CN206568154U - Coordinates robot - Google Patents
Coordinates robot Download PDFInfo
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- CN206568154U CN206568154U CN201720262006.5U CN201720262006U CN206568154U CN 206568154 U CN206568154 U CN 206568154U CN 201720262006 U CN201720262006 U CN 201720262006U CN 206568154 U CN206568154 U CN 206568154U
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- motion module
- slide unit
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- guide rail
- motion
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Abstract
A kind of coordinates robot is disclosed, its coordinates robot includes the first motion module, the second motion module and the 3rd motion module.First motion module includes first straight line motor, the first guide rail and the first slide unit, and wherein first straight line motor drives the first slide unit to slide along the first rail.Second motion module includes second straight line motor, the second guide rail and the second slide unit, and wherein second straight line motor drives the second slide unit to be slided along the second guide rail.3rd motion module includes servomotor, linear module and the 3rd slide unit.Second motion module is laterally vertical with the first motion module to be connected, the 3rd motion module and the longitudinally perpendicular connection of the second motion module.The coordinates robot is in transverse movement module using the linear electric motors driving that precision is higher, effective travel is longer, energy consumption is employed on longitudinal direction relatively low, the servomotor of motion stabilization drives the scheme of linear module, that is, meets production precision needs, cost of manufacture is saved again.
Description
Technical field
The utility model is related to field of machining, more particularly, to a kind of Cartesian robot.
Background technology
Cartesian robot is that obtained robot system is designed by basic mathematic model of XYZ rectangular coordinate systems, its
Including X-axis, Y-axis, three axial directions of Z axis moving cell.Wherein, the moving cell of each axial direction is generally with servomotor, stepping
Motor is drive device, using ball-screw, synchronous belt, rack-and-pinion etc. as transmission device, and in coordinates robot
End work head on fix different chucking devices, such as fixture, cleft hand, mounting bracket, so as to complete chucking device in XYZ tri-
Tie up the linear movement on any axial direction in rectangular coordinate system.
At present, domestic production is used for the equipment precision of the industry such as dispensing, welding, laser cutting substantially all in 0.1mm or so,
It is especially higher to the required precision in horizontal direction.Existing coordinates robot is on each axial moving cell using step
Stepper motor or servomotor driving, are driven by ball-screw connection.However, error, electricity due to ball-screw itself
The error of the bindiny mechanism of alignment error and connection motor and ball-screw when machine is connected with ball-screw in itself, by tired
The accuracy class of equipment is reduced after product.
Expect to make the structure of coordinates robot further optimization.
Utility model content
In view of the above problems, the purpose of this utility model is to provide a kind of coordinates robot, and the coordinates robot is in horizontal stroke
Using the driving of precision is higher, effective travel is longer linear electric motors on to motion module, it is relatively low to employ energy consumption on longitudinal direction, motion
Stable servomotor drives the scheme of ball-screw, that is, meets production precision needs, cost of manufacture is saved again.
A kind of coordinates robot is provided according to the utility model, including：First motion module, including first straight line motor,
First guide rail and the first slide unit, the first straight line motor drive first slide unit to be slided along first guide rail
It is dynamic；Second motion module, including second straight line motor, the second guide rail and the second slide unit, the second straight line motor drive
Second slide unit is moved to slide along second guide rail；And the 3rd motion module, including servomotor, linear module with
And the 3rd slide unit, the servomotor drives the 3rd slide unit along described linear by the linear module
Module is slided, wherein, second motion module is arranged on first slide unit of first motion module, described
Second motion module is laterally vertical with first motion module, the institute of the 3rd motion module and second motion module
The connection of the second slide unit is stated, the 3rd motion module and second motion module are longitudinally perpendicular.
Preferably, the number of first motion module, second motion module and the 3rd motion module is equal
For one.
Preferably, the 3rd motion module passes through connector and second slide unit of second motion module
Connection.
