Article catalogue:
- 1 、The structure of robotic arm
- 2 、Why are more and more companies making industrial robots, all of which are self-developed?
- 3 、What is the load of a heavy truss manipulator? What are the design features
- 4 、Excuse me, the difference between a three-axis manipulator and a five-axis manipulator?
- 5 、What is a single-axis robot?
- 6 、How to synchronize the gantry structure manipulator driven by two sides?
The structure of robotic arm
Horizontal multi-joint manipulator generally has three main degrees of freedom, Z1 rotation, Z2 rotation, Z movement. By installing X rotation at the execution terminal, Y rotation can reach any coordinate point in space.
The Cartesian coordinate system manipulator has three main degrees of freedom. The X movement, Y movement and Z movement are composed of X rotation, Y rotation and Z rotation, which can reach any coordinate point in the space by adding X rotation, Y rotation and Z rotation at the execution terminal.
The figure on the right is one of the common forms of construction. for industrial applications, sometimes it is not necessary for a mechanical arm to have a complete six degrees of freedom, but only one or more of them. The Cartesian coordinate mechanical arm can be composed of a single-axis mechanical arm. As a component, single-axis mechanical arm is widely used in industry. The following picture shows a single-axis robotic arm. The modularization of single-axis mechanical arm greatly reduces the cost of industrial design. Because professional manufacturers have the advantages of good quality assurance and mass production, the use of components has more advantages than self-designed mechanical arm. The common combinations of vertical manipulators are cantilever type, gantry type, vertical type, horizontal type and so on.
For semiconductor manufacturing applications, the commonly used robotic arm is used to carry the chip, such as the two-arm manipulator pictured below
Why are more and more companies making industrial robots, all of which are self-developed?
The Cartesian coordinate robot is programmed based on the spatial XYZ Cartesian coordinate system and has three axes or more degrees of freedom. It can realize automatic control, can be repeatedly programmed and applied repeatedly, and is suitable for automation equipment of different tasks. Cartesian coordinate robots can be divided into three categories: 2-axis combination, 3-axis combination and 6-axis combination. The basic unit of a right-angle robot is a straight line module.
1. Basic unit of right-angle industrial robot: straight line module
1. Ball screw type
It is mainly composed of ball screw, linear guide rail, aluminum alloy profile, ball screw support seat, coupling, motor, photoelectric switch and so on.
1) aluminum alloy profiles. The sliding platform of aluminum alloy profile has the advantages of beautiful appearance, reasonable design, good rigidity and reliable performance, so it is an ideal basic power component with good dynamic performance for modular machine tools and automatic lines. The utility model has the advantages of high stiffness, small thermal deformation and high feed stability, which ensures the actual accuracy in the machining state (under load).
2) Ball screw is an ideal product to convert rotary motion into linear motion, or linear motion into rotational motion. The ball screw consists of a screw, a nut and a ball. Its function is to transform the rotational motion into linear motion, which is the further extension and development of the ball screw. The important significance of this development is to change the bearing from rolling action to sliding action. Because of its small friction resistance, ball screw is widely used in a variety of industrial equipment and precision instruments. The linear motion with high precision can be realized under high load.
3) Linear guideway. Also known as slide rail, linear guide rail, linear rail, used in linear reciprocating motion occasions, has a higher rated load than linear bearings, but also can bear a certain amount of torque, can achieve high-precision linear motion under high load. Structure, high precision; precision grade guide plate.
2. Synchronous belt pattern
It is mainly composed of belt, linear guide rail, aluminum alloy profile, coupling, motor, photoelectric switch and so on. The belt is installed on both sides of the transmission shaft, wherein as a power input shaft, a slider for increasing the equipment workpiece is fixed on the belt. When there is input, the slider moves by driving the belt.
The precision depends on the quality of the belt and the machining process in the combination, and the control of power input will have an impact on its accuracy at the same time, and the accuracy is generally higher than that of 0.1mm. Therefore, for different production process requirements, using their own synchronous belt types can control the production cost. According to different load needs, you can choose to increase the rigidity of the guideway to improve the rigidity. The upper limit of load varies with different specifications.
Usually after a specific design, the belt movement can be controlled on one side to facilitate the debugging of the equipment in the production process. The tension control of the synchronous belt is on the left and right side, which is generally controlled by screws.
2. Classification of Cartesian manipulators:
(1) 2-axis combination
Arm type: the Y-axis base is fixed, the Y-axis slider can be moved horizontally, and the XY plane can be transported and loaded.
Supporting gantry type: the arm type Y-axis front end has a supporting guide rail, Y-axis slider horizontal movement, XY plane handling, load transfer, etc., large working range
YZ type: the Z axis base is fixed on the side Y axis, the slider of the Z axis can be moved vertically, and it can be transported and loaded in the XZ plane.
