First, the basic unit of right-angle industrial robot: linear module.
1, ball screw type
Mainly composed of: ball screw, linear guide rail, aluminum alloy profile, ball screw support seat, coupling, motor, photoelectric switch, etc.
1) aluminum alloy profile. The aluminum alloy profile slide table has beautiful appearance, reasonable design, good rigidity and reliable performance. It is an ideal basic power component for modular machine tools and automatic production lines, with good dynamic performance. High rigidity, small thermal deformation and high feed stability, thus ensuring the actual accuracy in the processing state (under load).
2) Ball screw is an ideal product to convert rotary motion into linear motion or linear motion into rotary motion. Ball screw is composed of screw, nut and ball. Its function is to transform rotary motion into linear motion, which is the further extension and development of ball screw. The significance of this development is to change the rolling motion of bearings into sliding motion. Ball screw is widely used in various industrial equipment and precision instruments because of its low friction resistance. High-precision linear motion can be realized under high load.
3) Linear guide rail. Also known as slide rail, linear guide rail and linear slide rail, it is used for linear reciprocating motion occasions, which has higher rated load than linear bearing, can bear certain torque at the same time, and can realize high-precision linear motion under high load. Structure, high precision; Precision grade guide rail plate.
2. Synchronous belt type
Mainly composed of: belt, linear guide rail, aluminum alloy profile, coupling, motor, photoelectric switch, etc. The belt is installed on the transmission shafts on both sides as the power input shaft, and a slider for increasing equipment workpieces is fixed on the belt. When there is input, the slider moves by driving the belt.
Accuracy depends on belt quality and processing technology in combination, and the control of power input will also have an impact on its accuracy, which is generally higher than 0. 1 mm, so for different production process requirements, we can control the production cost by adopting different synchronous belt types. According to different load requirements, rigid guide rails can be added to improve rigidity. Different specifications have different upper load limits.
Usually, through special design, the tightness of belt movement can be controlled at one side, which is convenient for the debugging of equipment in the production process. The tightness of synchronous belt type is controlled on the left and right sides, generally controlled by screws.
Second, the classification of Cartesian manipulator:
(1) biaxial combination
Arm type: Y-axis base is fixed, Y-axis slider can move horizontally, and can be transported and loaded in XY plane.
Supporting gantry type: the Y-axis front end of the arm type is provided with a supporting guide rail, and the Y-axis slider moves horizontally to transport and load in the XY plane, with a large working range.
YZ type: the base of Z axis is fixed on the transverse Y axis, and the slider of Z axis can move vertically and can be transported and loaded in the XZ plane.
(2) Triaxial combination
Arm +Z axis:? Handling and loading of XYZ three-dimensional space.
Support gantry +Z axis:? Handling and loading of XYZ three-dimensional space.
(3) six-axis combination
(X-Y base fixing +Z axis) x2:? Handling and loading of XYZ three-dimensional space.
Third, the characteristics of Cartesian robot
Motion degrees of freedom, the spatial included angle between the motion degrees of freedom is automatically controlled at right angles, with high reliability, high speed, high precision and repeatable programming. All actions are carried out according to the program. Generally speaking, it is flexible and multifunctional, and it is easy to install, operate and maintain because of the different functions of the operating tools. Small, beautiful and durable, and can be customized according to users' needs.
Fourth, the application of rectangular coordinate machine tools
Classification by industry:
Classification by application: