WO2016173139A1 - 一种直线式柔性定位装置 - Google Patents

一种直线式柔性定位装置 Download PDF

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Publication number
WO2016173139A1
WO2016173139A1 PCT/CN2015/086143 CN2015086143W WO2016173139A1 WO 2016173139 A1 WO2016173139 A1 WO 2016173139A1 CN 2015086143 W CN2015086143 W CN 2015086143W WO 2016173139 A1 WO2016173139 A1 WO 2016173139A1
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WO
WIPO (PCT)
Prior art keywords
axis
screw shaft
base
slide
shaft
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2015/086143
Other languages
English (en)
French (fr)
Inventor
黄海
姚维兵
苏灿辉
黄柱景
何庆平
周德仁
陈振城
许正仁
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangzhou Mino Automotive Equipment Co Ltd
Original Assignee
Guangzhou Mino Automotive Equipment Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Guangzhou Mino Automotive Equipment Co Ltd filed Critical Guangzhou Mino Automotive Equipment Co Ltd
Priority to EP15832939.1A priority Critical patent/EP3231549B1/en
Priority to PL15832939T priority patent/PL3231549T3/pl
Priority to US15/084,090 priority patent/US10330243B2/en
Publication of WO2016173139A1 publication Critical patent/WO2016173139A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
    • B23K37/04—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass for holding or positioning work
    • B23K37/0426—Fixtures for other work
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2092—Undercarriages with or without wheels comprising means allowing depth adjustment, i.e. forward-backward translation of the head relatively to the undercarriage
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0096—Program-controlled manipulators co-operating with a working support, e.g. work-table
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023—Cartesian coordinate type
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2085—Undercarriages with or without wheels comprising means allowing sideward adjustment, i.e. left-right translation of the head relatively to the undercarriage
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
    • F16M11/26—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other by telescoping, with or without folding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K2101/00—Articles made by soldering, welding or cutting
    • B23K2101/006—Vehicles
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms
    • F16H2025/204—Axial sliding means, i.e. for rotary support and axial guiding of nut or screw shaft

Definitions

  • the invention is used in the field of body-in-white manufacturing, and in particular relates to a linear flexible positioning device.
  • Multi-vehicle hybrid production can adapt to the market demand for vehicle diversification, reduce R&D expenses and save costs, which is the mainstream trend of the automobile manufacturing industry.
  • the flexible positioning device can complete the positioning of various vehicle types, save a lot of time when the vehicle is switched, and meet the requirements of the vehicle body positioning for multi-vehicle hybrid production.
  • the positioning device of the market has poor flexibility, low carrying capacity, poor positioning accuracy, large overall size, heavy weight and too large space, which imposes certain restrictions on the flexible production of the white body.
  • the present invention provides a linear flexible positioning device with large carrying capacity, high precision, good protection, and capable of positioning any point within a certain range of space.
  • a linear flexible positioning device comprising an X-axis positioning portion, a Y-axis positioning portion and a Z-axis positioning portion, the X-axis positioning portion including an X-axis base and being disposed at An X-axis slide rail on the X-axis base, an X-axis slide table mounted on the X-axis slide rail, and an X-axis power unit that drives the X-axis slide table to move back and forth along the X-axis slide rail, the Y
  • the shaft positioning portion includes a Y-axis base coupled to the X-axis slide, a Y-axis slide disposed on the Y-axis base and perpendicular to the X-axis slide, and mounted on the Y-axis slide a Y-axis slide table and a Y-axis power unit for driving the Y-axis slide table to move left and right along the Y-axis slide rail,
  • the Z-axis screw shaft is mounted on the vertical column through a Z-axis mounting seat located at the bottom of the guiding inner cavity, and the vertical column forms a transmission cavity below the guiding inner cavity.
  • a driven pulley is arranged in the transmission cavity, and the Z-axis servo motor is mounted on the column through a motor mounting plate, and the output shaft of the Z-axis servo motor is in the
  • the driving pulley is provided with a driving pulley connected to the driven pulley through a timing belt.
  • the X-axis power unit includes an X-axis screw shaft mounted on the X-axis base parallel to the X-axis slide, and mounted on the X-axis screw shaft and An X-axis spindle nut coupled to the X-axis slide and an X-axis servo motor that drives the X-axis screw shaft to rotate.
  • the X-axis screw shaft is mounted on the X-axis base through the X-axis mounting seat at the end, and the X-axis screw shaft is connected to the output shaft of the X-axis servo motor through the coupling.
