TWI453101B - Cartesian coordinate robot - Google Patents

Description

Cartesian robot

The invention relates to a robot, in particular to a Cartesian coordinate robot.

Cartesian coordinates robots have high motion accuracy and reliability, and can realize automatic control. They are widely used in industrial production to complete tasks such as welding, handling, assembly, and labeling.

A Cartesian robot includes a first transmission arm, a second transmission arm, a third transmission arm, a clutch mounted on the first transmission arm, and a servo motor fixedly coupled to the clutch. The clutch has an input shaft connected to the servo motor and three output shafts respectively connected to the three transmission arms. The three transmission arms are all provided with guide rails. When the servo motor is in operation, the power is transmitted to the clutch through the input shaft, and the output shaft of the clutch enables relative movement of the three transmission arms. However, the clutch of the Cartesian robot can only connect one output shaft at a time, so only one arm can be driven to move, and the three-gear arm movement can not be simultaneously driven, and the working efficiency is low.

In view of the above situation, it is necessary to provide a Cartesian robot with high work efficiency.

A Cartesian coordinate robot includes a first transmission mechanism, a second transmission mechanism slidably coupled to the first transmission mechanism, and a third transmission mechanism slidably coupled to the second transmission mechanism, the first transmission mechanism including the first guide rail and the sliding connection First slide of a guide rail And a first power component that drives the first slider, the second transmission mechanism includes a second rail perpendicular to the first rail, a second slider slidably coupled to the second rail, and a second power component driving the second slider The third transmission mechanism includes a third guide rail perpendicular to the first rail and the second rail, a third sliding member slidably coupled to the third rail, and a third power component driving the third slider, the Cartesian robot further including a fourth transmission mechanism fixedly connected to the third sliding member and a buffering mechanism connected to the fourth transmission mechanism, the fourth transmission mechanism comprising a fourth power component and a speed reducer connected to the fourth power component, the buffer mechanism The utility model comprises a buffer plate fixedly connected with the reducer, a guide rod fixedly connected to the buffer plate, a movable plate sleeved on the guide rod and an elastic member, wherein the elastic member is sleeved on the guide rod and located on the buffer plate And between the activity boards.

The above rectangular coordinate robot is provided with a power component corresponding to the sliding member in each transmission mechanism, so that each transmission mechanism can work at the same time to quickly locate the workpiece, and has high working efficiency.

100‧‧‧Rectangular coordinate robot

10‧‧‧ bracket

20‧‧‧First transmission

30‧‧‧Second transmission

40‧‧‧ Third transmission mechanism

50‧‧‧fourth transmission mechanism

60‧‧‧buffering agency

11‧‧‧floor

12‧‧‧ top board

13‧‧‧Support board

14‧‧‧ protective cover

15‧‧‧ Hinges

16‧‧‧Strengthened ribs

21‧‧‧First power unit

23‧‧‧First rail

25‧‧‧First slide

211, 331, 431‧‧ motor

213, 333, 433‧‧ ‧ screw

251, 371, 451‧‧‧ ontology

253, 373, 453‧‧ ‧ sliding parts

255, 375, 455 ‧ ‧ Mobile Department

31‧‧‧ fixed plate

33‧‧‧Second power unit

35‧‧‧Second rail

37‧‧‧Second slide

335, 435‧‧‧ transmission components

3351, 4351‧‧‧ drive wheel

3353, 4353‧‧‧ driven wheel

3355, 4355‧‧‧ drive belt

41‧‧‧Installation board

42‧‧‧Baffle

43‧‧‧ Third power unit

44‧‧‧ Third rail

45‧‧‧third slide

46‧‧ ‧ baffle

51‧‧‧4th power unit

53‧‧‧Reducer

61‧‧‧Baffle board

62‧‧‧guides

63‧‧‧ activity board

64‧‧‧Flexible parts

70‧‧‧ Sensor

1 is a perspective assembled view of a Cartesian robot of an embodiment of the present invention.

2 is a perspective assembled view of the rectangular coordinate robot shown in FIG. 1 with the protective cover omitted.

FIG. 3 is a schematic structural view of another perspective view of the Cartesian robot shown in FIG. 2 after a part of the bracket is omitted.

