According to the analysis of this concept, we make the following statement:
I. Characteristics of Cartesian Coordinate Robot:
1, multi-degree-of-freedom motion, the spatial angle between each degree of freedom of motion is a right angle.
2, automatically controlled, repeatable programmable, all movements are run according to the program.
3, generally consists of a control system, a drive system, a mechanical system, and an operating tool.
4, flexible, multi-functional, due to the different functions of the operating tool is also different.
5, high reliability, high speed, high precision.
6, can be used in harsh environments, can work for a long time, easy to operate and maintain.
Two, the application of Cartesian Coordinate Robot:
Because of the end of the different operating tools, Cartesian Coordinate Robot can be used as a variety of automation equipment is very convenient, to complete such as welding, handling, loading and unloading, packaging, palletizing, depalletizing, testing, inspection, sorting, assembling, labeling, spraying, marking, (soft imitation) spraying, target followers, detonation, and a series of work. Especially suitable for multi-species, then batch of flexible operations, for stabilization, improve product quality, improve labor productivity, improve labor conditions and rapid renewal of products plays a very important role.
Three, the classification of Cartesian Coordinate Robot:
1, according to the use of: welding robots, palletizing robots, gluing (dispensing) robots, testing (monitoring) robots, sorting (sorting) robots, assembly robots,
Explosive robots, medical robots, special robots and so on.
2, according to the structure of the form: wall-mounted (cantilever) robots, gantry robots, inverted robots, etc.
3, according to the degree of freedom: two-coordinate robot, three-coordinate robots, four-coordinate robots, five-coordinate robots, six-coordinate robots.
There are some other divisions, which will not be introduced here.
Four, the core components of the Cartesian Coordinate Robot - Linear Positioning Unit
In order to reduce the cost of Cartesian Coordinate Robot, shorten the product development cycle, increase the reliability of the product, and improve the product performance, in Europe and the United States, many countries have been Cartesian Coordinate Robot modularization, and the linear positioning unit (the system) is the most modular. system) is the most typical product of modularization.
A complete positioning unit (system) consists of several parts
1, positioning body profile: as the installation of the track support part, the profile is different from the general frame profile, which requires a very high degree of straightness, flatness.
2, motion track: installed in the positioning body profile, directly supporting the movement of the slider. A positioning body profile (system), may be installed a motion track, may also be installed more than one motion track, track characteristics and the number of direct impact on the mechanical properties of the positioning unit (system). Composition of the positioning system track type is very, general-purpose linear ball track, linear cylindrical steel track.
3, motion slider: by the load mounting plate, bearing frame, roller group (ball group), dust brush, lubrication chamber, sealing cover. Motion slider and track through the roller or ball coupled together. Realize the guidance of movement.
4, transmission components: common transmission components are synchronous belt, toothed belt, screw / ball screw, rack and pinion, linear motors and so on.
7, bearings and bearing housing: used to install transmission elements and drive elements.
V. Cartesian Coordinate Robot Drive Elements - Motor Drive System
The reason why the linear positioning unit (system) can realize accurate motion positioning is determined by the motor drive system.
Commonly used drive systems are:
AC / tributary servo motor drive system, stepper motor drive system, linear servo motor / linear stepper motor drive system. Each drive system consists of two parts: motor and driver. The role of the driver is to amplify the weak electrical signal and load it on the strong electrical power that drives the motor. The motor, on the other hand, converts the electrical signals into precise speeds and angular displacements.
In the requirements of high dynamic, high-speed operation, high-power drive occasions such as AC / tributary servo motor system as a driver; in the requirements of low dynamic, low-speed operation, small power drive occasions such as stepper motor system as a driver; and in the requirements of very high dynamic, high-speed operation, high positioning accuracy occasions such as linear servo system drive will be used.
Six, the soul of the Cartesian Coordinate Robot - controller
In order to realize the robot's flexible and versatile motion function, rapid response processing function, the robot must have a brain - controller.
The controller functions as a source of instructions, which can send out control instructions at times according to the numbered program, accept feedback signals at all times, and judge the processing information at all times.
According to the different functions, the controller can have a variety of:
1, the combination of industrial computer and motion control card: motion control card borrowed from the computer's resources, the use of its own motion control functions to achieve control.
2, offline motion control card: borrow the computer programmed, the program can be self-storage, offline operation.
3, PLC - borrowed from the computer programmed, the program can be self-storage, offline operation.
4, Specialized controller.
Seven, the terminal equipment of the Cartesian Coordinate Robot - operating tools
The terminal equipment of the Cartesian Coordinate Robot should be used for different purposes, and can be assembled with a variety of operating tools:
For example, the welding robot's end-operating tool is the welding torch: palletizing robot end-operating tool is the gripper; Gluing (dispensing) robot terminal operating tool is a glue gun, inspection (monitoring) robot terminal operating tool is a camera or laser.
Some complex work, a single operating tool can not be completed, you need to install two or more operating tools can be. For example, for non-fixed trajectory movement of the object gripping in addition to the need for mechanical gripper, but also need a camera, always tracking the calculation of the spatial position of the object.