the driving of the X-axis motion module, the Z-axis motion module is mounted on the Y-axis motion module and reciprocates in the Y-axis direction under the driving of the Y-axis motion module, and the Z-axis motion module drives to reciprocate in the Z-axis direction;
the wrist rotating mechanism comprises a U-axis rotating assembly and a Z-axis rotating assembly, and respectively rotates around an X axis and a Y axis to realize the pose control of the tail end of the robot;
the online position detection feedback system comprises an X-axis grating ruler and a grating ruler reading head, the X-axis grating ruler is installed on the X-axis inclined plane supporting beam, the grating ruler reading head is installed on the X-axis movement module, and the X-axis grating ruler is matched with the grating ruler reading head to realize online detection and feedback control of the movement position of the X-axis movement module in the X-axis direction.
2. The bevel support-based direct-drive high-speed large-stroke truss robot as claimed in claim 1, wherein: x axle motion module contains an X axle slip table, an X axle linear guide is vice and an X axle linear electric motor, X axle linear guide is vice to be installed on X axle inclined plane supporting beam, X axle slip table is installed X axle linear guide is vice to be gone up, X axle linear electric motor contains X axle linear electric motor stator and X axle linear electric motor active cell, X axle linear electric motor stator is installed on the X axle inclined plane supporting beam, X axle linear electric motor active cell is installed on the X axle slip table, this X axle linear electric motor realizes X axle slip table is along X axle direction reciprocating motion.
3. The bevel support-based direct-drive high-speed large-stroke truss robot as claimed in claim 2, wherein: x axle linear guide is vice to contain two X axle linear guide and 4X axle sliders, two respectively install 2 on the X axle linear guide X axle slider, wherein, two X axle linear guide installs on the X axle inclined plane supporting beam, X axle slip table installs 4 on the X axle slider.
4. The bevel support-based direct-drive high-speed large-stroke truss robot as claimed in claim 2, wherein: y axle motion module contains a Y axle base, a Y axle linear guide is vice, a Y axle slip table, a Y axle servo motor and a Y axle ball screw, institute Y axle base is a frame type base structure, and its fixed mounting is in on the X axle slip table, the Y axle linear guide is vice to be installed on the Y axle base, Y axle slip table is installed Y axle linear guide is vice to be gone up, Y axle servo motor installs on Y axle base, and its drive end is connected Y axle slip table, Y axle ball screw sets up on the length direction of Y axle base, this Y axle ball screw sliding connection Y axle slip table.
5. The bevel support-based direct-drive high-speed large-stroke truss robot as claimed in claim 4, wherein: y axle linear guide is vice to contain 4Y axle linear guide and 8Y axle sliders, and every Y axle linear guide becomes 1Y axle pair of removal with 2Y axle sliders, two Y axle pairs of removal of installation are arranged respectively to the relative inboard of both sides I-beam about the Y axle base, Y axle slip table is installed 8 on the Y axle slider.
6. The bevel support-based direct-drive high-speed large-stroke truss robot as claimed in claim 4, wherein: z axle motion module contains that a Z axle linear guide is vice, a Z axle erects roof beam, a Z axle servo motor, a reduction gear and a Z axle rack and pinion mechanism, the Z axle erects the roof beam and passes through Z axle linear guide is vice realize with Y axle pedestal connection, Z axle servo motor installs on the Y axle slip table, the input of reduction gear with through belt drive between the Z axle servo motor, install the output of reduction gear the gear of Z axle rack and pinion mechanism, the gear of this Z axle rack and pinion mechanism with install the rack cooperation of the Z axle rack and pinion mechanism of Z axle vertical beam realizes the Z axle erects the roof beam and carries out the up-and-down motion along Z axle direction.
7. The bevel support-based direct-drive high-speed large-stroke truss robot as claimed in claim 6, wherein: z axle linear guide is vice to contain 1Z axle linear guide and 2Z axle sliders, install 2 on the Z axle linear guide Z axle slider, wherein, Z axle linear guide installs on the Z axle erects the roof beam, 2 the other end of Z axle slider with Y axle slip table connects.
8. The bevel support-based direct-drive high-speed large-stroke truss robot as claimed in claim 6, wherein: the tail end of the Z-axis vertical beam is provided with a tail end connecting plate, and the wrist rotating mechanism is arranged on the tail end connecting plate.
9. The bevel support-based direct-drive high-speed large-stroke truss robot as claimed in claim 6, wherein: both ends of the X-axis inclined plane supporting beam and both ends of the Y-axis base are respectively provided with 2 elastic anti-collision limiting blocks and 2 limit position proximity switches; the elastic anti-collision limiting block is used for preventing the X-axis sliding table from sliding out of the X-axis linear guide rail and preventing the Y-axis sliding table from sliding out of the Y-axis linear guide rail; the limit position proximity switch is used for limiting the normal movement travel range of the X-axis direction and limiting the normal movement travel range of the Y-axis direction.
10. The bevel support-based direct-drive high-speed large-stroke truss robot as claimed in claim 7, wherein: two ends of the Z-axis vertical beam are respectively provided with 2 hard limit blocks and a Z-axis limit position proximity switch, an elastic anti-collision limit block is arranged at one end of the Y-axis sliding table, the two ends of the Y-axis sliding table are respectively provided with an elastic anti-collision limit block and 2 the hard limit blocks are matched to prevent the Z-axis vertical beam from sliding out of the Z-axis linear guide rail, and the Z-axis limit position proximity switch is used for limiting the normal movement stroke range of the Z-axis direction.
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| CN202111090438.XA CN113733063A (en) | 2021-09-17 | 2021-09-17 | Direct-drive high-speed large-stroke truss robot based on inclined plane support |
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