  • the X-axis base is provided with an X-axis limiting block
  • the X-axis sliding table is provided with a collision block that can cooperate with the limiting block to limit the stroke of the X-axis sliding table.
  • the X-axis slide rails are respectively disposed on two sides of the X-axis screw shaft, and the X-axis slide table is mounted on the X-axis slide rail through the X-axis slide block,
  • the X-axis base is provided with an X-axis side guard on the outer side of the two X-axis slide rails, and the X-axis base is provided with an X-axis upper guard on the top of the X-axis side guard, and the X-axis slide has a section in the middle.
  • the X-axis base is provided with a scale indicating a position of the Y-axis base
  • the X-axis base is provided with an X-axis alignment seat and an X-axis mounted on the X-axis alignment seat. Alignment block.
  • the Y-axis power unit includes a Y-axis screw shaft mounted on the Y-axis base parallel to the Y-axis slide, and mounted on the Y-axis screw shaft and a Y-axis spindle nut coupled to the Y-axis slide and a Y-axis servo motor that drives the Y-axis screw shaft to rotate.
  • the Y-axis screw shaft is mounted on the Y-axis base through the Y-axis mounting seat at the end, and the Y-axis screw shaft is connected to the output shaft of the Y-axis servo motor through the coupling.
  • the Y-axis base is provided with a Y-axis limiting block
  • the Y-axis sliding table is provided with a collision block that can cooperate with the limiting block to limit the stroke of the Y-axis sliding table.
  • the Y-axis slide rail is disposed on each side of the Y-axis screw shaft, and the Y-axis slide table is mounted on the Y-axis slide rail through the Y-axis slide rail,
  • the Y-axis slide is equipped with a Y-axis side guard on the outer side of the two Y-axis slide rails, and the Y-axis slide seat is provided with a Y-axis upper guard plate on the top of the Y-axis side guard plate, and the Y-axis slide table has a middle section A "back" shape of the through hole is provided, and the Y-axis upper guard passes through the inside of the Y-axis slide.
  • the Y-axis base is provided with a scale indicating the position of the column, and the Y-axis base is equipped with a Y-axis alignment seat and a Y-axis alignment mounted on the Y-axis alignment seat. Piece.
  • the beneficial effects of the invention when the linear flexible positioning device is in operation, the X-axis positioning portion, the Y-axis positioning portion and the Z-axis positioning portion jointly form a space Cartesian coordinate system, and the installation panel is positioned at any point within a certain range.
  • the X-axis positioning unit, the Y-axis positioning unit and the Z-axis positioning unit are mutually independent modules, which can be split and reorganized to quickly construct positioning units of different strokes.
  • the Z-axis servo motor in the Z-axis positioning part runs and drives the Z-axis screw shaft in the column to make a rotary motion
  • the Z-axis screw shaft converts the rotary motion of the Z-axis servo motor into the vertical lifting movement of the Z-axis screw nut.
  • the Z-axis screw nut pushes the mounting panel mounted on the spline shaft for vertical lifting movement.
  • the installation panel is used for lifting movement, it is directly guided by the cooperation of the spline shaft and the spline nut, which occupies small space, good rigidity and high load, and satisfies the high-precision positioning requirement of heavy load.
  • Figure 1 is a perspective view of an embodiment of the present invention
  • FIG. 2 is a schematic structural view of an X-axis positioning portion according to an embodiment of the present invention.
  • FIG. 3 is a schematic structural view of a Z-axis positioning portion according to an embodiment of the present invention.
  • FIG. 1 there is shown a specific structure of a preferred embodiment of the present invention.
  • the structural features of the various elements of the present invention will be described in detail below, and if described in the directions (up, down, left, right, front and back) The description is made with reference to the structure shown in Fig. 1, but the actual use direction of the present invention is not limited thereto.
  • the present invention provides a linear flexible positioning device including an X-axis positioning portion 1, a Y-axis positioning portion 2, and a Z-axis positioning portion 3, the X-axis positioning portion 1 including an X-axis base 11 disposed on the X-axis An X-axis slide rail 12 on the base 11, an X-axis slide table 13 mounted on the X-axis slide rail 12, and an X-axis power unit that drives the X-axis slide table 13 to move back and forth along the X-axis slide rail 12
  • the X-axis power unit includes an X-axis screw shaft 14 mounted on the X-axis base 11 parallel to the X-axis slide rail 12, mounted on the X-axis screw shaft 14 and sliding with the X-axis An X-axis spindle nut 15 connected to the table 13 and an X-axis servo motor 16 for driving the X-axis screw shaft 14 to rotate.