Preferably, the connector includes the first installation being connected with the second slide unit of second motion module
Plate, the second installing plate and at least one reinforcer being connected with the linear module of the 3rd motion module, the reinforcer
Triangular shape, wherein one side of the reinforcer is connected with first installing plate, another side connects with second installing plate
Connect.
Preferably, the linear module include ball-screw and the 3rd guide rail, the ball-screw include screw rod and with
The nut that the screw rod coordinates, the servomotor is connected with the screw rod, and the 3rd slide unit is connected with the nut,
3rd guide rail is parallel with the screw rod, and the servomotor causes the 3rd sliding part by driving the screw rod to rotate
Part is slided along the 3rd guide rail.
Preferably, the servomotor is connected by shaft coupling with the screw rod, and the 3rd slide unit is provided with fixed
Position hole, for the 3rd slide unit to be connected with other devices.
Preferably, at least one in first motion module, second motion module, the 3rd motion module
Also include：Optoelectronic switch, the optoelectronic switch is arranged on first slide unit, second slide unit, the described 3rd
The two ends of the effective travel of at least one in slide unit.
Preferably, at least one in first motion module, second motion module also includes：Limited block, institute
State the two ends of at least one that limited block is arranged in first guide rail, second guide rail.
Preferably, at least one in first motion module, second motion module also includes：Grating scale, institute
State at least one setting in grating scale correspondence first guide rail, second guide rail.
Preferably, first guide rail is two, and is arranged on the both sides of the first straight line motor, and described second leads
Rail is two, and is arranged on the both sides of the second straight line motor.
According to coordinates robot of the present utility model, on the one hand, the first motion module arranged in horizontal direction and second
Driven, solved in horizontal direction due to having caused by the rigid support limitation of ball-screw using linear electric motors in motion module
The problem of stroke is shorter is imitated, effective travel is longer；The suction produced between the mover and linear motor stator electric of linear electric motors can make
The integral rigidity of equipment is improved；There is gap, the sliding part for driving linear electric motors between linear motor rotor and stator
Part need to only overcome the frictional force between guide rail to enter line slip, greatly improve the efficiency of driving, also improve the load energy of equipment
Power, acceleration capabilities and speed ability；Linear electric motors driving sliding block simplifies installation process, it is to avoid conventional motors and ball wire
All multiple errors that thick stick is brought when installing, so as to improve the precision of coordinates robot.
On the other hand, coordinates robot is driven by linear module using servomotor in the motion module of longitudinal direction and slided
Part, linear module can include the linear module of ball-screw, and its energy consumption is relatively low, and generate heat small, motion stabilization, with level side
Upward motion module is engaged, the need for can meeting production precision, and can save control cost of manufacture.
In a preferred embodiment, the 3rd motion module is connected by connector and the second slide unit of the second motion module
Connect, connector includes the first installing plate, the second installing plate and at least one reinforcer, wherein reinforcer triangular shape, even
One side of fitting is connected with the first installing plate, and another side is connected with the second installing plate, realizes the 3rd motion module of vertical direction
While orthogonal connection with the second slide unit of the second motion module of horizontal direction, integrally-built stabilization is strengthened
Property.
In a preferred embodiment, at least one in the first motion module, the second motion module also includes correspondence guide rail
The grating scale of setting, grating scale can realize the micron-sized stationkeeping ability of coordinates robot and resetting essence as feedback unit
Degree, coordinates guide rail, coordinates robot is had good linearity and flatness.
In a preferred embodiment, in first motion module, second motion module, the 3rd motion module
At least one also include optoelectronic switch, optoelectronic switch as the soft spacing of the two ends of effective travel, make slide unit reach row
The response time of way limit position is reduced, and is improved response speed, is also made positioning precision more accurate.
Brief description of the drawings
By description referring to the drawings to the utility model embodiment, of the present utility model above-mentioned and other mesh
, feature and advantage will be apparent from, in the accompanying drawings：
Fig. 1 shows the stereogram of the coordinates robot according to the utility model embodiment.
