CN205996966U - Synchronous driven type Cartesian robot - Google Patents

Synchronous driven type Cartesian robot Download PDF

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Publication number
CN205996966U
CN205996966U CN201620979165.2U CN201620979165U CN205996966U CN 205996966 U CN205996966 U CN 205996966U CN 201620979165 U CN201620979165 U CN 201620979165U CN 205996966 U CN205996966 U CN 205996966U
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China
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drive
longitudinal
assembled
transmission component
fixed
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CN201620979165.2U
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Chinese (zh)
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吴功
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Shanghai great fortune Technology Co., Ltd.
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FORTREND ENGINEERING (SHENYANG) Corp
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Abstract

A kind of synchronous driven type Cartesian robot, solving existing Cartesian robot leads to system inertia big by the way of multiaxis superposition, dynamic response is slow, the problems such as increase fault rate, including the transverse frame main body being coupled to each other, slide laterally matrix and longitudinal main body and drive mechanism, be characterized in that:The horizontal fixed beam of transverse frame main body is by sliding laterally longitudinal Ji Liang of the longitudinal main body of linkage slide plate connection of matrix, form the transverse movement axle of orthogonal distribution being driven by same drive mechanism and lengthwise movement axle, and driven by two motor in synchrony of same drive mechanism, with the drive coordination V belt translation being meshed with the drive of transmission component, motor is all assembled in the two ends of horizontal fixed beam, not with arbitrary axis of motion.It is reasonable in design, and structure is simple, and in-site installation is quick, safeguard that easily applied widely, inertia is low, and dynamic response is fast, is more easy to realize high-speed cruising, increases synkinesia axle and is easy to be combined into multiaxial motion.

Description

Synchronous driven type Cartesian robot
Technical field
This utility model is related to a kind of synchronous driven type Cartesian robot for material transferring, and particularly one kind can To be combined into multi-spindle machining handss in order to complete the synchronous driven type Cartesian robot of more various compound movement.It is mainly used in The pickup of the middle-size and small-size material of the industries such as electronics, medicine, food, the operation such as transmit, put, being also highly suitable for use in job area The place that homogenous characteristics require such as extensively, speed is fast.
Background technology
In electron trade, processing procedure is often had to need for material to do the operation such as small distance, high-frequency transmission, discharge, its Cross that range request speed is fast, registration.Because the material of the industries such as electronics is all less, station discharge is tight, therefore to conveyer Structure also requires that compact structure is compact, reacts fast and flexible.Advocating now, simply artificial operation lifting production is substituted with robot Under the theme of rate, a lot of industries are required for the light and cheap small scale robot of substantial amounts of this kind of dexterity, to lift itself Production automation level.
Application Cartesian robot widely is the first-selection of this kind of demand, although its structure is simple, easy for installation, Easy to operate, easy care, but there is certain defect, such as when needing more than mutually perpendicular two axles and two axles to move it is necessary to The mode taking multiaxis superposition just enables, i.e. first axle(X-axis)Based on axle fixed installation, the second axle(Z axis)It is superimposed upon First axle(X-axis)Slide unit on, the second axle(Z axis)Motor be arranged on the second axle(Z axis)On, with the second axle(Z axis)One Play motion.So produce consequence be:The load being basic axle first can be very big, leads to system inertia big, so that system is difficult to real Now at a high speed, high acceleration and again accurately controlling;Next to that the second axle(Z axis)Motor and its cable are with the second axle(Z axis)Motion, Increased kinematic axiss quality, increased fault rate again.