  • the X-axis screw shaft 14 is mounted on the X-axis base 11 through an X-axis mount 141 at the end, and the X-axis screw shaft 14 is coupled to an output shaft of the X-axis servo motor 16 via a coupling 142, the X
  • the shaft slide rail 12 is provided on each side of the X-axis screw shaft 14, and the X-axis slide table 13 is mounted on the X-axis slide rail 12 through the X-axis slide block 17, and when the X-axis servo motor 16 is operated, X
  • the rotary motion of the spindle screw shaft 14 is converted into linear motion of the X-axis spindle nut 15, and the X-axis spindle nut 15 pushes the X-axis slide table 13 to slide.
  • the X-axis base 11 is provided with an X-axis limiting block 18, and the X-axis sliding table 13 is provided with a collision block 19 that can cooperate with the limiting block 18 to limit the stroke of the X-axis sliding table 13.
  • the mechanical limit of the X direction is achieved.
  • the X-axis base 11 is cast-molded, and the reinforcing ribs are added through a reasonable arrangement structure, thereby effectively improving the rigidity of the entire device and reducing the weight.
  • the X-axis base 11 is provided with an X-axis side guard 111 on the outer side of the two X-axis slide rails 12, and the X-axis base 11 is provided with an X-axis upper guard 112 on the top of the X-axis side guard 111, the X-axis
  • the cross section of the slide table 13 has a "back" shape in which a through hole is provided in the middle, and the X-axis upper guard plate 112 passes through the inside of the X-axis slide table 13.
  • the X-axis side guard 111 and the X-axis upper guard 112 together form an incompletely closed system that prevents the weld slag from damaging the internal components.
  • the wire air pipe moves in the protected towline 4 to improve the reliability of the flexible positioning unit.
  • the Y-axis positioning portion 2 is similar in structure to the X-axis positioning portion 1, and the Y-axis positioning portion includes a Y-axis base 21 connected to the X-axis slide table 13, is disposed on the Y-axis base 21 and is perpendicular to the a Y-axis slide rail of the X-axis slide rail, a Y-axis slide table 22 mounted on the Y-axis slide rail, and a Y-axis power unit that drives the Y-axis slide rail to move left and right along the Y-axis slide rail, the Y-axis
  • the power unit includes a Y-axis screw shaft mounted on the Y-axis base parallel to the Y-axis slide, and a Y-axis wire mounted on the Y-axis screw shaft and connected to the Y-axis slide 22 A rod nut and a Y-axis servo motor that drives the Y-axis screw shaft to rotate.
  • the Y-axis screw shaft is mounted on the Y-axis base 21 through the Y-axis mounting seat at the end, and the Y-axis screw shaft is connected to the output shaft of the Y-axis servo motor through the coupling, and the Y-axis servo motor is running, Y
  • the rotary motion of the shaft screw shaft is converted into a linear motion of the Y-axis screw nut, and the Y-axis screw nut pushes the Y-axis slide 22 to slide.
  • the Y-axis base 21 is provided with a Y-axis limiting block, and the Y-axis sliding table is provided with a collision block that can cooperate with the limiting block to limit the stroke of the Y-axis sliding table. In the event of an electrical system failure, the mechanical limit of the Y direction is achieved.
  • the Y-axis base 21 is cast-molded, and the reinforcing ribs are added by rationally arranging the structure, thereby effectively improving the rigidity of the entire device and reducing the weight.
  • the Y-axis slide rail is disposed on each side of the Y-axis screw shaft, and the Y-axis slide table is mounted on the Y-axis slide rail through the Y-axis slide block, and the Y-axis slide seat 21 is on the two Y-axis
  • the outer side of the slide rail is provided with a Y-axis side guard plate, and the Y-axis slide seat 21 is provided with a Y-axis upper guard plate at the top of the Y-axis side guard plate, and the cross section of the Y-axis slide table 22 is provided with a through hole in the middle.
  • the Y-axis upper guard passes through the inside of the Y-axis slide.
  • the Y-axis side guard and the Y-axis upper guard together form an incompletely closed system to prevent the weld slag from damaging the internal components.
  • the wire air pipe moves in the protected drag chain to improve the reliability of the flexible positioning unit.