Fig. 2 shows the front view of the coordinates robot according to the utility model embodiment.
Fig. 3 shows the sectional view of the coordinates robot according to the utility model embodiment.
Embodiment
The utility model is more fully described hereinafter with reference to accompanying drawing.For the sake of clarity, the various pieces in accompanying drawing do not have
Have drawn to scale.Furthermore, it is possible to not shown some known parts.It describe hereinafter of the present utility model many specific
Details, but just as the skilled person will understand, this can not be realized according to these specific details
Utility model.
It should be appreciated that when describing the structure of part, being referred to as being located at another floor, another area when by a floor, a region
When domain " above " or " top ", can refer to above another layer, another region, or its with another layer, it is another
Also comprising other layers or region between individual region.Also, if by part turnover, this layer, a region will be located at it is another
Layer, another region " following " or " lower section ".
The stereogram of the coordinates robot according to the utility model embodiment, front view is shown respectively in Fig. 1, Fig. 2 and Fig. 3
And sectional view, wherein Fig. 2 center lines A-A shows the interception position of Fig. 3 sectional views.The coordinates robot includes the first motion module
100th, the second motion module 200 and the 3rd motion module 300.
First motion module 100 includes first straight line motor 110, the first guide rail 120 and the first slide unit 130, its
Middle first straight line motor 110 drives the first slide unit 130 to be slided along the first guide rail 120.Second motion module 200 includes second
Linear electric motors, the second guide rail and the second slide unit 230, wherein second straight line motor drive the second slide unit 230 along the
Two guide rails are slided.The structure of second motion module 200 of the utility model embodiment and the structure of the first motion module 100 are substantially
It is similar, therefore herein by the mechanism detailed description to the first motion module 100, the structure of the second motion module 200 is no longer described in detail.
3rd motion module includes servomotor 310, the slide unit 330 of linear module 320 and the 3rd, wherein servo electricity
Machine 310 drives the 3rd slide unit 330 to be slided along linear module 320 by linear module 320.
According to the coordinates robot of the present embodiment, the second motion module sets 200 to be slided the first of the first motion module 100
On dynamic component 130, and the second motion module 200 is laterally vertical with the first motion module 100.3rd motion module 300 and
Second slide unit 230 of two motion modules 200 is connected, and the 3rd motion module 300 and the longitudinal direction of the second motion module 200 are hung down
Directly.
In actual use, the first motion module 100 and the second motion module 200 can be placed on horizontal plane, wherein the
The X-axis that one motion module 100 corresponds in XYZ rectangular coordinate systems arranges that the second motion module 200 is arranged corresponding to Y-axis, and on
The 3rd motion module 300 stated is arranged corresponding to Y-axis.Second motion module 200 can be with the first slide unit 130 along the first guide rail
120 are slided along X-axis, and the 3rd motion module 300 can be slided with the second slide unit 230 along the second guide rail 220 along Y-axis, the
Three slide units 230 are that Z axis is slided along linear module 320.Preferably, the 3rd slide unit 230 is provided with positioning hole, for inciting somebody to action
3rd slide unit 230 is connected with other devices, and other described devices are in carrying, dispensing, welding, laser cutting, positioning, printing
With can be different devices, e.g. chucking device in the different field such as semiconductor.According to the coordinates robot of the present embodiment,
Chucking device is fixed on the 3rd slide unit 230, it is possible to achieve its line in XYZ three-dimensional cartesian coordinate systems on any axial direction
Property motion.In addition, coordinate special control system, whole system and coordinates robot can be lifted after control system debugging
Response speed, and with interpolation function, it is possible to achieve the positioning of point position in space and the setting of various complicated tracks.
