WO2015130243A1 - Système de positionnement cartésien - Google Patents

Système de positionnement cartésien Download PDF

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Publication number
WO2015130243A1
WO2015130243A1 PCT/TR2014/000071 TR2014000071W WO2015130243A1 WO 2015130243 A1 WO2015130243 A1 WO 2015130243A1 TR 2014000071 W TR2014000071 W TR 2014000071W WO 2015130243 A1 WO2015130243 A1 WO 2015130243A1
Authority
WO
WIPO (PCT)
Prior art keywords
drive
transfer element
driven pulley
positioning system
manner
Prior art date
Application number
PCT/TR2014/000071
Other languages
English (en)
Inventor
Sancar YÖRÜKOĞLU
Original Assignee
Yörükoğlu Sancar
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 Yörükoğlu Sancar filed Critical Yörükoğlu Sancar
Publication of WO2015130243A1 publication Critical patent/WO2015130243A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023—Cartesian coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons

Definitions

  • the present invention relates to Cartesian positioning systems used for changing the position of the processing head or for changing the position of the piece to be processed at benches in industrial production.
  • the motors are provided to be fixed and thus the movable section is provided to be lighter by using pluralities of belt-pulley systems.
  • the whole load is applied on the belts transferring movement and thus, the dimensions and the movement capacity of the movable unit are limited depending on the dimensions and characteristics of the belts.
  • the present invention relates to a Cartesian positioning system, for eliminating the above mentioned disadvantages and for bringing new advantages to the related technical field.
  • the main object of the present invention is to provide a Cartesian positioning system whose operation speed is increased.
  • Another object of the present invention is to provide a Cartesian positioning system whose power consumption is decreased.
  • the present invention is a Cartesian positioning system comprising at least one first drive supply connected in a fixed manner to the bench body and at least one second drive supply connected in a fixed manner to the bench body in a similar manner, in order to provide displacement of at least one tool-holder, whereon at least one processing head of a processing bench can be positioned, in the Cartesian coordinate system.
  • the subject matter Cartesian positioning system is characterized by comprising: at least one X axis guide assembly fixed in a rigid manner to the bench body from at least one side thereof,
  • At least one fly-hinge having at least one X axis bearing positioned on said X axis guide assembly for providing movement in axis X,
  • At least one Y axis guide assembly connected to at least one Y axis bearing extending in an orthogonal manner with respect to said X axis bearing on said fly-hinge
  • the subject matter invention comprising: at least one first drive transfer element contacting in a manner rotating the bi-driven pulley from one side and the first drive supply from the other side, and at least one second drive transfer element contacting from a point different from the contact point of the first drive transfer element in a manner rotating the bi-driven pulley from one side and the second drive supply from the other side, at least one nut and at least one threaded rod connected to the tool-holder and the bi-driven pulley in order to transfer the movement from the bi-driven pulley to the tool-holder.
  • the movement, applied by the first drive supply and by the second drive supply, is transferred to the tool-holder by means of the bi-driven pulley, and the tool-holder moves in axis X and in axis Y.
  • at least one housing is provided on the fly-hinge, and at least one bearing section is provided on the bi-driven pulley.
  • the bi-driven pulley comprises at least one drive section for providing connection to the first drive transfer element and to the second drive transfer element.
  • the first drive transfer element and the second drive transfer element are belts having teeth on both sides. Thus, movement is transferred in a continuous manner.
  • the bi-driven pulley comprises teeth, provided on the drive section, which are compliant to the teeth provided on the first drive transfer element and on the second drive transfer element.
  • the first drive transfer element is positioned in a manner extending between at least one first pulley and at least one second pulley connected to the first drive supply.
  • the second drive transfer element is positioned in a manner extending between at least one third pulley and at least one fourth pulley connected to the second drive supply.
