WO2013071477A1 - Unité de mouvement rectiligne modularisée - Google Patents

Unité de mouvement rectiligne modularisée Download PDF

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Publication number
WO2013071477A1
WO2013071477A1 PCT/CN2011/082162 CN2011082162W WO2013071477A1 WO 2013071477 A1 WO2013071477 A1 WO 2013071477A1 CN 2011082162 W CN2011082162 W CN 2011082162W WO 2013071477 A1 WO2013071477 A1 WO 2013071477A1
Authority
WO
WIPO (PCT)
Prior art keywords
transmission mechanism
linear motion
positioning body
body profile
timing belt
Prior art date
Application number
PCT/CN2011/082162
Other languages
English (en)
Chinese (zh)
Inventor
单忠德
刘丰
刘丽敏
Original Assignee
机械科学研究总院先进制造技术研究中心
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 机械科学研究总院先进制造技术研究中心 filed Critical 机械科学研究总院先进制造技术研究中心
Priority to PCT/CN2011/082162 priority Critical patent/WO2013071477A1/fr
Publication of WO2013071477A1 publication Critical patent/WO2013071477A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway

Definitions

  • BACKGROUND OF THE INVENTION 1. Field of the Invention
  • the present invention relates to the field of industrial robot technology, and in particular to a modular linear motion unit.
  • BACKGROUND OF THE INVENTION In today's rapidly evolving industrial automation era, more and more links require more automated equipment to complete, coupled with rising labor costs and increased work environment requirements, resulting in the emergence of robotic products.
  • Cartesian robots as the name implies, are an industrial automation robotic device that uses the three-dimensional space formed by the spatial geometric relationship X, ⁇ , and ⁇ as the working space. In industrial applications, the device can be automatically controlled by different settings of the program to form a multi-purpose operating machine.
  • the Cartesian robot has four main functional modules: a linear motion unit, a drive unit, a control unit, and an end operating unit.
  • a linear motion unit In order to reduce the cost of Cartesian robots, shorten the product development cycle, increase product reliability and improve product performance, many countries in Europe and America have modularized Cartesian robots, while linear motion units are the most typical and most modular.
  • the so-called linear motion unit is to add the whole motion element to a whole movement, which includes a sports support part (light bar or linear guide), a positioning part part (various models of profiles), a transmission part (synchronous pulley and The timing belt or the screw) and the moving part of the slider (moving with the timing belt or the screw nut).
  • Cartesian robots With the continuous development of technology, people have higher requirements for the performance of Cartesian robots such as high speed, heavy load, high reliability, easy operation and maintainability.
  • the linear motion unit's high speed, heavy load, reliability, stability, operability and ease of maintenance are increasingly valued by scientists. Due to the limitations of its own mechanical structure, the traditional linear motion unit has the disadvantages of low speed, light load, low strength and poor impact resistance due to its practical application.
  • the conventional linear motion unit has a short stroke due to the restriction of the profile body part by the profile processing equipment, which will have a great negative impact on the overall performance of the Cartesian robot with the linear motion unit, and ultimately it is difficult to satisfy the user. High performance requirements for Cartesian robots.
  • the present invention provides a modular linear motion unit including a positioning body profile, a transmission mechanism disposed on the positioning body profile, and a slider disposed on the transmission mechanism, the linear motion unit further comprising A connector that connects a plurality of linear motion units in series or in parallel.
  • the transmission mechanism has a transmission shaft axially orthogonal to the longitudinal direction of the positioning body profile
  • the connecting member includes a parallel power transmission mechanism disposed at one end of the transmission shaft for driving connection with the driving shaft of the driving device, the transmission shaft The other end has a free end that can be used as a drive shaft for connection to the drive shaft of the transmission of the other linear motion unit.
  • the parallel power transmission mechanism is one or more couplings.
  • the transmission mechanism is a timing belt transmission mechanism
  • the timing belt transmission mechanism includes two timing pulley shafts disposed at two ends of the positioning body profile and a timing pulley disposed on the timing belt pulley, and both ends of the positioning body profile are disposed
  • the pulley housing, the timing belt axle and the timing pulley are disposed in the pulley housing, and the driving mechanism is connected with the synchronous pulley shaft at the first end of the positioning body profile through a parallel power transmission mechanism, and the parallel power transmission mechanism is disposed on the pulley The outside of the cabinet.
  • the method further comprises two linear guides arranged in parallel on the upper surface of the positioning body profile, wherein the timing belt in the timing belt transmission mechanism is located between the two linear guide rails and is wound on the synchronous pulleys at both ends of the positioning body profile, the positioning body
  • the middle portion of the profile is provided with a hollow through hole parallel to the longitudinal direction of the positioning body profile, and the timing belt passes through the hollow through hole.
  • end faces of both ends of the positioning body profile are provided with end connecting plates, the pulley case is fixed on the end connecting plates, and the timing belt is wound around the timing pulley through the end connecting plates.
  • the timing pulley and the timing belt axle are connected by a key.
  • the positioning body profile comprises a first positioning body profile and a second positioning body profile arranged in parallel