  • the X-axis base 11 is provided with a scale 113 indicating the position of the Y-axis base, and the X-axis base 11 is provided with an X-axis alignment seat 114 and an X-axis alignment block 115 mounted on the X-axis alignment seat 114. .
  • the X-axis alignment block 11 is mounted on the X-axis base 11 through the X-axis alignment seat 114 to achieve alignment in the X direction.
  • the X-axis alignment block 115 is taken away, similar to the X-axis positioning portion, the Y
  • the shaft base is provided with a scale indicating the position of the column
  • the Y-axis base is provided with a Y-axis alignment seat and a Y-axis alignment block mounted on the Y-axis alignment seat.
  • the servo motor in the X-axis positioning unit 1 and the Y-axis positioning unit 2 is a high-resolution motor
  • the screw is a high-precision screw
  • the guide rail is guided between the slide and the base, so that high-precision positioning in the X-direction and the Y-direction can be realized. .
  • the Z-axis positioning portion 3 includes a post 32 connected to the Y-axis slide table and having a guide inner cavity 31 therein, and a Z-axis screw shaft 33 mounted in the guide inner cavity 31, mounted in the a Z-axis spindle nut 34 on the Z-axis screw shaft 33 and a Z-axis servo motor 35 that drives the Z-axis screw shaft 33 to rotate, the Z-axis screw shaft 33 being perpendicular to the X-axis slide 12 and the Y-axis
  • the slide rail is vertically disposed, and is fixedly connected with the Z-axis screw nut 34 to be provided with a spline shaft 35 disposed outside the Z-axis screw shaft 33.
  • the post 32 is mounted on the top of the guide inner cavity 31.
  • the Z-axis screw shaft 33 is mounted on the column 32 via a Z-axis mount 37 located at the bottom of the guide cavity 31.
  • the column 32 defines a transmission cavity 38 below the guide cavity 31.