According to Patents documents:Authorization Notice No. is the " bonding machine based on rectangular coordinate system of CN203696282U Device people ", disclosed primary structure includes:X-axis support mechanism, Y-axis cantilever mechanism, the kinematic axiss such as Z axis cantilever mechanism.Wherein two On X-axis support, X-axis slide unit is arranged on guide rail guide rails assembling, and the first motor is arranged on X-axis slide unit, first planet gear Decelerator and the cooperation of the first motor are arranged on X-axis slide unit, and its output revolving shaft extends downwardly from outside X-axis slide unit;First gear is arranged Affixed with first planet gear reduction unit below X-axis slide unit;First tooth bar is arranged on support, engages by it with first gear Drive action;Wherein, the first motor drives first planet gear reduction unit to rotate, and first gear rotates, and then drives X-axis slide unit First guide rail moves;Y-axis second motor, the second planetary reducer, Y-axis slide unit are installed on X-axis slide unit, and second Motor drives the second planet-gear speed reducer to rotate, and drives Y-axis cantilever to move on Y-axis slide unit.Said structure feature is:X-axis, Each axle such as Y-axis has oneself independent drive mechanism, and the whole mechanism of Y-axis includes y-axis motor and is all superimposed upon on X-axis slide unit, with X-axis Slide unit moves.Z, U, W spindle motor and structural member are also superimposed upon on Y-axis cantilever in the same configuration, and X-axis slide unit assume responsibility for Y-axis, Z Axle, U axle, W axle entire infrastructure part, the weight of driver part.Such structure causes the load of X-axis slide unit to increase, and inertia is big, is System dynamic response is slow.
Authorization Notice No. is " Cartesian robot " of CN102085656B, disclosed technical characteristic include support, the One drive mechanism, the second drive mechanism, the 3rd drive mechanism, the 4th drive mechanism and buffer gear.First drive mechanism is fixed On support, the second drive mechanism is connected with the first drive mechanism, and the 3rd drive mechanism is connected with the second drive mechanism, the 4th biography Motivation structure is connected with the 3rd drive mechanism, and buffer gear is connected with the 4th drive mechanism.The fixed plate of the wherein second drive mechanism It is fixedly connected with the first sliding part of the first drive mechanism, drive the second power part of the second drive mechanism to include motor, silk Bar and transmission component are all fixed in the fixed plate of the second drive mechanism.The feature of said mechanism is:Each mechanism is by respective Motor drives, and whole mechanisms of the second drive mechanism include power part and are all arranged on the sliding part of the first drive mechanism.
Authorization Notice No. is " the portable arc welding machine device people " of CN204397136U, and the structural body of record is by right angle Co-ordinate-type walking mechanism, articulated type rotating mechanism and welding gun composition.Articulated type rotating mechanism is placed in Cartesian coordinate type vehicle with walking machine Above structure, Cartesian coordinate type walking mechanism is planer-type two-freedom Cartesian coordinate type walking mechanism, and planer-type two-freedom is straight The working range of angular coordinate formula walking mechanism is:A length of 12000mm, a width of 4000mm.This patent only illustrates Cartesian coordinate type Walking mechanism rotates two free Cartesian coordinate type walking mechanisms for planer-type, illustrates the length and width of working range, and CONSTRUCTED SPECIFICATION is not proposed.
Authorization Notice No. is " Cartesian robot " of CN204414102U, and disclosed technical scheme includes X-axis motion Module, Y-axis motion module and Z axis motion module.X-axis motion module include X-axis linear electric motors, X-axis line slideway, connecting plate and Column, the mover of X-axis linear electric motors is connected with connecting plate, and the mover of X-axis linear electric motors drives column synchronous along X-axis line slideway Move reciprocatingly;Y-axis motion module is arranged on column;Y-axis motion module includes Y-axis linear electric motors, Y-axis line slideway and cunning Seat, the mover of Y-axis linear electric motors is connected with slide, and the mover of Y-axis linear electric motors drives slide synchronously to do along Y-axis line slideway Move back and forth.This Cartesian robot applies linear electric motors, but does not still break away from Y-axis motion module and be integrally attached to Traditional mode on X-axis mover.X-axis motion module and Y-axis motion module are driven by X-axis linear electric motors and Y-axis linear electric motors respectively Dynamic.Such structure allows X-axis mover bear more loads.Necessarily affect the motility of X-axis.In addition, this rectangular coordinate The X-axis Y-axis of robot all employs linear electric motors although improving the speed of service, but is also greatly improved and is manufactured into This, be not preferred for requiring the robot industry of super quality and competitive price.