  • the X axis guide assembly comprises at least one X axis guide element extending inside the X axis bearing provided on the fly-hinge.
  • two X axis guide elements are provided in a parallel manner with respect to each other between two end plates.
  • the Y axis guide assembly comprises at least one Y axis guide element extending inside the Y axis bearing provided on the fly-hinge.
  • the fly-hinge comprises at least one protrusion for elongating the length of the Y axis bearing.
  • the fly-hinge comprises at least one pulley for pushing the first drive transfer element and the second drive transfer element towards the drive section of the bi-driven pulley.
  • the first drive transfer element and the second drive transfer element are in continuous contact with the pulley, and thereby the movement transfer becomes continuous.
  • said pulley is bedded in a rotatable manner on the extension section provided on the fly-hinge.
  • two each pulleys are provided on two sides of the bi-driven pulley for the first drive transfer element and for the second drive transfer element.
  • the threaded rod is movable in a nut positioned in a fixed manner inside an aperture provided on the bi-driven pulley.
  • the threaded rod is fixed to the bi-driven pulley in a manner rotating together.
  • At least one spacer is provided which is connected in a rigid manner to the threaded rod and to the bi-driven pulley.
  • the tool-holder is movable on the threaded rod by means of a nut provided thereon.
  • the tool-holder comprises at least one guide for providing movement of the tool-holder on the Y axis guide elements.
  • V 2 speed of the second drive transfer element
  • V m linear speed of the bi-driven pulley
  • Cartesian positioning system essentially comprises an X axis guide assembly (40) and a Y axis guide assembly (50). Said X axis guide assembly (40) and Y axis guide assembly (50) are connected to each other through at least one fly-hinge (30). Accordingly, there is a tool-holder plate (53) preferably connected to the Y axis guide assembly (50). Different processing heads, according to the type of the bench where Cartesian positioning system will be used, can be positioned on said tool-holder plate (53).
  • said fly-hinge (30) is preferably provided in plate form.
  • said X axis bearing (31) and said Y axis bearing (32) are provided in hole form, and said holes are provided in two each holes form.
  • the X axis bearing (31) extends along the fly-hinge (30).
  • the Y axis bearing (32) extends along the width of the fly-hinge (30).
  • At least one protrusion (33) is provided extending outwardly from at least one side of the fly-hinge (30).
  • the Y axis bearing (32) which is in hole form, begins from one side of the fly-hinge (30) and extends up to the end of the protrusion (33).
  • a housing (35) provided in aperture form in the middle of the fly-hinge (30).
  • bi-driven pulley (60) positioned so as to have rotational freedom inside said housing (35).
  • the bi-driven pulley (60) is provided in a circular form.
  • One of said channels is provided in a compliant manner to the diameter of the housing (35) provided in the middle of the fly-hinge (30), and the bi-driven pulley (60) is connected to the fly-hinge (30) through the formed bearing section (61) so as to have rotational freedom.
  • the other drive section (62), defined in channel form, remains on the outer side of the fly-hinge (30).
  • the X axis guide assembly (40) comprises at least one X axis guide element (41) passing through the X axis bearing (31) provided on the fly- hinge (30), and at least two end plates (42) provided at the two ends of said X axis guide element (41). Said end plates (42) are connected in a rigid manner to the body of the bench where the Cartesian positioning system will be used.
  • two X axis guide elements (41) are provided extending in a parallel manner with respect to each other.
  • the fly-hinge (30) is bedded in a movable manner in the X axis on the X axis guide elements (41).
  • Y axis guide element (51) passing through the Y axis bearing (32) provided on the fly-hinge (30).
  • Y axis guide elements (51) are provided extending in a parallel manner with respect to each other.
  • an end plate (52) at one end of the Y axis guide elements (51 )
  • a tool-holder (53) at the other end thereof.
  • threaded rod (54) extending between said end plate (52) and the tool-holder (53) and passing through said bi-driven pulley (60).
  • the nut (55) belonging to the threaded rod (54) is fixed in a rotatable manner together with the bi-driven pulley (60) inside an aperture (63) provided at the center of the bi-driven pulley (60).
  • a rotational movement is applied to the bi-driven pulley (60) and thus to said nut (55) by means of this embodiment, a pushing force is applied to the threaded rod (54) with respect to the rotation direction of the nut (55).
  • the tool-holder (53) is provided to move in axis Y in the guidance of the Y axis guide elements (51).
  • the Y axis guide elements (51) are fixed to the fly-hinge (30) from one end thereof.
  • the Y axis guide elements (51) are fixed by being positioned into the Y axis bearings (32) on the fly- hinge (30) from said ends thereof.
  • the tool-holder (53) is bedded in a movable manner on the Y axis guide elements (51) by means of the guides (531) provided on the tool-holder (53).
  • the threaded rod (54) is connected to the bi-driven pulley (60), illustrated in Figure 5b, in a manner rotating together by means of a spacer (56) from one end thereof.
  • the threaded rod (54) While the connection of the threaded rod (54) to the bi-driven pulley (60) is realized, one end of the threaded rod (54) is placed and fixed to the aperture (63) provided on the bi-driven pulley (60). Moreover, as can be seen in Figure 3, the nut (55), belonging to the threaded rod (54), is positioned on the tool-holder (53), and provides the connection of the tool-holder (53) to the threaded rod (54). When a rotational movement is applied to the bi-driven pulley (60) and thus to the threaded rod (54), the nut (55) is pushed or pulled, depending on the rotation direction, by a threaded rod (54). Thus, the tool-holder (53) moves on the Y axis guide elements (51) and displaces in axis Y.
  • the Cartesian positioning system has a first driver unit (10) and a second driver unit (20). Said first driver unit (10) and said second driver unit (20) are positioned in a fixed manner to the bench body.
  • the first driver unit (10) and the second driver unit (20) are connected to the drive section (62) of the bi-driven pulley (60).
  • the first driver unit (10) comprises at least one first drive supply (11), and a first pulley (12) connected to the output rod guide of said first drive supply (11).
  • the first driver unit (10) moreover has a second pulley (13). There is a first drive transfer element (14) extending between the first pulley (12) and the second pulley (13).
  • the second driver unit (20) comprises at least one second drive supply (21), and a third pulley (22) connected to the output rod guide of said second drive supply (21 ).
  • the second driver unit (20) moreover has a fourth pulley (23).
  • the first drive transfer element (14) and the second drive transfer element (24) are positioned on one side of the bench where the Cartesian positioning system will be used, and the third pulley (22) and the fourth pulley (23) are positioned on the other side of the bench.
  • the first drive transfer element (14) and the second drive transfer element (24) extend in the direction of axis X.
  • first drive transfer element (14) and as the second drive transfer element (24) belt is used whose two sides are provided in a toothed manner. According to said positioning, the first drive transfer element (14) and the second drive transfer element (24) extend in a parallel manner with respect to each other. Moreover, since the first driver unit (10) and the second driver unit (20) are positioned in a substantially close manner with respect to each other, there remains a distance, which is smaller than the diameter of the bi-driven pulley (60), between the first drive transfer element (14) and the second drive transfer element (24).
  • the bi- driven pulley (60) when the bi- driven pulley (60) is positioned between the first drive transfer element (14) and the second drive transfer element (24), the first drive transfer element (14) and the second drive transfer element (24) partially wrap the bi-driven pulley (60). In other words, the bi-driven pulley (60) is pressed between the first drive transfer element (14) and the second drive transfer element (24). Thus, all of the movements, transferred to the first drive transfer element (14) and to the second drive transfer element (24), are also transferred to the bi-driven pulley (60).
  • pulleys (36) provided on the fly-hinge (30) in order to provide the first drive transfer element (14) and the second drive transfer element (24) to apply the same pressure continuously, and in order to provide the same contact to be continuous.
  • Said pulleys (36) are provided in a rotatable manner on the extension sections (34) provided on the fly-hinge (30).
  • four each extension sections (34) and pulleys (36) are provided, and two of them are positioned in a manner pushing the first drive transfer element (14) towards the bi-driven pulley (60) from above, and the other two of them are positioned in a manner pushing the second drive transfer element (24) towards the bi-driven pulley (60) from below.