  • the Z-axis screw shaft 33 is connected to the transmission chamber 38 and is provided with a driven pulley 39.
  • the Z-axis servo motor 35 is mounted on the column 32 through a motor mounting plate, and the output of the Z-axis servo motor 35 A drive pulley connected to the driven pulley 39 via a timing belt is mounted on the shaft in the transmission chamber 38.
  • the Z-axis servo motor 35 When the Z-axis servo motor 35 is running, the Z-axis servo motor 35 drives the driving pulley, and the driving pulley drives the driven belt 39 wheels to make the Z-axis screw shaft 33 connected thereto rotate.
  • the Z-axis screw shaft 33 converts the rotary motion of the Z-axis servo motor 35 into the vertical lifting motion of the Z-axis spindle nut 34, and the Z-axis spindle nut 34 pushes the mounting panel 5 mounted on the spline shaft 35 to be vertical Lifting movement.
  • the mounting panel 5 is used for lifting and lowering movement, it is directly guided by the cooperation of the spline shaft 35 and the spline nut 34, which occupies small space, has good rigidity and high load, and satisfies the high-precision positioning requirement of heavy load.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Machine Tool Units (AREA)
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Abstract

一种直线式柔性定位装置，包括X轴定位部（1）、Y轴定位部（2）和Z轴定位部（3），X轴定位部（1）包括X轴底座（11）、X轴滑轨（12）、X轴滑台（13）以及X轴动力单元，Y轴定位部（2）包括Y轴底座（21）、Y轴滑轨、Y轴滑台（22）以及Y轴动力单元，Z轴定位部（3）包括与立柱（32）、Z轴丝杆轴（33）、装在Z轴丝杆轴（33）上的Z轴丝杆螺母（34）以及驱动Z轴丝杆轴（33）转动的Z轴伺服电机（35），Z轴丝杆轴（33）垂直于X轴滑轨（12）和Y轴滑轨竖向设置，与Z轴丝杆螺母（34）固定连接设有套装在Z轴丝杆轴（33）外侧的花键轴（35），立柱（32）上在导向内腔（31）的顶部装有供花键轴（35）穿过的花键母（36），所述花键轴（36）的顶端伸出所述导向内腔（31）并在所述立柱（32）的上方装有安装面板（5）。本直线式柔性定位装置承载能力大，精度高，防护性好，能完成对空间一定范围内任意点定位。

Description

一种直线式柔性定位装置
技术领域
本发明用于白车身制造领域，特别是涉及一种直线式柔性定位装置。
背景技术
多车型混线生产能适应市场对车型多样化的需求，减小研发费用，节约成本，是汽车制造业的主流趋势。柔性定位装置能完成对各种车型的定位，在车型切换时节省大量时间，满足多车型混线生产对车身定位的要求。目前市面的定位装置柔性较差，承载能力低，定位精度差，整体尺寸庞大，质量重且占用空间范围太大，对白车身柔性生产带来一定限制。
发明内容
为解决上述问题，本发明提供一种承载能力大，精度高，防护性好，能完成对空间一定范围内任意点定位的直线式柔性定位装置。