  • the transmission mechanism comprising a first transmission mechanism and a second transmission mechanism respectively disposed on the first positioning body profile and the second positioning body profile
  • the two sliders on the first transmission mechanism and the second transmission mechanism are an integral slider, the first transmission mechanism and the second
  • the transmission mechanism simultaneously drives the integral slider
  • the pulley housing includes a first pulley housing and a second pulley housing respectively disposed at both ends of the first positioning body profile and the second positioning body profiles.
  • the driving device is disposed at one side of the first end of the first positioning body profile, and the output shaft of the driving device is connected to the transmission shaft of the first transmission mechanism through the first coupling, and the transmission shaft of the second transmission mechanism passes the The two couplings are coupled to the free end of the drive shaft of the first transmission.
  • the driving device comprises a servo motor and a speed reducer connected to the servo motor, and a connecting barrel with a flange at both ends is arranged between the housing of the reducer and the adjacent pulley housing, and the first coupling is arranged In the connection barrel.
  • the connector further includes a series power transmission mechanism including a slider and a series connection member disposed at one end of the lower surface of the positioning body profile for connecting with the sliders on the other linear motion units.
  • the series connection member is a series connection plate
  • the slider is a fixed plate having a width larger than a width of the linear motion unit, and the series connection plate is connected to the wide portion of the fixed plate.
  • the transmission mechanism is a timing belt transmission mechanism, and the timing belt in the timing belt transmission mechanism is equipped with a timing belt lock, and the timing belt locks are provided on both sides of the timing belt buckle, and the fixing plate and the timing belt guide strip are fixed. connection.
  • FIG. 1 is a schematic view showing a connection structure of two linear motion units connected in series according to a preferred embodiment of the present invention
  • FIG. 2 is an internal connection of a driving device and a transmission mechanism in a modular linear motion unit according to a preferred embodiment of the present invention
  • Schematic 3 is a schematic view showing the external connection structure of a driving device and a transmission mechanism in a modular linear motion unit according to a preferred embodiment of the present invention
  • FIG. 4 is a schematic structural view of a single modular linear motion unit according to a preferred embodiment of the present invention
  • 5 is a schematic view showing the mounting structure of the fixing plate in the linear motion unit of the preferred embodiment of the present invention.
  • the object of the present invention is to provide a modular linear motion unit to solve the technical problems of low speed, light load, short stroke, low strength and poor impact resistance of the existing linear motion unit.
  • the linear motion unit provided by the invention has strong versatility, perfect modular function and good operability.
  • the present invention provides a modular linear motion unit including a positioning body profile 10 and a transmission mechanism 30 disposed on the positioning body profile 10, the transmission mechanism 30 having an axial direction.
  • a drive shaft orthogonal to the axial direction of the positioning body profile 10 one end of which is provided with a parallel power transmission mechanism for driving connection with the drive shaft of the drive unit 50, and the other end has a free end for use as a drive shaft, the freedom
  • the end is connected to the transmission shaft of the transmission mechanism of the other linear motion unit, and one end of the lower surface of the positioning body profile 10 is provided with a series connection member for connecting with the slider on the other modular linear motion unit.
  • the series power transmission mechanism is constituted by the series connection member and the slider on the transmission shaft. As shown in FIG.
  • one end of the transmission shaft of the transmission mechanism 30 is provided with a parallel power transmission mechanism, which can be used for connecting with the drive shaft of the driving device 50; and the other end of the transmission shaft is provided with a free end that can be used as a drive shaft, then It is possible to connect the end of the transmission shaft of the transmission mechanism 30 of another modular linear motion unit through the free end to the parallel power transmission mechanism, and the free end of the transmission mechanism 30 of the first modular linear motion unit can be used as
  • the drive shaft drives the drive shaft of the second transmission mechanism 30 to achieve parallel connection of two or more modular linear motion units; a series connection is provided at one end of the lower surface of the positioning body profile 10, the connection member and the other
  • the sliders on the modular linear motion unit are connected to realize the series connection of two or more modular linear motion units, so that the linear motion units can be modularly connected in parallel or in series according to the actual situation to improve the linear motion.
  • the parallel power transmission mechanism can realize the parallel connection of the plurality of linear motion units, and not only the parallel connection of the transmission mechanisms on the plurality of positioning body profiles to form a linear motion unit, the plurality of linear motion units provided by the present invention are connected in parallel The way to enhance the strength of a Cartesian coordinate system based on linear motion units.
  • the parallel power transfer mechanism is one or more couplings 20 connected between the drive shaft of the transmission and the output shaft of the drive.
  • the transmission Mechanism 30 can be a timing belt drive.
  • the timing belt transmission mechanism includes two timing pulley shafts 33 disposed at both ends of the positioning body profile 10 and a timing pulley disposed on the timing pulley shaft 33, and both ends of the positioning body profile 10 are provided with pulley housings 15