FIG. 4 is an exploded perspective view of the Cartesian robot shown in FIG. 3 after a part of the bracket is omitted.

Figure 5 is a perspective assembled view of another perspective view of the third transmission mechanism shown in Figure 4.

Figure 6 is a perspective assembled view of the fourth transmission mechanism, the buffer mechanism and the sensor shown in Figure 4.

The Cartesian coordinate robot provided by the present invention is further integrated into the following with reference to the accompanying drawings and embodiments. Step details.

Referring to FIG. 1 and FIG. 2 , the Cartesian robot 100 provided by the embodiment of the present invention includes a bracket 10 , a first transmission mechanism 20 , a second transmission mechanism 30 , a third transmission mechanism 40 , a fourth transmission mechanism 50 , and a buffer mechanism 60 . The first transmission mechanism 20 is fixed to the bracket 10, the second transmission mechanism 30 is connected to the first transmission mechanism 20, the third transmission mechanism 40 is connected to the second transmission mechanism 30, and the fourth transmission mechanism 50 is connected to the third transmission mechanism 40. The buffer mechanism 60 is coupled to the fourth transmission mechanism 50.

The bracket 10 includes a bottom plate 11, a top plate 12, a support plate 13, a protective cover 14, and a hinge 15. The bottom plate 11 and the top plate 12 are disposed in parallel with each other. The support plate 13 is connected between the bottom plate 11 and the top plate 12. The protective cover 14 is rotatably connected to the top plate 12 by a hinge 15. The number of the support plates 13 is two, which are located on opposite sides of the bottom plate 11 to better support the top plate 12, thereby ensuring the stability of the structure of the bracket 10. In addition, reinforcing ribs 16 are also disposed between the support plate 13 and the bottom plate 11, which further increases the stability of the bracket 10.

Referring to FIGS. 3 and 4 together, the first transmission mechanism 20 includes a first power component 21 fixed to the top plate 12 of the bracket 10, a first rail 23, and a first slider 25 slidably coupled to the first rail 23. The first power component 21 includes a motor 211 and a lead screw 213 connected to the motor 211. The number of the first guide rails 23 is two, substantially parallel to the lead screw 213, and respectively located on opposite sides of the lead screw 213. The first sliding member 25 includes a body 251 and a sliding portion 253 and a moving portion 255 formed from the body 251. The number of the sliding portions 253 is two, which are respectively located on opposite sides of the moving portion 255. The two sliding portions 253 are respectively sleeved on the two first guide rails 23, and the moving portion 255 is sleeved on the screw rod 213.

The second transmission mechanism 30 includes a fixing plate 31 fixedly coupled to the body 251 of the first sliding member 25, a second power component 33 fixed to the fixing plate 31, a second rail 35, and a second sliding connection to the second rail 35. Slide 37. The second power component 33 includes a motor 331, the screw 333 and the transmission assembly 335 connecting the motor 331 and the screw 333. The transmission assembly 335 includes a driving wheel 3351 coupled to the motor 331, a driven wheel 3353 coupled to the lead screw 333, and a transmission belt 3355 wound around the driving wheel 3351 and the driven wheel 3353. The motor 331 and the screw 333 are arranged side by side on the fixed plate 31. The second guide rails 35 are two in number, substantially parallel to the lead screw 333, and are located on one side of the lead screw 333. The second sliding member 37 includes a body 371 and a sliding portion 373 and a moving portion 375 formed from the body 371. The number of the sliding portions 373 is two, and is located on one side of the moving portion 375. The two sliding portions 373 are respectively sleeved on the two second guide rails 35, and the moving portion 375 is sleeved on the screw rod 333.