Authorization Notice No. is " the rectangular coordinate six-joint robot " of CN204604322U, and disclosed structure includes base, bottom Seat is provided with transverse axis, the longitudinal axis and vertical pivot.Transverse axis, the longitudinal axis and vertical pivot be in rectangular coordinate system in space, the longitudinal axis be arranged on transverse axis and It is driven along transverse axis transverse shifting by the first power source, vertical pivot is arranged on the longitudinal axis and vertical pivot is driven along the longitudinal axis by the second power source Axial movement, vertical pivot is also driven along vertical pivot axial direction lifting moving on the longitudinal axis by the 3rd power source, and vertical pivot is also by the 4th power source Around the rotation of vertical pivot axis, the bottom of vertical pivot is connected with the first rotary shaft for installation tool seat for transmission, and the first rotary shaft is by the Five power source transmissions.First power source, the second power source, the 3rd power source, the 4th power source, the 5th power source are all using independent The motor of setting.In this Cartesian robot, each kinematic axis is by single Motor drive, and remaining of employing is traditional straight The structure of angular coordinate robot, the utilization rate of motor is limited;The multistage power such as second power source source is all superimposed upon on transverse axis by One power source drive, increases the load value of the first power source.
Utility model content
The purpose of this utility model is to provide a kind of synchronous driven type Cartesian robot, solves existing rectangular coordinate machine Device people realize moving by the way of multiaxis superposition exist lead to system inertia big, dynamic response is slow, increases fault rate etc. and asks Topic, it is reasonable in design, and structure is simple, and in-site installation is quick, safeguard that easily applied widely, inertia is low, and dynamic response is fast, more Easily realize high-speed cruising, increase synkinesia axle and be easy to be combined into multiaxial motion.
This utility model be employed technical scheme comprise that:This synchronous driven type Cartesian robot includes being coupled to each other Transverse frame main body, slide laterally matrix and longitudinal main body and drive mechanism, be characterized in that:Described transverse frame main body Horizontal fixed beam by sliding laterally longitudinal Ji Liang of the longitudinal main body of linkage slide plate connection of matrix, composition is by same driving machine The transverse movement axle of orthogonal distribution and lengthwise movement axle that structure drives;Two motors of drive mechanism are respectively assembled in laterally On the transmission substrate of the transmission component at fixed beam two ends, with the longitudinal direction transmission being assembled in the longitudinal transmission component on longitudinal Ji Liang Take turns the two ends of open loop type drive coordination band being meshed, pass through the directive wheel guiding on slide plate that links respectively, and motor-driven The drive of transmission component is meshed, then through the directive wheel guiding on linkage slide plate, the two ends of drive coordination band is assembled respectively In the Timing Belt fixed plate and adjustable fixed plate of longitudinal Ji Liang;Start motor rotating in same direction simultaneously, drive and transmission component The drive coordination band that drive is meshed drives and slides laterally matrix transversely motion direction of principal axis reciprocating motion, starts motor simultaneously Backwards rotation, drives the drive coordination band being meshed with the drive of transmission component to drive longitudinal Ji Liang along lengthwise movement direction of principal axis Move back and forth.
Described transverse frame main body, by horizontal fixed beam, is assembled in the structure identical transmission component at horizontal fixed beam two ends Composition;Each transmission component is both provided with being connected to the transmission substrate laterally fixing beam end, is fixed on the electricity on transmission substrate Machine shaft end is assembled with the electrical machine belt pulley being meshed with deceleration synchronization band, is assembled on the same power transmission shaft of transmission substrate by bearing It is respectively arranged with drive and ratio wheel, ratio wheel is connected by deceleration synchronization band with electrical machine belt pulley, drive and drive coordination Band is meshed, and motor is rotated and drives ratio wheel to drive the drive coordination band motion being meshed with drive.
The upper and lower surface of described horizontal fixed beam is respectively arranged with upper and lower slide rail, with upper and lower slide rail be slidably connected upper, Sliding block is assembled on the linkage slide plate sliding laterally matrix by slide block installing plate, and linkage slide plate is mobile to drive upper and lower slide block Transversely the upper and lower slide rail of fixed beam slides, and makes to slide laterally matrix transversely motion direction of principal axis reciprocating motion, passes through connection simultaneously Longitudinal main body of dynamic slide plate connection is with being synchronized with the movement.