本发明解决其技术问题所采用的技术方案是：一种直线式柔性定位装置，包括X轴定位部、Y轴定位部和Z轴定位部，所述X轴定位部包括X轴底座、设在所述X轴底座上的X轴滑轨、装在所述X轴滑轨上的X轴滑台以及驱动所述X轴滑台沿X轴滑轨前后运动的X轴动力单元，所述Y轴定位部包括与所述X轴滑台连接的Y轴底座、设在所述Y轴底座上并垂直于所述X轴滑轨的Y轴滑轨、装在所述Y轴滑轨上的Y轴滑台以及驱动所述Y轴滑台沿Y轴滑轨左右运动的Y轴动力单元，所述Z轴定位部包括与所述Y轴滑台连接且在内部设有导向内腔的立柱、装在所述导向内腔中的Z轴丝杆轴、装在所述Z轴丝杆轴上的Z轴丝杆螺母以及驱动所述Z轴丝杆轴转动的Z轴伺服电机，所述Z轴丝杆轴垂直于X轴滑轨和Y轴滑轨竖向设置，与所述Z轴丝杆螺母固定连接设有套装在所述Z轴丝杆轴外侧的花键轴，所述立柱上在导向内腔的顶部装有供所述花键轴穿过的花键母，所述花键轴的顶端伸出所述导向内腔并在所述立柱的上方装有安装面板。
进一步作为本发明技术方案的改进，所述Z轴丝杆轴通过位于导向内腔底部的Z轴安装座装在所述立柱上，所述立柱上在所述导向内腔的下方形成传动腔，与所述Z轴丝杆轴连接在所述传动腔内装有从动带轮，所述Z轴伺服电机通过电机安装板装在所述立柱上，所述Z轴伺服电机的输出轴上在所述传动腔内装有与所述从动带轮通过同步带连接的主动带轮。
进一步作为本发明技术方案的改进，所述X轴动力单元包括平行于所述X轴滑轨装在所述X轴底座上的X轴丝杆轴、装在所述X轴丝杆轴上且与所述X轴滑台连接的X轴丝杆螺母以及驱动所述X轴丝杆轴转动的X轴伺服电机。
进一步作为本发明技术方案的改进，所述X轴丝杆轴通过端部的X轴安装座装在X轴底座上，X轴丝杆轴通过联轴器与X轴伺服电机的输出轴相连，所述X轴底座上设有X轴限位块，所述X轴滑台上设有可与所述限位块配合以限制所述X轴滑台行程的撞块。
进一步作为本发明技术方案的改进，所述X轴滑轨在X轴丝杆轴的两侧各设一根，所述X轴滑台通过X轴滑块装在X轴滑轨上，所述X轴底座在两X轴滑轨的外侧装有X轴侧护板，X轴底座在X轴侧护板的顶部装有X轴上护板，所述X轴滑台的截面呈中部设有过孔的“回”字形，所述X轴上护板从所述X轴滑台内部穿过。
进一步作为本发明技术方案的改进，所述X轴底座上设有指示Y轴底座位置的标尺，所述X轴底座上装有X轴对位座和装在所述X轴对位座上的X轴对位块。
进一步作为本发明技术方案的改进，所述Y轴动力单元包括平行于所述Y轴滑轨装在所述Y轴底座上的Y轴丝杆轴、装在所述Y轴丝杆轴上且与所述Y轴滑台连接的Y轴丝杆螺母以及驱动所述Y轴丝杆轴转动的Y轴伺服电机。
进一步作为本发明技术方案的改进，所述Y轴丝杆轴通过端部的Y轴安装座装在Y轴底座上，Y轴丝杆轴通过联轴器与Y轴伺服电机的输出轴相连，所述Y轴底座上设有Y轴限位块，所述Y轴滑台上设有可与所述限位块配合以限制所述Y轴滑台行程的撞块。
进一步作为本发明技术方案的改进，所述Y轴滑轨在Y轴丝杆轴的两侧各设一根，所述Y轴滑台通过Y轴滑块装在Y轴滑轨上，所述Y轴滑座在两Y轴滑轨的外侧装有Y轴侧护板，Y轴滑座在Y轴侧护板的顶部装有Y轴上护板，所述Y轴滑台的截面呈中部设有过孔的“回”字形，所述Y轴上护板从所述Y轴滑台内部穿过。
进一步作为本发明技术方案的改进，所述Y轴底座上设有指示立柱位置的标尺，所述Y轴底座上装有Y轴对位座和装在所述Y轴对位座上的Y轴对位块。
本发明的有益效果：本直线式柔性定位装置工作时，X轴定位部、Y轴定位部和Z轴定位部，共同组成空间笛卡尔坐标系，完成安装面板对一定范围内任意点的定位。X轴定位部、Y轴定位部和Z轴定位部为相互独立的模块，能拆分重组，快速构建不同行程的定位单元。其中Z轴定位部中Z轴伺服电机运转并驱动立柱中的Z轴丝杆轴做回转运动，Z轴丝杆轴将Z轴伺服电机的回转运动转换为Z轴丝杆螺母的竖直升降运动，Z轴丝杆螺母推动安装于花键轴上的安装面板做竖直升降运动。安装面板做升降运动时，直接通过花键轴和花键母的配合进行导向，占用空间小，刚性好、载荷高，满足重载高精度的定位要求。
附图说明
下面结合附图对本发明作进一步说明：
图1是本发明实施例轴测图；
图2是本发明实施例X轴定位部结构示意图；
图3是本发明实施例Z轴定位部结构示意图。
具体实施方式
参照图1至图3，其显示出了本发明之较佳实施例的具体结构。以下将详细说明本发明各元件的结构特点，而如果有描述到方向( 上、下、左、右、前及后) 时，是以图1所示的结构为参考描述，但本发明的实际使用方向并不局限如此。
本发明提供了一种直线式柔性定位装置，包括X轴定位部1、Y轴定位部2和Z轴定位部3，所述X轴定位部1包括X轴底座11、设在所述X轴底座11上的X轴滑轨12、装在所述X轴滑轨12上的X轴滑台13以及驱动所述X轴滑台13沿X轴滑轨12前后运动的X轴动力单元，所述X轴动力单元包括平行于所述X轴滑轨12装在所述X轴底座11上的X轴丝杆轴14、装在所述X轴丝杆轴14上且与所述X轴滑台13连接的X轴丝杆螺母15以及驱动所述X轴丝杆轴14转动的X轴伺服电机16。所述X轴丝杆轴14通过端部的X轴安装座141装在X轴底座11上，X轴丝杆轴14通过联轴器142与X轴伺服电机16的输出轴相连，所述X轴滑轨12在X轴丝杆轴14的两侧各设一根，所述X轴滑台13通过X轴滑块17装在X轴滑轨12上，X轴伺服电机16运转时，X轴丝杆轴14的回转运动转换为X轴丝杆螺母15的直线运动，X轴丝杆螺母15推动X轴滑台13滑动。
所述X轴底座11上设有X轴限位块18，所述X轴滑台13上设有可与所述限位块18配合以限制所述X轴滑台13行程的撞块19。在电气系统出故障时，实现X向的机械限位。X轴底座11采用开模铸造，通过合理布置结构，增加加强筋，有效提高整个装置的刚性，减轻重量。所述X轴底座11在两X轴滑轨12的外侧装有X轴侧护板111，X轴底座11在X轴侧护板111的顶部装有X轴上护板112，所述X轴滑台13的截面呈中部设有过孔的“回”字形，所述X轴上护板112从所述X轴滑台13内部穿过。X轴侧护板111和X轴上护板112一起组成不完全封闭系统，防止焊渣损伤内部元件。电线气管在有防护的拖链4中运动，提高柔性定位单元的可靠性。
Y轴定位部2与X轴定位部1结构相似，所述Y轴定位部包括与所述X轴滑台13连接的Y轴底座21、设在所述Y轴底座21上并垂直于所述X轴滑轨的Y轴滑轨、装在所述Y轴滑轨上的Y轴滑台22以及驱动所述Y轴滑台沿Y轴滑轨左右运动的Y轴动力单元，所述Y轴动力单元包括平行于所述Y轴滑轨装在所述Y轴底座上的Y轴丝杆轴、装在所述Y轴丝杆轴上且与所述Y轴滑台22连接的Y轴丝杆螺母以及驱动所述Y轴丝杆轴转动的Y轴伺服电机。所述Y轴丝杆轴通过端部的Y轴安装座装在Y轴底座21上，Y轴丝杆轴通过联轴器与Y轴伺服电机的输出轴相连，Y轴伺服电机运转时，Y轴丝杆轴的回转运动转换为Y轴丝杆螺母的直线运动，Y轴丝杆螺母推动Y轴滑台22滑动。
所述Y轴底座21上设有Y轴限位块，所述Y轴滑台上设有可与所述限位块配合以限制所述Y轴滑台行程的撞块。在电气系统出故障时，实现Y向的机械限位。Y轴底座21采用开模铸造，通过合理布置结构，增加加强筋，有效提高整个装置的刚性，减轻重量。所述Y轴滑轨在Y轴丝杆轴的两侧各设一根，所述Y轴滑台通过Y轴滑块装在Y轴滑轨上，所述Y轴滑座21在两Y轴滑轨的外侧装有Y轴侧护板，Y轴滑座21在Y轴侧护板的顶部装有Y轴上护板，所述Y轴滑台22的截面呈中部设有过孔的“回”字形，所述Y轴上护板从所述Y轴滑台内部穿过。Y轴侧护板和Y轴上护板一起组成不完全封闭系统，防止焊渣损伤内部元件。电线气管在有防护的拖链中运动，提高柔性定位单元的可靠性。
所述X轴底座11上设有指示Y轴底座位置的标尺113，所述X轴底座11上装有X轴对位座114和装在所述X轴对位座114上的X轴对位块115。X轴对位块11通过X轴对位座114安装于X轴底座11，实现X方向的对位，对位结束后取走X轴对位块115，同X轴定位部相似，所述Y轴底座上设有指示立柱位置的标尺，所述Y轴底座上装有Y轴对位座和装在所述Y轴对位座上的Y轴对位块。X轴定位部1、Y轴定位部2中伺服电机为高分辨率电机，丝杆为高精度丝杆，滑台与底座之间有导轨导向，因而能实现X向，Y向的高精度定位。
所述Z轴定位部3包括与所述Y轴滑台连接且在内部设有导向内腔31的立柱32、装在所述导向内腔31中的Z轴丝杆轴33、装在所述Z轴丝杆轴33上的Z轴丝杆螺母34以及驱动所述Z轴丝杆轴33转动的Z轴伺服电机35，所述Z轴丝杆轴33垂直于X轴滑轨12和Y轴滑轨竖向设置，与所述Z轴丝杆螺母34固定连接设有套装在所述Z轴丝杆轴33外侧的花键轴35，所述立柱32上在导向内腔31的顶部装有供所述花键轴35穿过的花键母36，所述花键轴35的顶端伸出所述导向内腔31并在所述立柱32的上方装有安装面板5。所述Z轴丝杆轴33通过位于导向内腔31底部的Z轴安装座37装在所述立柱32上，所述立柱32上在所述导向内腔31的下方形成传动腔38，与所述Z轴丝杆轴33连接在所述传动腔38内装有从动带轮39，所述Z轴伺服电机35通过电机安装板装在所述立柱32上，所述Z轴伺服电机35的输出轴上在所述传动腔38内装有与所述从动带轮39通过同步带连接的主动带轮。Z轴伺服电机35运转时，Z轴伺服电机35带动主动带轮，主动带轮带动从动带39轮，使与其连接的Z轴丝杆轴33做回转运动。Z轴丝杆轴33将Z轴伺服电机35的回转运动转换为Z轴丝杆螺母34的竖直升降运动，Z轴丝杆螺母34推动安装于花键轴35上的安装面板5做竖直升降运动。安装面板5做升降运动时，直接通过花键轴35和花键母34的配合进行导向，占用空间小，刚性好、载荷高，满足重载高精度的定位要求。