Linear electric motors generally include mover and stator, and wherein stator rigidity is stronger, and the stroke that can be needed according to production is set
Sufficiently long stator is put, mover is slided along the stator.The first motion module 100 arranged in horizontal direction and the second motion mould
Due to using linear electric motors driving, solving in traditional coordinates robot's horizontal direction due to the rigidity of ball-screw on block 200
The problem of effective travel is shorter caused by support limitation, effective travel can accomplish longer.Between the mover stator of linear electric motors
The suction of generation can be improved the rigidity of the first motion module 100, the second motion module 200 and integral device.Straight line
There is gap between electric mover and stator, make the slide unit that linear electric motors drive only to overcome the frictional force between guide rail to enter
Line slip, greatly improves the efficiency of driving, also improves the load capacity, acceleration capabilities and speed ability of equipment.Straight line
Motor drives the connection of the relatively conventional motor of slide unit and ball-screw, simplify installation process, it is to avoid brought during installation
All multiple errors, so as to improve the precision of coordinates robot.
Linear module 320 can include ball-screw and the 3rd guide rail.Ball-screw mainly includes screw rod and nut, when
The miscellaneous parts such as steel ball, dust excluder can also so be included.Servomotor 310 is connected with screw rod, the 3rd slide unit 330 and nut
Connection, the 3rd guide rail is parallel with screw rod.Wherein the drive screw turns of servomotor 310 cause nut to be slided along screw slide, the 3rd
Dynamic component 330 is slided with nut along the 3rd guide rail.The coordinates robot of the present embodiment adopts in the 3rd motion module 300 of longitudinal direction
The scheme of ball-screw, the wherein drive screw turns of servomotor 310 are driven with servomotor 310, nut is driven member, its
The rotational motion of screw rod is converted into the sliding motion along screw rod.The scheme energy consumption of the driving ball-screw of servomotor 310 is relatively low,
Generate heat small, motion stabilization, while to compare linear electric motors also lower for piece price, with above-mentioned first motion module 100 and second
Motion module 200 is engaged so that the need for coordinates robot can meet production precision, and can save control cost of manufacture.
Preferably, in above-mentioned 3rd motion module 300, servomotor 310 passes through shaft coupling drive screw turns, shaft coupling
Device transmission is connected compared to belt, and the kind of drive transmission efficiency such as gear connection is higher.
The number of first motion module 100, the second motion module 200 and the 3rd motion module 300 can be one,
Can reach meet production precision the need for while save cost of manufacture purpose.First motion module 100, second moves mould
The motion module 300 of block 200 and the 3rd can selectively set base, shell etc., play holding element or protection structure
Effect.
Second moving component 200 and the first motion module 100 are all located in horizontal direction, wherein the second moving component 200
Directly it can be connected using bolt with the first slide unit 130 of the first motion module 100.And the 3rd motion module 300 can be with
It is connected by connector 400 with the second slide unit 230 of the second motion module 200.In the present embodiment, connector 400 includes
The first installing plate, the linear mould with the 3rd motion module 300 being connected with the second slide unit 230 of the second motion module 200
Reinforcer is, for example, two in the second installing plate and at least one reinforcer of the connection of group 320, the present embodiment, the reinforcer
Triangular shape, e.g. hollow right triangular shape.Wherein a right-angle side of reinforcer connects with first installing plate
Connect, another right-angle side is connected with second installing plate.Realize the 3rd motion module 300 and horizontal direction of vertical direction
While the orthogonal connection of second slide unit 230 of the second motion module 200, integrally-built stability is strengthened.
