The use of Cartesian robots on transfer machines is generally used as material displacement. It has many similarities with palletizers, but the transfer robot does not require that objects be placed in layers, but only one object has a position to move to. Another location.
Requirements: The object is moved to the processing area for processing. After the processing is completed, it is returned to the original position.
The motion space is two-dimensional, XZ direction.
Stroke: 3000mm in X direction, 2000mm in Z direction,
Lifting load weight is 1500Kg,
Object outline: 2000mmx1000mmx100mm
The fastest speed is 1000mm/s and the uniform speed is 500mm/s.
Positioning accuracy: 0.5mm
1. Robot positioning system The equipment is characterized by large load and fast running speed. Both X, Z coordinates are selected as synchronous toothed belt transmission. The single-coordinate repeat positioning accuracy is 0.1mm, and the maximum linear motion speed is 1000mm/. s.
X-axis travel 3000mm, the total length will reach about 5000mm, both ends of the support structure, if you choose the normal aluminum profile positioning unit construction, even if the largest cross-section of the ALLZ series products will also produce greater deflection deformation. For this purpose, we chose two steel structure positioning systems as the X-axis positioning unit. The synchronization axis ensures the synchronization of the movement of the two positioning systems and is driven by a servo motor. For the matching of the driving torque and inertia, a planetary speed reducer is required. In this case, with the unique requirements of the organization, we will install the drive in the middle of two positioning units and transmit power to two positioning units with a dual output shaft reducer.
The Z axis adopts the positioning unit ELFZ125 which is the largest lifting force of BAHR company. It is surrounded by double sliders and is firm and stable. This product is designed for lifting heavy objects. The drive source is mounted on the slider. Due to the large area of ​​objects to be grasped, to balance the load, we chose two ELFZ125 positioning units as the lifting axis. The two positioning units are synchronized by a synchronous axis and are driven by a servo motor. For the matching of the driving torque and inertia, a planetary speed reducer is required. We will install the drive in the middle of two positioning units, and a dual output shaft reducer will transmit power to two positioning units.
3. Servo drive system The palletizing robot selects servo motor with Profibus function. Each movement axis is equipped with a servo motor and a speed reducer, four movement axes, a total of four sets of servo motors and four speed reducers, among which the vertical movement axis is equipped with a brake servo motor.
4, the machine grip The robot used Germany's Fiesto pneumatic manipulator, the pressure is adjustable, equipped with a pressure buffer valve, so that the gripping action is smooth grasping the hand equipped with a sensing mechanism, can automatically perceive objects, and notify the control center for object pick and place.
5. Control system The control system consists of a large PLC and a touch screen. The system has a powerful Profibus communication function. Real-time transmission of data can be given to Tai Network, the control instructions can be sent to the servo system as a bus, so that the entire movement is quite smooth. This system can preset a variety of workpiece programs. When replacing a product, the corresponding program can be called on the touch screen.
6, security protection device The machine has a fault prompts and alarm functions, and each time a fault can correctly reflect the specific location of the fault, to facilitate the rapid troubleshooting, including: robot collision protection function; workpiece installation in place detection; light curtain safety protection.
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