CN203197913U - Cartesian coordinate robot - Google Patents
Cartesian coordinate robot Download PDFInfo
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- CN203197913U CN203197913U CN 201320176519 CN201320176519U CN203197913U CN 203197913 U CN203197913 U CN 203197913U CN 201320176519 CN201320176519 CN 201320176519 CN 201320176519 U CN201320176519 U CN 201320176519U CN 203197913 U CN203197913 U CN 203197913U
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Abstract
The utility model relates to a Cartesian coordinate robot, which comprises an X-axis moving platform moving to the X direction, an X-axis driving motor for driving the X-axis moving platform to move, a Y-axis moving platform moving to the Y direction, a Y-axis driving motor for driving the Y-axis moving platform to move, a support frame arranged on the Y-axis moving platform and capable of rotating 360 degrees, and a rotating motor for driving the support frame to rotate, wherein the support frame is provided with a Z-axis moving platform moving to the Z direction, and a Z-axis driving motor for driving the Z-axis moving platform to move. Under the drive of servomotors on all axes, the Cartesian coordinate robot completes the motion in the X, Y and Z directions, and upper and lower frames rotate 360 degrees. The power servomotors of four axes are controlled by a master control system, and the Cartesian coordinate robot completes actions required by a specific project on the axes separately or simultaneously.
Description
Technical field
The utility model relates to a kind of Cartesian robot.
Background technology
Robot (Robot) is the installations that automatically perform work.It both can accept human commander, can move again the program of in advance layout, also can be according to the principle guiding principle action of formulating with artificial intelligence technology.Its task is to assist or replace human work's work, for example produces industry, building industry or dangerous work.
The utility model content
For the deficiency that exists on the prior art, the utility model provides a kind of Cartesian robot,
To achieve these goals, the utility model is to realize by the following technical solutions:
A kind of Cartesian robot comprises:
To the X-axis motion platform of directions X operation, and the X-axis drive motors that drives the operation of X-axis motion platform;
To the Y-axis motion platform of Y-direction operation, and the Y-axis drive motors that drives the operation of Y-axis motion platform; With
Be arranged on the support frame on the Y-axis motion platform, this support frame can carry out 360 degree and rotatablely move, and is used for driving the electric rotating machine that this support frame is rotated;
Be provided with on the described support frame to the Z axis motion platform of Z direction operation, and the Z axis drive motors that is used for driving this Z axis motion platform operation.
According to an embodiment of the present utility model, described Z axis motion platform comprises:
The support column that the Z direction arranges, this support column passes upper lever and lower lever, described upper lever and lower lever can move in the Z direction along support column, and a side of described upper lever is used for the weight load, and the opposite side of described upper lever is connected with lower lever by balancing pull rod is set.
According to an embodiment of the present utility model, described upper lever is being provided with the hinge that upper lever is connected with lower lever with lower lever with the junction of support column.
According to an embodiment of the present utility model, a side of described upper lever is by being provided with the adpting flange for the weight load.
According to an embodiment of the present utility model, described support column is ball-screw.
According to an embodiment of the present utility model, described support frame is connected with described Y-axis motion platform by rotation support platform.
According to an embodiment of the present utility model, described rotation support platform comprises:
Hold-down support, the center of this hold-down support is rotationally connected by axle and bearing and described support frame, the circumference of described hold-down support is provided with boss, is provided with the cavity that holds described boss on the described support frame, and described boss and cavity are rotationally connected by the ball that arranges.
According to an embodiment of the present utility model, described bearing is thrust bearing.
According to an embodiment of the present utility model, described X-axis motion platform or Y-axis motion platform adopt automatic mechanism, and this automatic mechanism comprises:
Mobile platform;
Reductor, this reductor is positioned on the mobile platform;
Drive motors, this drive motors is connected with the input of reductor;
Travelling gear, this travelling gear is connected with the output of reductor;
Driving rack, this driving rack cooperates with described travelling gear;
The line slideway bearing, this line slideway bearing is positioned at the both sides of the reductor on the mobile platform, is used for snapping in reductor;
The holddown spring device, this holddown spring device is positioned on the mobile platform, is used for compressing reductor and makes described travelling gear and driving rack tight mesh.