  • the timing pulley shaft 33 and the timing pulley 34 are both disposed in the pulley housing 15, and the driving device 50 is coupled to the timing pulley shaft 33 at the first end of the positioning body profile 10 through the coupling 20, and the coupling 20 is disposed outside the pulley case 15.
  • the modular linear motion unit provided by the present invention further comprises two linear guides 12 arranged in parallel on the upper surface of the positioning body profile 10, and the timing belt 32 in the timing belt transmission mechanism is located on two lines of a positioning body profile 10.
  • a central portion of the positioning body profile 10 is provided with a hollow through hole parallel to the longitudinal direction of the positioning body profile 10, through which the timing belt 35 passes. hole.
  • the linear guide 12 is disposed on the upper surface of the positioning body profile 10, and the timing belt 32 is mounted by the hollow through hole inherent in the positioning body profile 10, so that no groove is formed in the positioning body profile 10, and the positioning body profile 10 is not damaged.
  • the strength can effectively improve the torsional resistance, flexural resistance and impact resistance of the linear motion unit, and at the same time greatly improve the load capacity of the linear motion unit.
  • the end faces of the two ends of the positioning body profile 10 are provided with end connecting plates 14, which are fixed on the end connecting plates 14, and the timing belts 32 are connected through the ends.
  • the plate 14 is wound around the timing pulley 34.
  • the timing belt pulley 34 and the timing pulley shaft 33 can be connected by a key to make the structure compact and achieve reliable transmission of power between the two.
  • side covers 15a are provided on both sides of each pulley case 15 (only the side cover on the left side of the pulley case 15 shown in FIG. 2 is exemplified), and synchronization is performed. Both ends of the pulley shaft 33 are penetrated through the side cover 15a through bearings.
  • the side cover 15a on both sides can support the rotation of the timing pulley shaft 33 by supporting the timing pulley shaft 33 and using the bearings.
  • the outer end of each pulley case may also be provided with a case cover 15b.
  • the positioning body profile 10 includes a first positioning body profile (the left positioning body profile in FIG. 4) and a second positioning body profile (the right positioning body profile in FIG.
  • the pulley case 15 includes a first pulley case and a second pulley case respectively disposed at both ends of the first positioning body profile and the two ends of the second positioning body profile Body.
  • the drive shaft realizes the synchronous movement of a plurality of parallel linear transmission mechanisms to the east unit.
  • the driving device 50 is disposed at one side of the first end of the first positioning body profile, the output shaft of the driving device 20 is connected to the transmission shaft of the first transmission mechanism through the first coupling, and the transmission shaft of the second transmission mechanism is passed through the second The coupling is coupled to the free end of the drive shaft of the first transmission.
  • the driving device 50 includes a servo motor 51 and a speed reducer 53 connected to the servo motor 51.
  • a connecting barrel 17 having flanges at both ends is disposed between the housing of the reducer 53 and the adjacent pulley housing.
  • the shaft is disposed in the connecting barrel 17.
  • the flange of the connecting barrel 17 end is fixed to the reducer 53 by bolts, and the flange of the other end is fixed to the side cover 15a of the pulley case by bolts.
  • the series connection member is a series connection plate 19 (see FIG. 1), and the series connection plate 19 is located at one end of the lower surface of the positioning body profile of the linear motion unit.
  • the slider is a fixing plate 18 having a width greater than a width of the linear motion unit.
  • the series connection plate 19 is connected to a portion of the width of the linear motion unit of the fixed plate 18, specifically, The remaining part can be connected by a screw that runs through the two parts.
  • the timing belt 32 in the timing belt transmission mechanism is equipped with a timing belt buckle 37. Both sides of the timing belt buckle are provided with timing belt guide strips 38, and the fixing plate 18 is fixedly connected to the timing belt guide strips 38.
  • the modular linear motion unit provided by the invention can adopt a plurality of series and parallel connection to form a new linear motion unit according to actual needs.
  • the series connection plates 19 of each linear motion unit can be connected to each other to form a whole, which is used as a series connection plate, and likewise, each of the plurality of parallel linear motion units
  • the fixing plates 18 can also be connected to each other to form an integral fixing plate, and the width of the series connecting plates after the parallel connection is also equal to or greater than the width of the fixing plates after the parallel connection, so as to form a linear motion unit in series. group.
  • three linear motion units are first connected in parallel, then three linear motion units The three series connection plates are connected to each other to form a large series connection plate.
  • the width of the large series connection plate is equal to or greater than the total width of the three linear motion units of the group; and the other three linear motion units are performed.
  • the fixing plates under the three linear motion units are also connected to each other to form a large fixing plate.
  • the width of the large fixing plate is equal to or greater than the total width of the three linear motion units of the group, so as to be large.
  • the fixed plate can be connected to a large series connection plate to form a series connection between the parallel linear motion unit groups.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Transmission Devices (AREA)

