IT202000021520A1 - 3D CARTESIAN COORDINATES MOVEMENT SYSTEM - Google Patents

Description

Description

Field of application

The present invention finds application in any sector where it is necessary to pick up, move and deposit a load.

State of the art

State-of-the-art Cartesian coordinate handling systems consist of a set of single linear axes connected perpendicularly to reach all the points to be reached.

Each axis ? normally composed of a linear guide, a carriage or block that slides along the axis of the guide, and a transmission device such as a toothed belt, rack or screw.

The movement ? made by a drive member that moves the carriage or shoe along the guide which remains stationary. Normally, each transmission organ has its own motor organ placed integrally with the axle in question.

The various transmission systems have their own characteristics: the toothed belt system normally provides for a transmission to the opposite end of the motor side for which the length of the transmission organ? double the length of the axis.

The screw drive system ? composed of a screw, as long as the entire axis which, by rotating on its own axis, moves the carriage or runner connected by a snail. This system? recommended for lengths of the axis limited why? during motion they create vibrations that can damage the axis itself.

The rack and pinion drive system can reach considerable lengths of the axis, but requires precision machining and coupling between the guide and the carriage or runner along the entire axis with higher machining costs than in the previous cases.

Presentation of the invention

The invention consists in the use in the system of a single length toothed belt for each axis as a transmission member. Single length why? ? without postponement of return thereof. The transmission organ remains stationary integral with the axis, similar to the rack system. The movement organ, trolley or skate with the driving organ on board, is the only moving part along the axis.

In addition on board the same trolley ? housed the movement member for the second axis, subject of the patent N.0001429917. For X-axis and Y-axis.

Object of the present invention ? the addition of the motor organ of the third axis, Z axis and fourth balance axis A on the same carriage object of the patent N.0001429917 for axis X and axis Y.

The invention therefore consists in grouping on the movement member, trolley or skate, the motor members of the X Axis, Y Axis, Z Axis and A Axis of the Cartesian coordinate system.

The transmission organs, connected to the opposite vertices of the system, guarantee the stability? and the parallelism of the whole system without resorting to expensive machining to contain the machining tolerances. This system, unlike existing systems, allows you to reach lengths of the axes greater than the norm and at speeds? more elevated. The Jeko3D? directly derived, as an evolution, of the Jeko Due Assi patent. No. 0001429917.

The Jeko Due Assi operates along the X and Y axis of a Cartesian system. Jeko3D implements the third Axis, Z to the system.

The result ? a Cartesian Robot with 3 Axes, X ?Y ? Z with the working principle of the JEKO.

The Jeko3D, as shown in Figure 1, ? ideally made up of a parallelepiped inscribed by 4 parallel tracks 1-2-3-4, with origin from the same plane.

The said tracks 1-2, and 3-4 are parallel to each other.

The distance between said track 1-3 and said track 2-4 represent the height of the system, Z axis.

The distance between said track 1-2 and said track 3-4 represent the width of the system, Y axis.

The length of said 1-2 track and said 3-4 track represent the length of the System, X Axis.

A column 5 ? located between said track 1 and said track 2 vi ?, and a second column 6 ? located between said track 3 and said track 4.

A bridge 7 connects said column 5 and said column 6.

The said bridge 7, at vertex 16 ? connected to said column 5 with trolley 18 and slides along the axis of said column 5

The said bridge 7, at vertex 17 ? connected to said column 6 with trolley 19 and slides along the axis of said column 6.

The said column 5 ? connected at the upper vertex 8 to said track 1 with a carriage 10

The said column 5 ? connected at the lower vertex 9 to said track 2 with a carriage 11

The said column 5 pu? slide along the entire length of the axes of said tracks 1-2

The said column 6 ? connected at the upper vertex 12 to said track 3 with a carriage 14

The said column 6 ? connected at the lower vertex 13 to said track 4 with a trolley 15

The said column 6 pu? slide along the entire length of the axes of said tracks 3-4

The said deck 7 ? connected at the vertex 16 to said column 5 through carriage 18. Said carriage 18, integral with said bridge 7, can? slide along the axis of said column 5 along its entire length.

The said deck 7 ? connected at the vertex 17 to said column 6 through carriage 19. Said carriage 19, integral with said bridge 7, can? slide along the axis of said column 6 along its entire length.

The carriage 20, integral with said bridge 7, can slide along the entire length of the axis of said bridge 7.

