长行程桁架机器人典型组件的模块化设计

Modular design of typical components for long stroke gantry robots

为了解决长行程导致的桁架机器人设计选材困难、安装调试复杂等问题,提出模块化设计的方法。利用此方法将长行程二轴桁架机器人分成X轴模块、Z轴模块、立柱模块、电控系统模块等具有独立功能和标准接口的几部分,相同模块具有互换性,各模块依接口对接即可完成设备组装。X轴模块的大尺寸横梁也设计为多个标准模块组装而成,还对横梁进行了力学分析。结果表明模块化设计能够方便选材降低成本,有效控制安装位置精度,快速实施设计变更,能在安装地面不平整时制定有效调节方案,经安装调试及实际使用,符合技术参数要求,运行平稳可靠,达到了预期目标。

In order to solve the problems of difficult material selection and complex installation and debugging caused by long-stroke of Gantry robots,a modular design method is proposed.Using this method,the long-stroke two-axis truss robot is divided into X-axis module,Z-axis module,post module and electronic control system module with independent functions and standard interfaces.The same module is interchangeable andeach module can be assembled by interface to complete the equipment assembly.The large-size crossbeam of X-axis module is also designed for multiple standards.Mechanical analysis of crossbeams is also carried out.The results show that the modular design can facilitate the selection of materials and reduce the cost,effectively control the accuracy of installation position,quickly implement design changes,and effective adjustment scheme when installing uneven ground.After installation,commissioning and practical use,it meets the requirements of technical parameters.It runs smoothly and reliably,and achieves the expected goal.