According to an embodiment of the present utility model, also comprise Master Control Unit and be used for the rotary displacement transducer of monitoring support frame spin data, rotary displacement transducer provides data to Master Control Unit, and Master Control Unit control X-axis drive motors is finished the needed motion of X-direction.
Compared with prior art, the beneficial effects of the utility model are:
A kind of Cartesian robot of the present utility model has:
1) under the effect of side force F, ball, the parts such as axle have just formed leverage, dynamic balance is fallen, thereby made main frame can finish rotation again, can not turn on one's side again;
2) the main transmission tooth bar is defined on the frame, reductor under the effect of spring by push pedal to moving perpendicular to the main transmission tooth bar, thereby make the engagement of the gapless and tooth bar of main drive gear, thus solved because the processing of parts and rack-and-pinion that alignment error causes can not tight mesh large problem;
Description of drawings
Describe the utility model in detail below in conjunction with the drawings and specific embodiments;
Fig. 1 is the structural representation according to a kind of Cartesian robot of an embodiment of the utility model.
Fig. 2 is the structural representation according to the Z axis motion platform of an embodiment of the utility model.
Fig. 3 is the principle schematic according to the Z axis motion platform of an embodiment of the utility model.
Fig. 4 is the principle schematic of existing rotation support platform.
Fig. 5 is the principle schematic according to the Z rotation support platform of an embodiment of the utility model.
Fig. 6 is the structural representation according to the automatic mechanism of an embodiment of the utility model.
The specific embodiment
For technological means, creation characteristic that the utility model is realized, reach purpose and effect is easy to understand, below in conjunction with the specific embodiment, further set forth the utility model.
Fig. 1 is the structural representation according to a kind of Cartesian robot of an embodiment of the utility model.A kind of Cartesian robot as shown in Figure 1 comprises:
To the X-axis motion platform 101 of directions X operation, and the X-axis drive motors that drives 101 operations of X-axis motion platform;
To the Y-axis motion platform 102 of Y-direction operation, and the Y-axis drive motors that drives 102 operations of Y-axis motion platform; With the support frame 103 that is arranged on the Y-axis motion platform 102, this support frame 103 can carry out 360 degree and rotatablely move, and is used for driving the electric rotating machine that this support frame 103 is rotated;
Be provided with on the described support frame 103 to the Z axis motion platform 104 of Z direction operation, and the Z axis drive motors 105 that is used for driving these Z axis motion platform 104 operations.
Each drive motors can be servomotor.Support frame 103 can comprise up and down framework.
The action that a kind of Cartesian robot is finished:
Under the drive of each axle servomotor, finished directions X, Y-direction, the motion of Z direction, framework is finished 360 rotations of spending up and down simultaneously.Servomotor can be under the control of turn-key system each axle independent or simultaneously finish the needed action of concrete engineering.
Fig. 2 is the structural representation according to the Z axis motion platform of an embodiment of the utility model.The Z axis motion platform 204 of a kind of Cartesian robot as shown in Figure 2, this Z axis motion platform 204 comprises the support column 206 that the Z direction arranges, this support column 206 can be ball-screw, this support column 206 passes upper lever 207 and lower lever 208, described upper lever 207 can move in the Z direction along support column 206 with lower lever 208, one side 209 of described upper lever 206 is used for the weight load, side 209 at this upper lever 206 can be by being provided with the adpting flange for the weight load, and the opposite side 210 of described upper lever 206 is connected with lower lever 208 by balancing pull rod 211 is set.
Described upper lever 207 is provided with the hinge 212 that upper lever 206 is connected with lower lever 207 with lower lever 208 in the junction with support column 206.
Can be that the Z axis servomotor is rigidly connected by shaft coupling and ball-screw.Drive the ball-screw rotation when servomotor rotates, ball-screw drives Z axis motion platform Z-direction and moves up and down.The Z axis motion platform drives the motion that final execution unit is done Z-direction.
Rotating servo motor driven rotary reductor, rotation reductor driven gear, gear be rigidly attached to the ring gear tight mesh of rotation support platform, thereby finish rotation support platform finish 360 the degree rotatablely move, thereby finish final actuating station finish 360 the degree rotatablely move.
Fig. 3 is the principle schematic according to the Z axis motion platform of an embodiment of the utility model.The Z axis motion platform of a kind of Cartesian robot as shown in Figure 3, comprise upper lever 307, lower lever 308, push-and-pull rod 311, turning joint 312, reference support 313, weight 314, the two ends of push-and-pull rod 311 and upper lever 307, lower lever 308, turning joint 312 are to be rigidly connected.Upper lever 307 1 ends add loads 314, and are if there are not push-and-pull rod 311 upper levers 307 to turn clockwise around rotating hinge, formal because the effect of push-and-pull rod 311 can make upper lever 307 keep balance.Whole being pressed on the reference support 313 vertically downward of all wt except reference support 313 among Fig. 3 so.No matter how the weight of weight load changes, because the automatic stress corrective action of push-and-pull rod 311, reference support 313 is subject to all the time pressure vertically downward, and formal this machine of this pressure vertically downward is needed.
Fig. 4 is the principle schematic of existing rotation support platform.As shown in Figure 4, main support frame 403 can be done the object of reference rotation by hold-down support 415.If under the effect of side force F, this structure will make main support frame 403 that the trend of rollover occurs, thereby just exists destabilizing factor.
Fig. 5 is the principle schematic according to the Z rotation support platform of an embodiment of the utility model.Described support frame is connected with described Y-axis motion platform by rotation support platform.As shown in Figure 5, described rotation support platform comprises:
Hold-down support 515, the center of this hold-down support 515 is rotationally connected with described support frame 503 by axle 516 and bearing 517, the circumference of described hold-down support 515 is provided with boss 518, be provided with the cavity 519 that holds described boss 518 on the described support frame 503, described boss 518 is rotationally connected by the ball 520 that arranges with cavity 519.
Under the effect of side force F, the parts such as ball 520, axle 516 have just formed leverage, dynamic balance is fallen, thereby made support frame can finish again rotation, can not turn on one's side again.Bearing 517 is thrust bearing.
The source of side force F is that rotation support platform is done and added, retarded motion and the power that needs, and the order of magnitude of this power can be controlled by the control to servomotor.In the frame for movement of this Cartesian robot of design, can finish according to this thinking.
Testing agency rotatablely moves:
Also comprise Master Control Unit and be used for the rotary displacement transducer of monitoring support frame spin data, rotary displacement transducer provides data to Master Control Unit, and Master Control Unit control X-axis drive motors is finished the needed motion of X-direction.
Fig. 6 is the structural representation according to the automatic mechanism of an embodiment of the utility model.As shown in Figure 6, described X-axis motion platform or Y-axis motion platform adopt automatic mechanism, and this automatic mechanism comprises mobile platform 621, reductor 622, drive motors 623, travelling gear, driving rack 624, line slideway bearing 625, holddown spring device 626; This reductor 622 is positioned on the mobile platform 621; This drive motors 623 is connected with the input of reductor 622; This travelling gear is connected with the output of reductor 622; This driving rack 624 cooperates with described travelling gear; This line slideway bearing 625 is positioned at the both sides of the reductor 622 on the mobile platform 621, is used for snapping in reductor 622; This holddown spring device 626 is positioned on the mobile platform 621, is used for compressing reductor 622 and makes described travelling gear and driving rack 624 tight meshs.
