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The Cartesian coordinate robot consists mainly of linear motion units, drive motors, control systems and end operators. For different applications, various types of Cartesian coordinate robots, such as wall-mounted, cantilever, gantry, or inverting, can be easily and quickly combined into different dimensions, various strokes, and different loading capacities. From simple two-dimensional robots to complex five-dimensional robots, there are hundreds of successful examples of structural applications. From the food production to automobile assembly and other automated production lines in all walks of life, there are various types of Cartesian coordinate robots and other equipment that work in tandem with each other. It can be said that Cartesian robots are capable of almost any industrial automation task. Here are its main features:
1 Any combination of robots of various structural styles, carrying capacity and size,
2Using multiple linear motion unit cascades and rack-and-pinion transmissions, it is possible to form tens of meters of over-travel robots.
3 The load capacity can be increased to several tons when multiple linear motion units are connected flat and each belt has a multi-slider structure.
4 Its maximum operating speed can reach 8 meters per second and the acceleration can reach 4 meters per second.
5 repeat positioning accuracy can reach 0.05mm or 0.01mm.
6 The use of a 5-axis or 5-axis CNC system with RTCP function can complete the work of very complex trajectories.
The German Bagra company is one of the world's most famous suppliers of Cartesian robots, producing a wide range of linear motion units/guides, stepper motors, AC servo motors, linear motors and multi-axis CNC systems. Based on this, we can provide linear guides of various specifications, 2D and 3D standard robots, and user-specific robots and production lines in a short time. These robots can be equipped with welding guns, universal grippers or special tools for welding, handling, loading and unloading, packaging, palletizing, demolition, inspection, inspection, classification, assembly, labeling, coding, coding, (soft copying) ) spraying and a series of work. Since all parts of Baigegra's guide rails, drive motors, speed reducers, and control systems are all produced by themselves, the overall performance of the robot is even better. The robots and production lines that have been manufactured for more than a decade are all working properly. They are deeply loved by new and old customers in the packaging machinery, printing machinery, machinery and electronics, automobiles, food, medicine and cosmetics production industries.
More than 120 experts and engineering technicians of Bagra Co., Ltd. have successfully developed and manufactured linear guide rails of various specifications. Based on this, they cooperated closely with users in the development of general-purpose and special-purpose robots. Thousands of sets have been provided for many manufacturers. Robots and production lines. One of the application areas is nondestructive testing. In the large-scale production, the main function of each product, or all the functions of the entire product, undergo a rigorous 100% inspection. Moreover, the inspection cycle is very short to meet the requirements of large-scale production. Here are some examples of inspection applications using Cartesian robots.
Case No. 1 ---- Non-destructive Testing of Cylindrical Aerospace Components For some cylindrical workpieces and equipment, it is very difficult to achieve a full range of inspections. In this project, the non-destructive testing of cylindrical parts of aerospace craft is carried out. The part is 1000mm high and φ500. It requires 360-degree inspection from bottom to top. Due to the need for 360-degree inspection of the workpiece, and the detection head and the workpiece required to maintain a fixed distance, so the requirements for the robot's repeated positioning accuracy is relatively high, is 0.05mm.
In terms of robots, we chose German Bagra 2D Cartesian robots. PAS42 rails are used in both directions. PAS42BRM1000 is selected in X direction and PAS42BRM500 is selected in Z direction. The rotation axis is stepping motor step-rate acceleration/deceleration ratio in German Stepper VRDM31117. The turret of the NEUGART gear reducer and some auxiliary connectors is shown in Fig. 1. 
Figure 1
The whole working process of the system is as follows: First, the CNC system controls the X and Z axes to be linked together and moves to the lowest detection position. After reaching the position, the control head is controlled through the I/O port, and then the rotation axis is controlled to rotate at a certain speed for one week. The test is completed. The above detection is completed in one circle, then the Z-axis is shifted by a certain distance to perform the next round of detection, and so on, and finally the entire test is completed.