Further, at least one in the first motion module 100, the second motion module 200, the 3rd motion module 300
Also include optoelectronic switch, its be arranged in the first slide unit, the second slide unit, the 3rd slide unit at least one have
Imitate the two ends of stroke.It is every in the first slide unit 130, the second slide unit 230, the 3rd slide unit 330 in the present embodiment
The two ends of individual effective travel are designed with optoelectronic switch.Such as Fig. 2, herein to optoelectronic switch position by taking the first motion module 100 as an example
Put and illustrate, its set-up mode in the second motion module 200, the 3rd motion module 300 with the first motion module 100
On set-up mode it is similar, be no longer described in detail.First motion module 100 is provided with two optoelectronic switches：First optoelectronic switch 141 with
And second optoelectronic switch 142, the two is correspondingly arranged at the two ends of the effective travel of the first slide unit 130, can be slided to first
Part 130 carries out soft spacing.In the utility model, optoelectronic switch as X-axis, Y-axis, the effective travel two ends of Z axis it is soft spacing,
The first slide unit 130, the second slide unit 230 and the 3rd slide unit 330 is set to reach the sound of respective stroke limit position
Reduced between seasonable, improve response speed, also make positioning precision more accurate.
Further, at least one in the first motion module 100, the second motion module 200 also includes limited block, and it sets
Put the two ends of at least one in the first guide rail, the second guide rail.In the present embodiment, the two ends of the first guide rail and the second guide rail are all
Provided with limited block, such as Fig. 2 is illustrated by taking the first motion module 100 as an example to limited block position herein, and it moves mould second
Set-up mode on block 200 is similar with the set-up mode in the first motion module 100, is no longer described in detail.First motion module 100
Provided with two limited blocks：First limited block 151 and the second limited block 152, the two is correspondingly arranged at the two of the first guide rail 120
End, can be carried out hard spacing to the first slide unit 130.In the utility model, limited block is as hard spacing to the first motion mould
Block 100, the second motion module 200 make stroke protection, so as to prevent the fortuitous events such as driving.
Further, at least one in the first motion module 100, the second motion module 200 also includes grating scale, grating
At least one setting in chi correspondence first guide rail, the second guide rail.In the present embodiment, grating scale number is two, respectively
The first guide rail of correspondence, the second guide rail are configured.Such as Fig. 3, illustrate by taking the grating scale 160 in the first motion module 100 as an example, light
The first guide rail 120 of correspondence of grid chi 160 is set, and parallel with the first guide rail 120 and first straight line motor 110.This practicality is new
In type, grating scale is monitored in real time as feedback unit by peripheral control unit to the precision of X-axis and Y-axis, can be external
Controller closed loop feedback is provided, can realize the micron-sized stationkeeping ability of coordinates robot and repetitive positioning accuracy, coordinate guide rail,
Make coordinates robot that there is good linearity and flatness.
In addition, such as Fig. 3, the first guide rail 120 can be two, and be arranged on the both sides of first straight line motor 110.When
So, the second guide rail can also be two, the both sides of second straight line motor can also be arranged on so that the first slide unit 130 with
And second slide unit 230 slip it is more stable.
It should be noted that herein, such as first and second or the like relational terms are used merely to a reality
Body or operation make a distinction with another entity or operation, and not necessarily require or imply these entities or deposited between operating
In any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant are intended to
Nonexcludability is included, so that process, method, article or equipment including a series of key elements not only will including those
Element, but also other key elements including being not expressly set out, or also include being this process, method, article or equipment
Intrinsic key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that
Also there is other identical element in process, method, article or equipment including the key element.
According to embodiment of the present utility model as described above, these embodiments do not have all details of detailed descriptionthe,
Also it is only described specific embodiment not limit the utility model.Obviously, as described above, many modifications and change can be made
Change.This specification is chosen and specifically describes these embodiments, be in order to preferably explain principle of the present utility model and it is actual should
With so that skilled artisan can repairing using the utility model and on the basis of the utility model well
Change and use.The utility model is only limited by claims and its four corner and equivalent.