The described slide block peace sliding laterally the linkage slide plate that matrix includes being fixed with guide wheel shaft, being assembled on linkage slide plate Dress plate, is assembled in the directive wheel at guide wheel shaft end by bearing;Each directive wheel is along the vertically and horizontally centrosymmetry of linkage slide plate Arrangement, carries out corresponding guide support to drive coordination band.
Described longitudinal main body, by the longitudinal Ji Liang being provided with longitudinal slide rail, is assembled on linkage slide plate by slide block installing plate The longitudinal sliding block being slidably connected with longitudinal slide rail, be fixed on longitudinal transmission component of longitudinal Ji Liang upper end, open loop type be driven The two ends of Timing Belt are respectively assembled in Timing Belt fixed plate and adjustable fixed plate composition on longitudinal Ji Liang;The transmission of drive mechanism Timing Belt motion drives longitudinal sliding block along the longitudinal slide rail slip of longitudinal Ji Liang, makes longitudinal main body reciprocal along lengthwise movement direction of principal axis Motion.
Described longitudinal transmission component includes the longitudinal direction transmission substrate being provided with mandrel being fixed on longitudinal Ji Liang, by axle Hold the longitudinal drive being assembled on mandrel;The drive coordination band motion of the drive mechanism being meshed with longitudinal drive, is driven Longitudinal main body moves back and forth along lengthwise movement direction of principal axis.
Described drive mechanism includes being respectively assembled in the transmission component at horizontal fixed beam two ends, and the longitudinal direction on longitudinal Ji Liang passes Dynamic assembly and open loop type drive coordination band, link the vertical of slide plate and water on the edge that drive coordination band passes through to be assembled on linkage slide plate The flat directive wheel being centrosymmetrically arranged carries out corresponding guide support, and drives with motor in the transmission component at horizontal fixed beam two ends Drive in dynamic transmission component and being meshed respectively with the longitudinal drive in longitudinal transmission component.
This utility model has the advantage that and good effect is:Horizontal fixation due to this utility model transverse frame main body Beam by sliding laterally longitudinal Ji Liang of the longitudinal main body of linkage slide plate connection of matrix, composition by same drive mechanism drive mutual The transverse movement axle of perpendicular distribution and lengthwise movement axle, its prominent feature is horizontal and vertical two kinematic axiss by same drive Two motor in synchrony of motivation structure are driven, using the simple and direct transmission side of the drive coordination band being meshed with the drive of transmission component Formula, motor is all assembled in the two ends of horizontal fixed beam, not with arbitrary axis of motion, different from each motion of traditional structure The mode that axle is all operated alone by respective motor, so it is reasonable in design, structure is simple, effectively improves the utilization of motor Rate, reduces the requirement to power of motor under the requirement of same even load and speed.Start motor rotating in same direction simultaneously, drive with The drive coordination band that the drive of transmission component is meshed drives and slides laterally matrix transversely motion direction of principal axis reciprocating motion, opens Galvanic electricity machine backwards rotation simultaneously, drives the drive coordination band being meshed with the drive of transmission component to drive longitudinal Ji Liang along longitudinally Motion direction of principal axis moves back and forth.The advantage of this structure is the weight reducing each motion, makes motion lighter, clever Live, the kind of drive is simple, clean, the in-site installation making robot is quick, safeguard easily.Biography with motor-driven transmission component The open loop type drive coordination band that driving wheel is meshed, passes through the directive wheel guiding on slide plate that links respectively, and the good effect bringing is Mechanism's inertia is low, and dynamic response is fast, is more easy to realize high-speed motion.Farthest reduce the fault rate of system it is easier to reality The operation steady in a long-term of existing robot.The modular transverse movement axle driving because of same drive mechanism and lengthwise movement axle, can The demand according to user of easily realizing customizes working range, therefore it is wider to be allowed to the scope of application.Increase synkinesia axle and be easy to group Synthesis multiaxial motion.Therefore, this utility model solves existing Cartesian robot and realizes motion by the way of multiaxis superposition Exist leads to system inertia big, and dynamic response is slow, the problems such as increase fault rate, in the application of existing market and disclosed technology In document, yet there are no the report of similar said structure robot.
Brief description
Below in conjunction with accompanying drawing, this utility model is further described.
Fig. 1 is a kind of structural representation of the present utility model;
Fig. 2 is the rearview of Fig. 1;
Fig. 3 is the top view of Fig. 1;
Fig. 4 is the cutaway view Amplified image along line A-A for the Fig. 1;
Fig. 5 is the cutaway view Amplified image along line B-B for the Fig. 1;
Fig. 6 is the cutaway view Amplified image along line C-C for the Fig. 1;
Fig. 7 is the cutaway view Amplified image along line D-D for the Fig. 1.
In figure number explanation:1 first transmission component, 2 first drives, 3 drive coordination bands, 4 horizontal fixed beams, 5 slide blocks Installing plate, 6 directive wheels, 7 longitudinal transmission components, 8 longitudinal Ji Liang, 9 linkage slide plates, 10 second transmission components, 11 second drives, 12 Timing Belt fixed plates, 13 adjustable fixed plates, 14 adjustment plate, 15 longitudinal drag chains, 16 longitudinal slide rails, 17 horizontal drag chains, 18 first Motor, 19 second motors, slide rail on 20,21 longitudinal sliding blocks, 22 top shoes, 23 guide wheel shafts, 24 glidepaths, 25 sliding blocks, 26 Electrical machine belt pulley, 27 deceleration synchronization bands, 28 ratio wheels, 29 power transmission shafts, 30 transmission substrates, 31 longitudinal drives, 32 mandrels, 33 longitudinal directions Transmission substrate.
Specific embodiment
Concrete structure of the present utility model is described in detail according to Fig. 1-7.This synchronous driven type Cartesian robot includes Transverse frame main body, slide laterally matrix, longitudinal main body and drive mechanism.The horizontal fixed beam 4 of wherein transverse frame main body Couple longitudinal base beam 8 of longitudinal main body by sliding laterally the linkage slide plate 9 of matrix, composition by same drive mechanism drive mutual The transverse movement axle of perpendicular distribution and lengthwise movement axle.
Drive mechanism includes completely identical in structure first transmission component 1 He being respectively assembled in horizontal fixed beam 4 two ends Second transmission component 10, the parts such as the longitudinal transmission component 7 on longitudinal base beam 8 and open loop type drive coordination band 3.Open loop type passes Dynamic Timing Belt 3 passes through the directive wheel 6 being vertically and horizontally centrosymmetrically arranged along linkage slide plate 9 being assembled on linkage slide plate 9 Carry out the first electricity in corresponding guide support, and the first transmission component 1 with horizontal fixed beam 4 two ends, the second transmission component 10 Machine 18, the second motor 19 drive the first drive 2, the second drive 11 and with longitudinal transmission component 7 in longitudinal drive 31 are meshed respectively.Two motors of drive mechanism are respectively assembled in the first transmission component 1 and the transmission of the second transmission component 10 On substrate 30.The open loop type transmission being meshed with the longitudinal drive 31 in the longitudinal transmission component 7 being assembled on longitudinal base beam 8 The two ends of Timing Belt 3, each directive wheel 6 passing through respectively to link on slide plate 9 guides, and drives with the first motor 18, the second motor 19 The first drive 2, the second drive 11 be meshed, then through linkage slide plate 9 on each directive wheel 6 guide, by drive coordination band 3 Two ends be respectively assembled in the Timing Belt fixed plate 12 and adjustable fixed plate 13 of longitudinal base beam 8.
Transverse frame main body is passed by horizontal fixed beam 4, the structure identical first being respectively assembled in horizontal fixed beam 4 two ends Dynamic assembly 1, the second transmission component 10 form.Below, describe the tool of this two transmission components in detail taking the first transmission component 1 as a example Body structure.First transmission component 1 is provided with the transmission substrate 30 being connected to horizontal fixed beam 4 end, is fixed on transmission substrate 30 On the first motor 18 axle head, be assembled with the electrical machine belt pulley 26 being meshed with deceleration synchronization band 27 by key.Can be around itself axle The power transmission shaft 29 that the heart rotates is assembled on transmission substrate 30 by bearing, and ratio wheel 28 and the first drive 2 pass through keying respectively It is scheduled on same power transmission shaft 29, wherein ratio wheel 28 is connected by deceleration synchronization band 27 with electrical machine belt pulley 26, by the first motor 18 Power pass to ratio wheel 28.First motor 18 rotates and drives ratio wheel 28 to rotate, and drive is meshed with the first drive 2 Drive coordination band 3 moves.