Referring to FIG. 4 and FIG. 5 together, the third transmission mechanism 40 includes a mounting plate 41 fixedly coupled to the body 371 of the second sliding member 37, a partition 42 perpendicular to the mounting plate 41, and a second fixed to the partition 42 The three-power component 43, the third rail 44 and the third slider 45 slidably coupled to the third rail 44. The third power component 43 includes a motor 431, a lead screw 433, and a transmission assembly 435 that connects the motor 431 and the lead screw 433. The transmission assembly 435 includes a driving wheel 4351 connected to the motor 431, a driven wheel 4353 connected to the lead screw 433, and a transmission belt 4355 wound around the driving wheel 4351 and the driven wheel 4353. The motor 431 and the lead screw 433 are respectively fixed to opposite sides of the partition plate 42 and substantially perpendicular to the mounting plate 41. The number of the third guide rails 44 is one, and is fixed to the partition plate 42 substantially in parallel with the lead screw 433. The third sliding member 45 includes a body 451 and a sliding portion 453 and a moving portion 455 which are formed from the body 451. The sliding portion 453 is sleeved on the third rail 44, and the moving portion 455 is sleeved on the screw 433. The third transmission mechanism 40 also includes a baffle 46 that is perpendicular to the mounting plate 41 and located on the side of the mounting plate 41. The lead screw 433 and the third rail 44 are located between the partition 42 and the baffle 46.

Referring to FIG. 4 and FIG. 6 together, the fourth transmission mechanism 50 includes a fourth power component 51 fixedly coupled to the body 451 of the third slider 45 and a connection with the fourth power component 51. Speed machine 53. The fourth power member 51 is a motor and is connected to the speed reducer 53. The fourth transmission mechanism 50 is located between the partition 42 of the third transmission mechanism 40 and the baffle 46, and is disposed substantially in parallel with the third guide rail 44 and the lead screw 433.

The buffer mechanism 60 includes a buffer plate 61 connected to the output shaft of the reducer 53 (not shown), a guide rod 62 fixedly coupled to the buffer plate 61, a movable plate 63 sleeved on the guide rod 62, and a guide rod disposed on the guide rod The elastic member 64 is located between the baffle plate 61 and the movable plate 63. In the present embodiment, the guide bars 62 have two and are substantially parallel, and the elastic members 64 are spiral compression springs.

Further, the Cartesian robot 100 also includes a sensor 70 on the side of the reducer 53 and a sensor 70 for sensing the origin of rotation of the output shaft of the reducer 53.

Referring to FIG. 1 to FIG. 6 , when the rectangular coordinate robot 100 is assembled, the first transmission mechanism 20 is first fixed on the top plate 12 of the bracket 10 , and the fixing plate 31 of the second transmission mechanism 30 and the first transmission mechanism 20 are The body 251 of the first sliding member 25 is fixedly connected, and then the mounting plate 41 of the third transmission mechanism 40 is fixedly connected with the body 371 of the second sliding member 37 of the second transmission mechanism 30, and then the motor of the fourth transmission mechanism 50 is The body 451 of the third sliding member 45 of the third transmission mechanism 40 is fixedly connected, and finally the buffer plate 61 of the buffer mechanism 60 is fixedly coupled to the speed reducer 53 of the fourth transmission mechanism 50. The first guide rail 23 of the first transmission mechanism 20, the second guide rail 35 of the second transmission mechanism 30 and the third guide rail 44 of the third transmission mechanism 40 are perpendicular to each other, and substantially form a rectangular coordinate structure in space.

When the Cartesian robot 100 is in operation, the motor 211 of the first transmission mechanism 20 drives the screw 213 to rotate, and the screw rod 213 converts the rotation into the moving portion 255 of the first slider 25 by a screw structure (not shown) provided therein. Moving so that the first slider 25 slides along the first rail 23. The motor 331 of the second transmission mechanism 30 drives the driving wheel 3351 to rotate. The driving wheel 3353 is rotated by the driving belt 3355 to drive the screw 333 to rotate. The screw 333 also converts the rotation into the movement of the second sliding member 37 along the second guiding rail 35 by the internal thread structure. The transmission mode of the third transmission mechanism 40 is the same as that of the second transmission mechanism 30. The fourth power component 51 of the fourth transmission mechanism 50 provides power, and after the speed reduction is achieved by the speed reducer 53, the output shaft of the speed reducer 53 drives the buffer mechanism 60 to rotate, thereby driving the workpiece connected to the movable plate 63 of the buffer mechanism 60. (not shown) rotates. When the Cartesian robot 100 is in operation, the protective cover 14 shields the respective transmission mechanisms, thereby avoiding the collision of the external transmissions by the respective transmission mechanisms, and avoiding that the transmission mechanisms injure the operator or other personnel during the movement.