Claims (10)
1. a kind of coordinates robot, it is characterised in that including：
First motion module, including first straight line motor, the first guide rail and the first slide unit, the first straight line motor drive
First slide unit is moved to slide along first guide rail；
Second motion module, including second straight line motor, the second guide rail and the second slide unit, the second straight line motor drive
Second slide unit is moved to slide along second guide rail；And
3rd motion module, including servomotor, linear module and the 3rd slide unit, the servomotor pass through the line
Property module drive the 3rd slide unit to be slided along the linear module,
Wherein, second motion module is arranged on first slide unit of first motion module, and described second
Motion module is laterally vertical with first motion module, and described the of the 3rd motion module and second motion module
Two slide units are connected, and the 3rd motion module and second motion module are longitudinally perpendicular.
2. coordinates robot according to claim 1, it is characterised in that first motion module, second motion
The number of module and the 3rd motion module is one.
3. coordinates robot according to claim 1, it is characterised in that the 3rd motion module passes through connector and institute
State second slide unit connection of the second motion module.
4. coordinates robot according to claim 3, it is characterised in that the connector includes and the described second motion mould
First installing plate of the second slide unit connection of block, the second installing plate being connected with the linear module of the 3rd motion module
And at least one reinforcer, the reinforcer triangular shape, wherein one side of the reinforcer and first installing plate
Connection, another side is connected with second installing plate.
5. coordinates robot according to claim 1, it is characterised in that the linear module includes ball-screw and the
Three guide rails,
The ball-screw includes screw rod and the nut coordinated with the screw rod, and the servomotor is connected with the screw rod, institute
State the 3rd slide unit to be connected with the nut, the 3rd guide rail is parallel with the screw rod, the servomotor passes through driving
The screw rod, which is rotated, causes the 3rd slide unit to be slided along the 3rd guide rail.
6. coordinates robot according to claim 5, it is characterised in that the servomotor by shaft coupling with it is described
Screw rod is connected,
3rd slide unit is provided with positioning hole, for the 3rd slide unit to be connected with other devices.
7. coordinates robot according to claim 1, it is characterised in that first motion module, second motion
At least one in module, the 3rd motion module also includes：
Optoelectronic switch, the optoelectronic switch is arranged on first slide unit, second slide unit, the 3rd slip
The two ends of the effective travel of at least one in part.
8. coordinates robot according to claim 1, it is characterised in that first motion module, second motion
At least one in module also includes：
Limited block, the limited block is arranged on the two ends of at least one in first guide rail, second guide rail.
9. coordinates robot according to claim 1, it is characterised in that first motion module, second motion
At least one in module also includes：
At least one setting in grating scale, the grating scale correspondence first guide rail, second guide rail.
10. coordinates robot according to claim 1, it is characterised in that first guide rail is two, and is arranged on
The both sides of the first straight line motor,
Second guide rail is two, and is arranged on the both sides of the second straight line motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720262006.5U CN206568154U (en) | 2017-03-16 | 2017-03-16 | Coordinates robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720262006.5U CN206568154U (en) | 2017-03-16 | 2017-03-16 | Coordinates robot |
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| Publication Number | Publication Date |
|---|---|
| CN206568154U true CN206568154U (en) | 2017-10-20 |
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| CN201720262006.5U Active CN206568154U (en) | 2017-03-16 | 2017-03-16 | Coordinates robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109120096A (en) * | 2018-09-11 | 2019-01-01 | 江苏鑫辉智能科技有限公司 | A kind of linear mould group of the twinax high-speed with error compensation |
| CN112643315A (en) * | 2020-12-30 | 2021-04-13 | 苏州三德精密机械有限公司 | Automatic press fitting structure is got to clamp |
-
2017
- 2017-03-16 CN CN201720262006.5U patent/CN206568154U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109120096A (en) * | 2018-09-11 | 2019-01-01 | 江苏鑫辉智能科技有限公司 | A kind of linear mould group of the twinax high-speed with error compensation |
| CN112643315A (en) * | 2020-12-30 | 2021-04-13 | 苏州三德精密机械有限公司 | Automatic press fitting structure is got to clamp |
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