Slide laterally the linkage slide plate 9 that matrix includes being fixed with guide wheel shaft 23, be assembled in the slide block peace on linkage slide plate 9 Dress plate 5, is assembled in the directive wheel 6 at guide wheel shaft 23 end by bearing;The each directive wheel of structure identical 6 is perpendicular along linkage slide plate 9 Straight and horizontal centre is arranged symmetrically(As shown in Figure 1), corresponding guide support is carried out to drive coordination band 3.
Laterally the upper and lower surface of fixed beam 4 is respectively arranged with slide rail 20, glidepath 24, sliding with upper and lower slide rail 20,24 The top shoe 22 being dynamically connected, sliding block 25 are assembled on the linkage slide plate 9 sliding laterally matrix by slide block installing plate 5.Slide block Installing plate 5 is separately fixed at four edges up and down of linkage slide plate 9.The linkage slide plate 9 upper and lower slide block 22 of mobile drive, The upper and lower slide rail 20,24 of 25 transversely fixed beams 4 slides, and transversely motion direction of principal axis moves back and forth to make to slide laterally matrix, with When by longitudinal main body of slide plate 9 connection that links with being synchronized with the movement.
Longitudinal main body, by the longitudinal base beam 8 being provided with longitudinal slide rail 16, is assembled in linkage slide plate 9 by slide block installing plate 5 On the longitudinal sliding block 21 being slidably connected with longitudinal slide rail 16, be fixed on longitudinal transmission component 7 of longitudinal base beam 8 upper end, will open The Timing Belt fixed plate 12 that the two ends of ring type drive coordination band 3 are respectively assembled on longitudinal base beam 8 and adjustable fixed plate 13 form. The drive coordination band 3 motion drive longitudinal sliding block 21 of drive mechanism slides along the longitudinal slide rail 16 of longitudinal base beam 8, makes longitudinal main body Move back and forth along lengthwise movement direction of principal axis.
Longitudinal transmission component 7 includes the longitudinal direction transmission substrate 33 being provided with mandrel 32 being fixed on longitudinal base beam 8, passes through Bearing is assembled in the longitudinal drive 31 grade part on mandrel 32.The drive coordination of the drive mechanism being meshed with longitudinal drive 31 Band 3 motion, drives longitudinal main body to move back and forth along lengthwise movement direction of principal axis.The fixing end of longitudinal drag chain 15 is fixed on longitudinal Ji Liang 8 lower end, the tache motorice of longitudinal drag chain 15 is fixed on linkage slide plate 9.Laterally the fixing end of drag chain 17 is fixed on and laterally fixes On beam 4, the tache motorice of horizontal drag chain 17 is fixed on linkage slide plate 9.
One end of open loop type drive coordination band 3 is fixed on longitudinal base beam 8 by Timing Belt fixed plate 12, from the beginning of fixing end According to counterclockwise, the access path of drive coordination band 3 is as follows:The drive coordination band 3 of fixing end is up along longitudinal base beam 8 Bypass the directive wheel 6 of linkage slide plate 9, the transversely transverse movement direction of principal axis right lateral of fixed beam 4, reach the second transmission component 10 with Second drive 11 engages, and after engagement, transversely fixed beam 4 left lateral, to the directive wheel 6 of the slide plate 9 that links, turns to along longitudinal Ji Liang 8 lengthwise movement direction of principal axis goes upward to longitudinal transmission component 7, engages with longitudinal drive 31, engages rear steering lengthwise movement axle At the descending directive wheel 6 along longitudinal base beam 8 descending arrival linkage slide plate 9, transversely fixed beam 4 is left to turn to transverse movement direction of principal axis Row is reached the first transmission component 1 and is engaged with the first drive 2, and transversely fixed beam 4 is right for engagement rear steering transverse movement direction of principal axis Row, to the directive wheel 6 of the slide plate 9 that links, turns to lengthwise movement direction of principal axis and reaches adjustable fixed plate 13 along longitudinal base beam 8 is descending, can Adjust fixed plate 13 that this one end of drive coordination band 3 is fixed on longitudinal base beam 8.The position of adjustable fixed plate 13 can be by adjustment Adjusting screw adjustment on plate 14, adjusting screw promotes adjustable fixed plate 13 mobile along longitudinal base beam 8, when drive coordination band 3 rises After tight, fixedly adjustable fixed plate 13.
Specific work process is as follows:Be arranged on belong to the first transmission component 1 transmission substrate 30 on the first motor 18 be The driver part of the first transmission component 1, the first motor 18 rotates and imparts power to electrical machine belt pulley 26, and electrical machine belt pulley 26 passes through to subtract Fast Timing Belt 27 drives ratio wheel 28, and ratio wheel 28 drives the first coaxial drive 2, and the first drive 2 is as the first transmission The external output block of assembly 1, by with system in other drive disk assembly routing motions;Second motor 19 is the second transmission component 10 driver part, the second motor 19 is arranged on the transmission substrate of the second transmission component 10, due to the first transmission component 1 and Two transmission component 10 structure is identical, no longer describes in detail here.In the same manner, the second drive 11 is the external of the second transmission component 10 Output block.Drive coordination band 3 has coupled four directive wheels 6, the first drive 2, the second drive 11 and lengthwise movement axle and has passed Defeated assembly 7.Motion mode is:Start the first motor 18 and the second motor 19, if rotated counterclockwise with same speed simultaneously, Drive the drive coordination band 3 being meshed with the first drive 2, the second drive 11 to drive and slide laterally matrix, transversely move Direction of principal axis is to left movement;If rotated clockwise with same speed simultaneously, drive and slide laterally matrix, transversely kinematic axiss side To moving right;Start the first motor 18 and the second motor 19, if making the first motor 18 rotate counterclockwise with same speed, the Two motors 19 rotate clockwise, then drive longitudinal Ji Liang to move downward along lengthwise movement axle;If the first electricity is made with same speed Machine 18 rotates clockwise, and the second motor 19 rotates counterclockwise, then drive longitudinal Ji Liang to move along in lengthwise movement axial direction.In the same manner, Control the steering of the first motor 18 and the second motor 19 and speed can achieve it in horizontal, lengthwise movement axle range plane Straight line and curvilinear motion.
This utility model is a kind of fundamental mechanism of synchronous driven type rectangular coordinate transmission, and it can be used as multiaxis conveyer The basic module of structure realizes multiaxial motion.As installed a clip claw mechanism in longitudinal Ji Liang lower end, you can to realize picking up of material The operation such as take and transmit.

Claims (7)

1. a kind of synchronous driven type Cartesian robot, including the transverse frame main body being coupled to each other, slide laterally matrix and Longitudinal main body and drive mechanism it is characterised in that:The horizontal fixed beam of described transverse frame main body is by sliding laterally matrix The longitudinal main body of linkage slide plate connection longitudinal Ji Liang, form the horizontal fortune of the orthogonal distribution being driven by same drive mechanism Moving axis and lengthwise movement axle;Two motors of drive mechanism are respectively assembled in the transmission base of the transmission component at horizontal fixed beam two ends On plate, the open loop type drive coordination band that is meshed with the longitudinal drive being assembled in the longitudinal transmission component on longitudinal Ji Liang Two ends, are passed through the directive wheel guiding on slide plate that links respectively, are meshed with the drive of motor-driven transmission component, then through connection Directive wheel guiding on dynamic slide plate, the two ends of drive coordination band are respectively assembled in the Timing Belt fixed plate of longitudinal Ji Liang and adjustable In fixed plate;Start motor rotating in same direction simultaneously, drive the drive coordination band being meshed with the drive of transmission component to drive horizontal To slip matrix, transversely motion direction of principal axis moves back and forth, and starts motor backwards rotation simultaneously, drives the transmission with transmission component Taking turns the drive coordination band being meshed drives longitudinal Ji Liang to move back and forth along lengthwise movement direction of principal axis.