(2) 3-axis combination
Arm + Z axis: carry and load in XYZ three-dimensional space
Supporting gantry + Z axis: “XYZ” three-dimensional space handling, transfer, etc.
(3) 6-axis combination
(fixed on Xmury pedestal + Z axis) x2: handling, loading, etc., in three-dimensional space of XYZ.
3. Characteristics of Cartesian coordinate robot
Degree of freedom motion, the space angle between each degree of freedom is automatically controlled by right angle with high reliability, high speed and high precision, and can be reprogrammed. All movements are generally composed of control system, drive system, mechanical system and operating tools. Flexible, multi-functional, easy to install, easy to operate and easy to maintain due to different functions of operating tools Compact structure, beautiful and durable, can be customized according to the needs of users
IV. Application of Cartesian coordinate machines
By industry:
Classified by application:
What is the load of a heavy truss manipulator? What are the design features
1, high efficiency-each axis runs in a straight line at a very high speed, and can be responded quickly by a servo motor.
2, stable-minimal repeatability error, up to 0.05mm
3, high intensity-7×24 work hours, no need to eat, sleep, smoke, etc.
4. High precision-the positioning accuracy can reach 0.02mm (due to the production cost, the positioning accuracy can be appropriately magnified according to the operating conditions)
5, high performance-price ratio-compared with articulated robots, it has large load weight and low production cost, so it is suitable for the basic national conditions of “intelligent manufacturing in China”.
6. Simple operation-based on Cartesian coordinate system, its motion parameters are relatively simple.
With so many features, it must be useful, or who will buy it? if you want to understand it carefully, you can take a look at Shanghai’s Jinghang. I think it’s OK. Moreover, there are quite a lot of people engaged in machinery in Shanghai in the past two years, so you can go and have a look. Machinery is also a hot industry.
Excuse me, the difference between a three-axis manipulator and a five-axis manipulator?
Generally speaking, a three-axis manipulator is a XYZ three-axis manipulator. SCARA belongs to parallel axis manipulator. They have three linkage degrees of freedom.
The five-axis manipulator usually adds B-axis and C-axis to the XYZ three-axis, which has five degrees of freedom, which is often called truss manipulator. In contrast, it is more widely used than a three-axis manipulator.
Hope to help you, welcome to adopt, like and follow.
What is a single-axis robot?
Single-axis robot, also known as single-axis manipulator, electric slide, linear module, single-axis driver, single-axis robot and so on. Single-axis robot can realize the combination of two-axis, three-axis and gantry through different combination styles, so multi-axis is also called Cartesian coordinate robot.
Characteristics
Ball screw drive: has the characteristics of high positioning accuracy, low friction, high rigidity, strong load capacity and so on. But the screw drive also has some shortcomings, that is, it has a length limit, which can not be too long. When the ratio of the length to diameter of the screw exceeds a certain value, the screw will be affected by gravity and produce deflection. With the increase of the deflection, it is easy to produce resonance during rotation, resulting in screw breakage. At present, this problem has not been accurately solved, so the screw drive is still limited. Synchronous belt transmission: synchronous belt transmission has the characteristics of low noise, high speed, low cost and so on. Synchronous belt has more price advantage in long-distance transmission. However, compared with the screw drive, the precision of the synchronous belt is not as high as that of the screw.
Different transmission: single-axis robot is generally divided into two kinds of transmission: one is ball screw transmission, the other is synchronous belt (synchronous tooth belt) transmission. Both of them are guided by linear guideway, and combined with servo motor or stepper motor, they can realize positioning, load shifting, handling and so on in different application fields.
Application field: the application field covers all automation application fields, such as liquid crystal panel, semiconductor, home appliance, automobile, packaging, dispensing machine, welding, cutting, etc., with transfer, handling, dispensing, welding, cutting, testing, and other applications have a wide range of use cases.
How to synchronize the gantry structure manipulator driven by two sides?
The system can be set as a synchronous shaft, so that two servo drives can work synchronously, one for the active shaft and the other for the driven shaft. In principle, it is equivalent to linear interpolation on the plane of X and Y axes. The X and Y axes are respectively proportional to distribute the number of pulses, and then the X and Y axes are carried out alternately. In theory, it is impossible to achieve complete synchronization, but it can be achieved within a certain range of precision, such as synchronization is less than 0.005, it can be done mechanically, and electrical equipment can reach the equivalent of a pulse. this is thousands of times higher than the mechanical accuracy of 0.005.
About the gantry-type three-axis manipulator model and how many rubles for 1 yuan? This is the end of the introduction. I don’t know if you found the information you need. If you want to know more about this, remember to collect and follow this site.