The Cartesian coordinate robot 100 is provided with a power component corresponding to the sliding member in each transmission mechanism, so that each transmission mechanism can work at the same time to quickly locate the workpiece, and has high working efficiency.

In addition, in the second transmission mechanism 30, the motor 331 and the lead screw 333 are arranged substantially side by side by adding the transmission assembly 335, so that the length of the second transmission mechanism 30 in space can be reduced. In addition, the second guide rail 35 is disposed substantially parallel to the lead screw 333, so that the components of the second transmission mechanism 30 are arranged compactly, thereby saving space. The components of the third transmission mechanism 40 and the fourth transmission mechanism 50 are also arranged in a substantially side-by-side manner, which further saves space, makes the rectangular coordinate robot 100 compact, and facilitates miniaturization of the overall structure.

In summary, the present invention has indeed met the requirements of the invention patent, and has filed a patent application according to law. However, the above description is only a preferred embodiment of the present invention, and it is not possible to limit the scope of the patent application of the present invention. Equivalent modifications or variations made by persons skilled in the art in light of the spirit of the invention are intended to be included within the scope of the following claims.

20‧‧‧First transmission

30‧‧‧Second transmission

40‧‧‧ Third transmission mechanism

50‧‧‧fourth transmission mechanism

60‧‧‧buffering agency

12‧‧‧ top board

Claims (7)

A Cartesian coordinate robot includes a first transmission mechanism, a second transmission mechanism slidably coupled to the first transmission mechanism, and a third transmission mechanism slidably coupled to the second transmission mechanism, wherein the first transmission mechanism includes a first guide rail a first sliding member slidably coupled to the first rail and a first power component driving the first sliding member, the second transmission mechanism including a second rail perpendicular to the first rail, and a second sliding connection to the second rail a sliding member and a second power component for driving the second sliding member, the third transmission mechanism comprising a third rail perpendicular to the first rail and the second rail, a third sliding member slidably coupled to the third rail, and a third driving a third power component of the slider, the Cartesian robot further includes a fourth transmission mechanism fixedly coupled to the third slider and a buffer mechanism coupled to the fourth transmission mechanism, the fourth transmission mechanism including a fourth power component And a speed reducer connected to the fourth power component, the buffer mechanism includes a buffer plate fixedly connected to the reducer, and a guide rod and a sleeve fixedly connected to the buffer plate And an elastic member to the movable plate of the guide bar, the resilient member sleeved on the guide rod and located between the buffer plate and the movable plate. The rectangular coordinate robot of claim 1, wherein the second transmission mechanism further comprises a fixing plate fixedly connected to the first sliding member, and the second guiding rail and the second power component are fixed side by side to the fixing plate. The extending direction of the second rail is substantially perpendicular to the extending direction of the first rail. The right angle coordinate robot of claim 2, wherein the second power component comprises a motor, a lead screw, and a transmission component connecting the motor and the screw, the motor and the screw are fixed side by side on the fixing plate, and In substantially parallel with the second rail, the second slider includes a sliding portion coupled to the second rail and a moving portion coupled to the lead screw of the second power member. A rectangular coordinate robot as described in claim 3, wherein the transmission assembly includes a horse The drive wheel of the fixed connection, the driven wheel connected with the screw rod, and the transmission belt wound around the driving wheel and the driven wheel. The rectangular coordinate robot of claim 2, wherein the third transmission mechanism further comprises a mounting plate fixedly connected to the second sliding member and a partition perpendicular to the mounting plate, the third guiding rail and the third The power components are fixed side by side to the partition plate, and the third rail extends in a direction substantially perpendicular to the mounting plate, the second rail and the first rail. The right angle coordinate robot of claim 5, wherein the third power component comprises a motor, a screw rod and a transmission component connecting the motor and the screw rod, wherein the motor and the screw rod are respectively located on opposite sides of the partition plate The transmission assembly passes through the partition plate, the motor and the lead screw are substantially parallel to the third guide rail, and the third sliding member includes a sliding portion connected to the third rail and a moving portion connected to the lead screw of the third power component . The Cartesian robot of claim 1, wherein the Cartesian robot further comprises a bracket, and the first rail of the first transmission mechanism and the first power component are fixed to the bracket.