Shanghai Zhongtuo Cartesian Coordinate Robot Solution on Transfer Machine

Shanghai Zhongtuo Cartesian Coordinate Robot Solution on Transfer Machine

Author: Shanghai Public Extension Robot Technology Co., Ltd. Yang Shubin

Reference: German BAHR Cartesian Robot ()

Keywords: German BAHR, Cartesian Robot, Transplanter

The use of a Cartesian robot on a transfer machine is generally used to change the position of the material. It has many similarities with the palletizer, but the transfer robot does not require that objects be placed in layers, but only a single position 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 initial 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 average 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 we chose two steel structures

Positioning system as an 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.

ELFZ structure schematic

ELFZ appearance

ELFZ movement illustration

3, servo drive system

The palletizing robot selects a servo motor with Profibus function. Each movement axis is equipped with a servo motor and a speed reducer.

Because the distance between two X coordinate axes and the distance between two Z coordinate axes are relatively large, to ensure the synchronization of bilateral movements separately, it is necessary to add a synchronous shaft to transmit power. Because of the special structure, the reducer selects the biaxial output structure.

5, control system

The control system consists of a large PLC and a touch screen. The system has a powerful Profibus communication function. The data can be transmitted to Ethernet in real time, and the control commands can be sent to the servo system as a bus so that the entire movement is quite smooth.