Said trolley 20 has on board the driving member 21, the driving member 22, the driving member 23, the driving member 24, the member for supplying the electric driving force 25, for intelligent movement of the axles.

Four motion transmission members, in this case a toothed belt or the like, member 26, member 27, member 28 and member 29, are respectively connected to said motor member 21, to said motor member 22, to said motor member 23 and to said member motor 24 allow the movement of said trolley 20 in the various points inside the system.

Said member 26 starts from vertex 30, passes through said point 8, passes through said point 16, then through said bridge 7, reaches said point 17, then continues through said point 13 to reach vertex 37.

Said member 27 starts from vertex 32, passes through said point 9, passes through said point 16, then through said bridge 7, reaches said point 17, then continues through said point 12 to reach vertex 35.

Said member 28 starts from vertex 34, passes through said point 12, passes through said point 17, then through said bridge 7, reaches said point 16, then continues through said point 9 to reach vertex 33.

Said member 29 starts from vertex 36, passes through said point 13, passes through said point 17, then through said bridge 7, reaches said point 16, then continues through said point 8 to reach vertex 31.

Said motor organ 21 ? connected with said organ 26

Said drive member 22 ? connected with said organ 27

Said drive member 23 ? connected with said organ 28

Said drive member 24 ? connected with said organ 29

The said organ 29 pu? it remains insane as a check for system parallelism

The movement of the system ? made as follows:

The simultaneous clockwise rotation and at the same speed? of said driving member 21, of said driving member 22, of said driving member 23, of said driving member 24, only move said trolley 20 in the right direction along the axis of said bridge 7, while the counterclockwise rotation of said driving member 21, of said driving member 22 and of said driving member 23, of said driving member 24, moves said carriage 20 in the opposite direction.

The rotation of said driving member 21, of said driving member 22, of said driving member 23 and of said driving member 24, in the different combinations, clockwise and counterclockwise and at different speeds, moves said carriage 20 of the system, simultaneously sliding along the axes of said rails 1-2, of said rails 3-4, and simultaneously along said column 5 and said column 6, and lastly along said bridge 7, causes said carriage 20 to move to all points of the inscribed space from said track 1, from said track 2, from said track 3 and from said track 4.

Said member 26, integral with said vertex 30, exerts an equal and opposite force with respect to said member 29 integral with vertex 31, passing through said point 8 of said carriage 10.

Said member 27, integral with said vertex 32, exerts an equal and opposite force with respect to said member 28 integral with vertex 33, passing through said point 9 of said carriage 11.

Does the system described guarantee perpendicularity? of said column 5 with respect to said track 1 and said track 2, along their entire length. Said member 28, integral with said vertex 34, exerts an equal and opposite force with respect to said member 27 integral with vertex 35, passing through said point 12 of said carriage 14.

The said member 29, integral with the said vertex 36, exerts an equal and opposite force with respect to the said member 27 integral with the vertex 37 passing through the said point 13 of the said carriage 15.

Does the system described guarantee perpendicularity? of said column 6 with respect to said track 3 and said track 4, along their entire length.

The said member 26, integral with the said vertex 34, exerts an equal and opposite force with respect to the said member 28 integral with the vertex 34, passing through the said point 16 of the said carriage 18.

The said member 27, integral with the said vertex 32, exerts an equal and opposite force with respect to the said member 29 integral with the vertex 36, passing through the said point 17 of the said carriage 19.

Does the system described guarantee perpendicularity? of said bridge 7 with respect to said column 5 and said column 6 along their entire length.

The entire system of connected Cartesian axes, as a whole, ensures perfect parallelism of said bridge 7 with the support surface of said track 2 and of said track 4.

The Jeko3D system guarantees the maintenance of the Cartesian geometry, respecting the parallelism of said track 1, of said track 2, and of said track 3, of said track 4, to each other.

It also guarantees perfect perpendicularity of the column 5 with the pair of the said track 1 and the said track 2, and also the perfect perpendicularity? of column 6 with the pair of said track 3 and said track 4.

Does the system guarantee perpendicularity? of said bridge 7 with said column 5, and of said bridge 7 with said column 6.