  • Cartesian positioning system the position of the tool-holder (53) is desired to be changed in the desired manner.
  • the basic factors providing displacement of the tool-holder (53) are the speeds and directions of the forces applied to the bi-driven pulley (60) by the first drive supply (11) and by the second drive supply (21) by means of the first drive transfer element (14) and by means of the second drive transfer element (24).
  • the first drive supply (11) and the second drive supply (21) rotate in the same direction:
  • the first drive transfer element (14) and the second drive transfer element (24) apply movement in a manner rotating the bi-driven pulley (60) in the same direction.
  • the bi-driven pulley (60) realizes only rotational movement.
  • the tool- holder (53) realizes displacement in +Y or -Y directions depending on the direction of the rotational movement occurring in the bi-driven pulley (60). Meanwhile, no movement occurs in direction X.
  • the first drive supply (11) and the second drive supply (21) rotate in different directions:
  • the first drive transfer element (14) and the second drive transfer element (24) apply force in a manner rotating the bi-driven pulley (60) in a different direction.
  • a rotational movement is not formed in the bi-driven pulley (60). Since no rotation occurs in the bi-driven pulley (60), a movement is not formed in axis Y.
  • the forces applied by the first drive transfer element ( 4) and by the second drive transfer element (24) provide movement of the bi-driven pulley (60) and thus of the fly-hinge (30) in axis X.
  • the tool-holder (53) does not move in axis Y, and it moves in directions +X or -X depending on the movement directions.
  • the first drive supply (1 1) and the second drive supply (21) rotate in different directions and in different speeds, the forces applied by the first drive transfer element (14) and by the second drive transfer element (24) are different. Because of said force difference, the bi-driven pulley (60) realizes a rotational movement.
  • a movement in axis Y besides the movement in axis Y is obtained.
  • the displacement speed of the tool-holder (53) changes depending on the linear speed (V m ) of the bi-driven pulley and depending on the rotational speeds (co m ) of the bi-driven pulley. Therefore, in order to change the displacement speed of the tool-holder (53), the speeds of the first drive transfer element (14) and of the second drive transfer element (24) are changed; in other words, the speeds of the first drive supply (1 1) and of the second drive supply (21) are changed.
  • the linear speed (V m ) of the bi-driven pulley and the rotational speeds (o1 ⁇ 2) of the bi-driven pulley depending on the speeds of the first drive transfer element (14) and of the second drive transfer element (24) can be determined according to the descriptions and formulas provided below.
  • the linear speed (V m ) of the bi-driven pulley can be calculated by taking arithmetic averages of the speed ( ⁇ ) of the first drive transfer element and of the speed (V 2 ) of the second drive transfer element.
  • the rotational speed (co m ) of the bi-driven pulley can be calculated by dividing the difference between the speed ( ⁇ A) of the first drive transfer element and the speed (V 2 ) of the second drive transfer element to the diameter (2r m ) of the bi-driven pulley.
  • the production and operating costs are decreased by selecting drive supplies with lower dimensions when compared with the prior art thanks to the positioning of the drive supplies in a fixed manner. Moreover, since the load carried by the drive supplies is decreased and thanks to the other constructional details, the tool-holder (53) and the processing head which is to be positioned on the tool-holder (53) can reach higher speeds when compared with the prior art. On the other hand, the breaking off risks of the belts, used as the first drive transfer element (14) and as the second drive transfer element (24), are reduced since they are subject to less force than the belts provided in the belt-pulley mechanisms used in the prior art. By means of this, operation possibility with higher speeds in a safe manner is provided.
  • rod guides are used as the X axis guide element (41) and as the Y axis guide element (51), and in alternative embodiments, alternative embodiments can be used which are similar to linear rails.
  • control rack and worm gear can be used instead of belt. Accordingly, depending on the drive element to be used, teeth are formed or a gear is positioned in the drive section (62) of the bi-driven pulley (60).