2. synchronous driven type Cartesian robot according to claim 1 it is characterised in that:Described transverse frame main body By horizontal fixed beam, it is assembled in the structure identical transmission component composition at horizontal fixed beam two ends;Each transmission component is arranged Have and be connected to the transmission substrate laterally fixing beam end, the motor shaft end being fixed on transmission substrate is assembled with and deceleration synchronization band The electrical machine belt pulley being meshed, is assembled on the same power transmission shaft of transmission substrate by bearing and is respectively arranged with drive and deceleration Wheel, ratio wheel is connected by deceleration synchronization band with electrical machine belt pulley, and drive is meshed with drive coordination band, and motor rotates driving and subtracts Speed wheel drives the drive coordination band motion being meshed with drive.
3. synchronous driven type Cartesian robot according to claim 1 and 2 it is characterised in that:Described horizontal fixation The upper and lower surface of beam is respectively arranged with upper and lower slide rail, and the upper and lower slide block being slidably connected with upper and lower slide rail passes through slide block installing plate It is assembled on the linkage slide plate sliding laterally matrix, linkage slide plate is mobile to drive the upper and lower cunning of upper and lower slide block transversely fixed beam Rail slides, and makes to slide laterally matrix transversely motion direction of principal axis reciprocating motion, passes through the longitudinal main body of slide plate connection that links simultaneously With being synchronized with the movement.
4. synchronous driven type Cartesian robot according to claim 1 it is characterised in that:Described slide laterally matrix Including the linkage slide plate being fixed with guide wheel shaft, it is assembled in the slide block installing plate on linkage slide plate, guiding is assembled in by bearing The directive wheel of axle end;Each directive wheel is vertically and horizontally centrosymmetrically arranged along linkage slide plate, carries out phase to drive coordination band The guide support answered.
5. synchronous driven type Cartesian robot according to claim 1 it is characterised in that:Described longitudinal main body is by setting It is equipped with longitudinal Ji Liang of longitudinal slide rail, be assembled in by slide block installing plate vertical with what longitudinal slide rail was slidably connected on linkage slide plate To slide block, it is fixed on longitudinal transmission component of longitudinal Ji Liang upper end, the two ends of open loop type drive coordination band are respectively assembled in vertical Timing Belt fixed plate on Xiang Jiliang and adjustable fixed plate composition;The drive coordination band motion of drive mechanism drives longitudinal sliding block edge The longitudinal slide rail of longitudinal Ji Liang is slided, and so that longitudinal main body is moved back and forth along lengthwise movement direction of principal axis.
6. according to claim 1 or 5 synchronous driven type Cartesian robot it is characterised in that:Described longitudinally transmission Assembly includes the longitudinal direction transmission substrate being provided with mandrel being fixed on longitudinal Ji Liang, is assembled in the longitudinal direction on mandrel by bearing Drive;The drive coordination band motion of the drive mechanism being meshed with longitudinal drive, drives longitudinal main body along lengthwise movement axle Direction moves back and forth.
7. synchronous driven type Cartesian robot according to claim 1 it is characterised in that:Described drive mechanism includes It is respectively assembled in the transmission component at horizontal fixed beam two ends, the longitudinal transmission component on longitudinal Ji Liang and open loop type drive coordination Band, drive coordination band passes through the directive wheel being vertically and horizontally centrosymmetrically arranged along linkage slide plate being assembled on linkage slide plate Carry out corresponding guide support, and with motor-driven transmission component in the transmission component at horizontal fixed beam two ends in drive And be meshed respectively with the longitudinal drive in longitudinal transmission component.
CN201620979165.2U 2016-08-30 2016-08-30 Synchronous driven type Cartesian robot Withdrawn - After Issue CN205996966U (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
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

Cited By (2)

* Cited by examiner, † Cited by third party
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
CN106181980B (en) * 2016-08-30 2018-06-19 上海大族富创得科技有限公司 Synchronous driven type Cartesian robot

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