Abstract

L'invention porte sur une unité de mouvement rectiligne modularisée comprenant une section corps de positionnement (10), un mécanisme de transmission (30) disposé sur la section corps de positionnement (10) et un coulisseau (18) disposé sur le mécanisme de transmission (30). L'unité de mouvement rectiligne comprend aussi des connecteurs (19, 20) servant à connecter une pluralité d'unités de mouvement rectiligne en série ou en parallèle. L'unité de mouvement rectiligne modularisée réalise la connexion série et parallèle d'une pluralité d'unités de mouvement rectiligne modularisées, elle accroît la résistance et la capacité de charge des unités de mouvement rectiligne, améliore la vitesse de glissement du coulisseau sur l'unité de mouvement rectiligne et allonge la course de mouvement.
PCT/CN2011/082162 2011-11-14 2011-11-14 Unité de mouvement rectiligne modularisée WO2013071477A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2011/082162 WO2013071477A1 (fr) 2011-11-14 2011-11-14 Unité de mouvement rectiligne modularisée

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2011/082162 WO2013071477A1 (fr) 2011-11-14 2011-11-14 Unité de mouvement rectiligne modularisée

Publications (1)

Publication Number Publication Date
WO2013071477A1 true WO2013071477A1 (fr) 2013-05-23

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08192378A (ja) * 1991-07-10 1996-07-30 Nitto Seiko Co Ltd 直交座標型ロボットのｘ軸ユニット
WO2007012366A1 (fr) * 2005-07-28 2007-02-01 P & L Gmbh & Co. Kg Appareil de manipulation destine a au moins une machine d'usinage
CN101637914A (zh) * 2009-08-24 2010-02-03 清华大学 高刚度多级伸缩机构
FR2938463A1 (fr) * 2008-11-14 2010-05-21 Hydroprocess Dispositif de decoupe a jet d'eau-heracles ii
CN201645166U (zh) * 2010-05-14 2010-11-24 上海优易嘉机械设备有限公司 一种滚轮滑台工作台
CN102166750A (zh) * 2011-05-16 2011-08-31 机械科学研究总院先进制造技术研究中心 定位梁及具有该定位梁的机器人直线运动单元

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08192378A (ja) * 1991-07-10 1996-07-30 Nitto Seiko Co Ltd 直交座標型ロボットのｘ軸ユニット
WO2007012366A1 (fr) * 2005-07-28 2007-02-01 P & L Gmbh & Co. Kg Appareil de manipulation destine a au moins une machine d'usinage
FR2938463A1 (fr) * 2008-11-14 2010-05-21 Hydroprocess Dispositif de decoupe a jet d'eau-heracles ii
CN101637914A (zh) * 2009-08-24 2010-02-03 清华大学 高刚度多级伸缩机构
CN201645166U (zh) * 2010-05-14 2010-11-24 上海优易嘉机械设备有限公司 一种滚轮滑台工作台
CN102166750A (zh) * 2011-05-16 2011-08-31 机械科学研究总院先进制造技术研究中心 定位梁及具有该定位梁的机器人直线运动单元

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