Wherein, holddown spring device 626 can comprise holder 627 and push pedal 628, is provided with spring 629 between holder 627 and the push pedal 628.
Servomotor is installed on the reductor, and main drive gear is installed on the reductor, and reductor is installed on the mobile platform, but reductor can be done movement in the direction perpendicular to tooth bar.
The main transmission tooth bar is defined on the frame, reductor 622 under the effect of spring by push pedal to moving perpendicular to the main transmission tooth bar, thereby make the engagement of the gapless and tooth bar of main drive gear, thus solved because the processing of parts and rack-and-pinion that alignment error causes can not tight mesh large problem.
Supporting floor 630 is rigidly attached on the mobile platform 621.Reductor 622 is met connecting platform and is rigidly connected, linear regression and connecting platform are rigidly connected, linear slider is rigidly connected with support floor 630, thereby combine and finished reductor 622 external members and do rectilinear motion perpendicular to the tooth bar direction, thereby further finish the tight mesh of main drive gear and tooth bar.Thereby for to require to get ready with the simple and mechanical overall design of finishing high precision displacement.
The Y-axis motion platform:
Servomotor, reductor, the Y-axis travelling gear is installed on the Y-axis motion platform.Being installed on the Y-axis main body frame of Y-axis driving rack rigidity.Finish the rack-and-pinion tight mesh by self-regulating mechanism.
Being connected on the y-axis shift moving platform of linear displacement transducer motion parts rigidity.Non-moving partially rigid is installed in the Y-axis main body frame.
Y-axis line slideway, slide block are rigidly attached to respectively on Y-axis main body frame and the y-axis shift moving platform.
The orthoscopic displacement transducer provides data to Master Control Unit, and Master Control Unit control servomotor is finished the needed motion of Y direction.
The X-axis motion platform:
All power cables, data cable all concentrate on the distribution box place, thereby are connected to total electric cabinet.
Whole body supports frame rigidity is connected on the frame supported pin, and the frame supported pin is directly installed on the working site.
Line slideway, X-axis driving rack rigidity is installed on the body supports framework.
Straight-line guide rail slide block respectively rigidity is installed on several X motion platforms.
The orthoscopic displacement transducer provides data to Master Control Unit, and Master Control Unit control servomotor is finished the needed motion of X-direction.
Whole controlled motion explanation:
Master Control Unit is to X, Y, and Z and the split control module that rotates each axle send data, and these data comprise each state shift length, the time difference, all kinds of motion state parameterses.
After the needed data of each minute body unit were received, Master Control Unit divided body unit to send the execution instruction to individual axle.
After each axle is finished, send corresponding data to Master Control Unit, Master Control Unit sends the data that next step will be carried out, instruction etc. after confirming.
Above demonstration and described basic principle of the present invention and principal character and advantage of the present invention.The technical staff of the industry should understand; the present invention is not restricted to the described embodiments; that describes in above-described embodiment and the specification just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.The claimed scope of the present invention is defined by appending claims and equivalent thereof.
Claims (10)
1. Cartesian robot, Zheng Qite is, comprising:
To the X-axis motion platform of directions X operation, and the X-axis drive motors that drives the operation of X-axis motion platform;
To the Y-axis motion platform of Y-direction operation, and the Y-axis drive motors that drives the operation of Y-axis motion platform; With
Be arranged on the support frame on the Y-axis motion platform, this support frame can carry out 360 degree and rotatablely move, and is used for driving the electric rotating machine that this support frame is rotated;
Be provided with on the described support frame to the Z axis motion platform of Z direction operation, and the Z axis drive motors that is used for driving this Z axis motion platform operation.
2. a kind of Cartesian robot according to claim 1, Zheng Qite be, described Z axis motion platform comprises:
The support column that the Z direction arranges, this support column passes upper lever and lower lever, described upper lever and lower lever can move in the Z direction along support column, and a side of described upper lever is used for the weight load, and the opposite side of described upper lever is connected with lower lever by balancing pull rod is set.