当然，本发明创造并不局限于上述实施方式，熟悉本领域的技术人员在不违背本发明精神的前提下还可作出等同变形或替换，这些等同的变型或替换均包含在本申请权利要求所限定的范围内。

Claims (10)

  1. 一种直线式柔性定位装置，其特征在于：包括X轴定位部、Y轴定位部和Z轴定位部，所述X轴定位部包括X轴底座、设在所述X轴底座上的X轴滑轨、装在所述X轴滑轨上的X轴滑台以及驱动所述X轴滑台沿X轴滑轨前后运动的X轴动力单元，所述Y轴定位部包括与所述X轴滑台连接的Y轴底座、设在所述Y轴底座上并垂直于所述X轴滑轨的Y轴滑轨、装在所述Y轴滑轨上的Y轴滑台以及驱动所述Y轴滑台沿Y轴滑轨左右运动的Y轴动力单元，所述Z轴定位部包括与所述Y轴滑台连接且在内部设有导向内腔的立柱、装在所述导向内腔中的Z轴丝杆轴、装在所述Z轴丝杆轴上的Z轴丝杆螺母以及驱动所述Z轴丝杆轴转动的Z轴伺服电机，所述Z轴丝杆轴垂直于X轴滑轨和Y轴滑轨竖向设置，与所述Z轴丝杆螺母固定连接设有套装在所述Z轴丝杆轴外侧的花键轴，所述立柱上在导向内腔的顶部装有供所述花键轴穿过的花键母，所述花键轴的顶端伸出所述导向内腔并在所述立柱的上方装有安装面板。
  2. 根据权利要求1所述的直线式柔性定位装置，其特征在于：所述Z轴丝杆轴通过位于导向内腔底部的Z轴安装座装在所述立柱上，所述立柱上在所述导向内腔的下方形成传动腔，与所述Z轴丝杆轴连接在所述传动腔内装有从动带轮，所述Z轴伺服电机通过电机安装板装在所述立柱上，所述Z轴伺服电机的输出轴上在所述传动腔内装有与所述从动带轮通过同步带连接的主动带轮。
  3. 根据权利要求1或2所述的直线式柔性定位装置，其特征在于：所述X轴动力单元包括平行于所述X轴滑轨装在所述X轴底座上的X轴丝杆轴、装在所述X轴丝杆轴上且与所述X轴滑台连接的X轴丝杆螺母以及驱动所述X轴丝杆轴转动的X轴伺服电机。
  4. 根据权利要求3所述的直线式柔性定位装置，其特征在于：所述X轴丝杆轴通过端部的X轴安装座装在X轴底座上，X轴丝杆轴通过联轴器与X轴伺服电机的输出轴相连，所述X轴底座上设有X轴限位块，所述X轴滑台上设有可与所述限位块配合以限制所述X轴滑台行程的撞块。
  5. 根据权利要求4所述的直线式柔性定位装置，其特征在于：所述X轴滑轨在X轴丝杆轴的两侧各设一根，所述X轴滑台通过X轴滑块装在X轴滑轨上，所述X轴底座在两X轴滑轨的外侧装有X轴侧护板，X轴底座在X轴侧护板的顶部装有X轴上护板，所述X轴滑台的截面呈中部设有过孔的“回”字形，所述X轴上护板从所述X轴滑台内部穿过。
  6. 根据权利要求5所述的直线式柔性定位装置，其特征在于：所述X轴底座上设有指示Y轴底座位置的标尺，所述X轴底座上装有X轴对位座和装在所述X轴对位座上的X轴对位块。
  7. 根据权利要求1或2所述的直线式柔性定位装置，其特征在于：所述Y轴动力单元包括平行于所述Y轴滑轨装在所述Y轴底座上的Y轴丝杆轴、装在所述Y轴丝杆轴上且与所述Y轴滑台连接的Y轴丝杆螺母以及驱动所述Y轴丝杆轴转动的Y轴伺服电机。
  8. 根据权利要求7所述的直线式柔性定位装置，其特征在于：所述Y轴丝杆轴通过端部的Y轴安装座装在Y轴底座上，Y轴丝杆轴通过联轴器与Y轴伺服电机的输出轴相连，所述Y轴底座上设有Y轴限位块，所述Y轴滑台上设有可与所述限位块配合以限制所述Y轴滑台行程的撞块。
  9. 根据权利要求8所述的直线式柔性定位装置，其特征在于：所述Y轴滑轨在Y轴丝杆轴的两侧各设一根，所述Y轴滑台通过Y轴滑块装在Y轴滑轨上，所述Y轴滑座在两Y轴滑轨的外侧装有Y轴侧护板，Y轴滑座在Y轴侧护板的顶部装有Y轴上护板，所述Y轴滑台的截面呈中部设有过孔的“回”字形，所述Y轴上护板从所述Y轴滑台内部穿过。
  10. 根据权利要求9所述的直线式柔性定位装置，其特征在于：所述Y轴底座上设有指示立柱位置的标尺，所述Y轴底座上装有Y轴对位座和装在所述Y轴对位座上的Y轴对位块。
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