Claims (7)

Claims 1. A Cartesian Coordinate Movement System formed by a plurality? of fixed and mobile elements including: 1) A structural part: rail (1,2,3,4), formed by an extruded or bent metal profile, fixed to the support surface with rigid blocking elements so as to form a guided sliding surface. The rails (1,2) and the rails (3,4) are superimposed and parallel to each other. The respective pairs of rails (1,2) and (3,4) have their base in the same plane and spaced out and parallel to form a parallelepiped space. A transmission organ (26,27,28,29) ? consisting of a flexible element with knobs protruding along its length like a toothed belt 2) A handling unit comprising: column (5,6), formed by an extruded or bent metal profile at the ends of which ? fixed a rail-column carriage (10,11,12,13) composed of a plate to which sliding rollers are connected. A bridge (7), formed by an extruded or bent metal profile at the ends of which ? fixed a column-bridge trolley (18,19), made up of a plate to which sliding rollers are connected. A main carriage (20) comprising a shaped base to which rollers are connected to slide along the deck (7) 3) A set of power (21,22,23,24), consisting of elements designed to convert a driving force into rotary movement and a logic control (25) for movement control 2. Cartesian Coordinate Movement System according to claim 1 characterized by structure; rails (1,2,3,4) fixed on a metal structure or other material; first transmission member (26) anchored with a fixing element to the apex (30) and apex (37) passing through the nodes (8,16,17,13); second transmission member (27) anchored with a fixing element to the apex (32) and apex (35) passing through the nodes (9,16,17,12); third transmission member (28) anchored with a fixing element to the apex (34) and apex (33) passing through the nodes (12,17,16,9); fourth transmission member (29) anchored with a fixing element to the vertex (36) and vertex (31) passing through the nodes (13,17,16,8) 3. Movement system with Cartesian coordinates according to claim 1 characterized by a movement assembly: a carriage (10) composed of a plate to which sliding rollers are connected, ? connected to the upper vertex of the column (5) and runs tangent along the entire track (1); a carriage (11) made up of a plate to which sliding rollers are connected, ? connected to the lower vertex of the column (5) and runs tangent along the entire track (2); a carriage (14) made up of a plate to which sliding rollers are connected, ? connected to the upper vertex of the column (6) and runs tangent along the entire track (3); a carriage (15) made up of a plate to which sliding rollers are connected, ? connected to the lower vertex of the column (6) and runs tangent along the entire track (4); a carriage (18) made up of a plate to which sliding rollers are connected, ? connected to the vertex of the bridge (7) and runs tangent along the entire column (5); a carriage (19) made up of a plate to which sliding rollers are connected, ? connected to the opposite vertex of the bridge (7) and runs tangent along the entire column (6); a main bogie (20) composed of a bent plate houses rollers, which runs tangent along the bridge (7) 4. Cartesian Coordinate Movement System according to claim 1 and 3 characterized in that said main carriage (20) houses the driving member (21,22,23,24), comprising a static part, the case, inside of which a mobile part, rotor, has connected to one end a wheel having blocks tangential to the circumference and parallel to the axis of the rotor itself and the control organ (25) composed of a set of electronic components designed to transform the digital information external logic commands for the management of the driving force supply for the power units (21,22,23,34) 5. Movement system with Cartesian coordinates according to claim 1, 3 and 4 characterized in that: the driving member (21) ? connected to the transmission organ (26) and pu? scroll along the same; the motor part (22) ? connected to the transmission organ (27) and pu? scroll along the same; the motor part (23) ? connected to the transmission organ (28) and pu? scroll along the same; the motor part (24) ? connected to the transmission organ (29) and pu? scroll along the same; 6. Cartesian coordinate movement system according to claim 1, 4 and 5 characterized in that: the control member (25) controls the movement of the motor member (21) with movement along the transmission member (26), of the driving member (22) with movement along the transmission member (27), of the driving member (23) with movement along the transmission member (28) and of the driving member (24) with movement along the? transmission member (29), drag the main bogie (20) along the bridge (7), the bridge (7) moves along the columns (5,6) and the columns (5,6) move along the tracks ( 1,2,3,4) 7. Movement system with Cartesian coordinates according to claim 1, 5 and 6 characterized in that: the control member (25) receives the positions to reach from a unit? external and manages the synchronized movements of the motor parts (21,22,23,24) to make the main carriage (20) reach, moving along the bridge (7), dragging the bridge (7) to move along the columns (5, 6), and the columns (5,6) along the tracks (1,2,3,4), the desired position in the space circumscribed by the tracks (1,2,3,4)