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Machine Tool Units (AREA)

Abstract

La présente invention concerne des systèmes de positionnement cartésiens utilisés pour modifier la position de la tête de traitement ou pour modifier la position de la pièce devant être traitée au niveau de bancs dans la production industrielle.
PCT/TR2014/000071 2014-02-26 2014-03-12 Système de positionnement cartésien WO2015130243A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
TR2014/02266 2014-02-26
TR201402266 2014-02-26

Publications (1)

Publication Number Publication Date
WO2015130243A1 true WO2015130243A1 (fr) 2015-09-03

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PCT/TR2014/000071 WO2015130243A1 (fr) 2014-02-26 2014-03-12 Système de positionnement cartésien

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WO (1) WO2015130243A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017081229A1 (fr) * 2015-11-11 2017-05-18 Labomatic Instruments Ag Dispositif de manipulation de liquide
CN110582714A (zh) * 2017-04-05 2019-12-17 普雷茨特两合公司 笛卡尔定位装置和具有所述笛卡尔定位装置的激光加工头
DE102020209768A1 (de) 2020-08-04 2022-02-10 Robert Bosch Gesellschaft mit beschränkter Haftung Kartesische Bewegungsvorrichtung mit stationären Motoren

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH063579U (ja) * 1992-06-17 1994-01-18 株式会社三協精機製作所 ２軸直交駆動ユニット
JPH08290379A (ja) * 1995-04-20 1996-11-05 Tamotsu Fujita モータ搬送駆動装置及び制御方法
JPH1094937A (ja) * 1996-09-20 1998-04-14 Hitachi Koki Co Ltd アクチュエータ
JP2002176011A (ja) * 2000-12-05 2002-06-21 Mck:Kk テープ貼り機
EP2324964A1 (fr) 2009-11-18 2011-05-25 Elektrotechnik Bernhard Peter Installation d'entraînement, dispositif d'entraînement et procédé d'entraînement pour un système de robotique de faible poids
JP2011240444A (ja) * 2010-05-19 2011-12-01 Mycom Inc 移動機構及びこれを用いたピックアンドプレース装置
DE102011012127A1 (de) 2011-02-23 2012-08-23 Festo Ag & Co. Kg Positioniersystem

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH063579U (ja) * 1992-06-17 1994-01-18 株式会社三協精機製作所 ２軸直交駆動ユニット
JPH08290379A (ja) * 1995-04-20 1996-11-05 Tamotsu Fujita モータ搬送駆動装置及び制御方法
JPH1094937A (ja) * 1996-09-20 1998-04-14 Hitachi Koki Co Ltd アクチュエータ
JP2002176011A (ja) * 2000-12-05 2002-06-21 Mck:Kk テープ貼り機
EP2324964A1 (fr) 2009-11-18 2011-05-25 Elektrotechnik Bernhard Peter Installation d'entraînement, dispositif d'entraînement et procédé d'entraînement pour un système de robotique de faible poids
JP2011240444A (ja) * 2010-05-19 2011-12-01 Mycom Inc 移動機構及びこれを用いたピックアンドプレース装置
DE102011012127A1 (de) 2011-02-23 2012-08-23 Festo Ag & Co. Kg Positioniersystem

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017081229A1 (fr) * 2015-11-11 2017-05-18 Labomatic Instruments Ag Dispositif de manipulation de liquide
US10759046B2 (en) 2015-11-11 2020-09-01 Labomatic Instruments Ag Liquid handling apparatus
CN110582714A (zh) * 2017-04-05 2019-12-17 普雷茨特两合公司 笛卡尔定位装置和具有所述笛卡尔定位装置的激光加工头
DE102020209768A1 (de) 2020-08-04 2022-02-10 Robert Bosch Gesellschaft mit beschränkter Haftung Kartesische Bewegungsvorrichtung mit stationären Motoren

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