3. a kind of Cartesian robot according to claim 2 is characterized in that, described upper lever is being provided with the hinge that upper lever is connected with lower lever with lower lever with the junction of support column.
4. a kind of Cartesian robot according to claim 2 is characterized in that, a side of described upper lever is by being provided with the adpting flange for the weight load.
5. a kind of Cartesian robot according to claim 4 is characterized in that, described support column is ball-screw.
6. a kind of Cartesian robot according to claim 1 is characterized in that, described support frame is connected with described Y-axis motion platform by rotation support platform.
7. a kind of Cartesian robot according to claim 6 is characterized in that, described rotation support platform comprises:
Hold-down support, the center of this hold-down support is rotationally connected by axle and bearing and described support frame, the circumference of described hold-down support is provided with boss, is provided with the cavity that holds described boss on the described support frame, and described boss and cavity are rotationally connected by the ball that arranges.
8. a kind of Cartesian robot according to claim 7 is characterized in that, described bearing is thrust bearing.
9. a kind of Cartesian robot according to claim 1 is characterized in that, described X-axis motion platform or Y-axis motion platform adopt automatic mechanism, and this automatic mechanism comprises:
Mobile platform;
Reductor, this reductor is positioned on the mobile platform;
Drive motors, this drive motors is connected with the input of reductor;
Travelling gear, this travelling gear is connected with the output of reductor;
Driving rack, this driving rack cooperates with described travelling gear;
The line slideway bearing, this line slideway bearing is positioned at the both sides of the reductor on the mobile platform, is used for snapping in reductor;
The holddown spring device, this holddown spring device is positioned on the mobile platform, is used for compressing reductor and makes described travelling gear and driving rack tight mesh.
10. according to claim 1 to the described a kind of Cartesian robot of 9 any one, it is characterized in that, also comprise Master Control Unit and be used for the rotary displacement transducer of monitoring support frame spin data, rotary displacement transducer provides data to Master Control Unit, and Master Control Unit control X-axis drive motors is finished the needed motion of X-direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320176519 CN203197913U (en) | 2013-04-09 | 2013-04-09 | Cartesian coordinate robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320176519 CN203197913U (en) | 2013-04-09 | 2013-04-09 | Cartesian coordinate robot |
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| Publication Number | Publication Date |
|---|---|
| CN203197913U true CN203197913U (en) | 2013-09-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320176519 Expired - Fee Related CN203197913U (en) | 2013-04-09 | 2013-04-09 | Cartesian coordinate robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104723322A (en) * | 2015-03-20 | 2015-06-24 | 中国科学院宁波材料技术与工程研究所 | Self-adaptive flexible connecting mechanism oriented to redundancy drive and X-Y-Z rectangular coordinate robot |
| CN108163785A (en) * | 2016-12-07 | 2018-06-15 | 中国科学院沈阳自动化研究所 | A kind of moveable attitude adjustment platform |
-
2013
- 2013-04-09 CN CN 201320176519 patent/CN203197913U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104723322A (en) * | 2015-03-20 | 2015-06-24 | 中国科学院宁波材料技术与工程研究所 | Self-adaptive flexible connecting mechanism oriented to redundancy drive and X-Y-Z rectangular coordinate robot |
| CN104723322B (en) * | 2015-03-20 | 2016-08-24 | 中国科学院宁波材料技术与工程研究所 | Self-adapting flexible bindiny mechanism and X-Y-Z Cartesian robot towards redundant drive |
| CN108163785A (en) * | 2016-12-07 | 2018-06-15 | 中国科学院沈阳自动化研究所 | A kind of moveable attitude adjustment platform |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130918 Termination date: 20170409 |
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| CF01 | Termination of patent right due to non-payment of annual fee |