Three Cases II—Non-Destructive Scanning of Large Cylindrical Steel Parts The measured object is a 8m long, 600mm diameter column steel piece placed in a large liquid container. There is a fixture at each end of the large container for horizontally fixing the column steel. Steel as a rotary axis is driven by a BERGERLAHR servo motor SER31122 with the German NEUGART Precision Planetary Gearhead PLS115/64HP.
In terms of robots, we chose German Bagra 2D Cartesian robots. PAS42 rails are used in both directions. PAS42BRM1000 is selected for X direction and PAS42BRM500 is selected for Z direction. The motor we select for the X axis is SER31122 servo motor. With the NEUGART reducer with a reduction ratio of 64, the Z-axis motor we chose was the SER31122 servo motor plus the NEUGART reducer with a reduction ratio of 64. The control system we chose was the German ENGER HART three-axis CNC system. 
The working process of the entire system is that the steel shaft with a length of about 8m is rotated and then stays at an angle of X1 after being rotated, and the Z-axis is stopped at a height of X2 mm below the steel surface. At this time, the X-axis starts to move, and once every X3 mm probe is moved, the X-axis and Z-axis are all at rest after completing the X-axis scan of 8 meters long. The rotation axis is stopped by X1 degrees in the original rotation direction, and the X axis is set to scan. This process is repeated until the entire steel surface is evenly scanned.
Therefore, the entire process requires the robot's actions to maintain high repeatability and stability, and requires extremely accurate positioning. The positioning accuracy of the X axis is as follows: 16384 points per revolution of the motor, and 16384*64 after deceleration by the planetary speed reducer 64 times. For each rotation of the X-axis drive shaft, the X-axis travels 175mm, and the X-axis of the motor per revolution is 175000/16384/64=0.167μm. The positioning accuracy of the X-axis is as follows: the motor rotates to 16384 points per revolution, via a planetary reducer 64 After deceleration is 16384*64. The revolution per revolution of the rotary shaft corresponds to 600*3.14=1884mm, and the motor rotates 1884000/16384/64=1.797μm per revolution of the shaft. In fact, such high accuracy is not needed, and the purpose of using a precision planetary gearhead is to reduce the ratio of the moment of inertia of the drive motor and the load in large numbers to ensure accurate and smooth operation of each axis.
Four Cases III - Non-destructive inspection scanning of the instrument panel.
The system requires the nondestructive scanning of many components on the spacecraft using ultrasonic nondestructive testing. The device requires a non-destructive scan of the part up to 360° from top to bottom, scan density is almost unlimited, it can be very precise, and only a few key parts of the part can be scanned for nondestructive testing. The maximum range of the inspection workpiece is 5400*5400*400mm.
This set of systems selects German Bagra 3D Cartesian Coordinate Robot, X-axis selects PAS44BRM5400, Y-axis selects PAS44BRM5400, and Z-axis selects PAS44BRM400. At the same time, since the span is 5400, we choose the dual-rail structure for the Y-axis and each The structure of 200mm reinforced connection plate prevents deflection. At the lower end of the Z axis, we assemble a rotatable ultrasound probe with a rotation angle of 0-360°. The specific structure is shown in Fig. 3, and Fig. 4 shows the detected workpiece.
The control system uses the Bugle TLCC, the driving motor is the intelligent servo control system TCL612 of Bugagra, TLC411 realizes the positioning control. The TLCC is a dedicated industrial computer that controls the TLC servo control system via the CAN bus. The TLCC can pre-store the geometric data of many components, used to guide the ultrasonic probe to equidistant or multi-angle, non-destructive scanning. The obtained measurement data can be stored in the TLCC. The results of the analysis can be given. It can be printed or uploaded to the host computer for further preservation and analysis. It can also display the inspection scan image and the corresponding filtering, enhancement, amplification, rotation, Feature extraction and analysis.
V. Summary and prospects This article describes the application of the Cartesian Co., Ltd. Cartesian coordinate robot ultrasonic scanner in three cases of workpiece flaw detection. In addition, the Cartesian robot Cartesian robots are also used extensively for X-ray inspection scans. Similar applications include CCD cameras to verify and identify the quality of some prints. It is equipped with a laser height measuring instrument to measure and inspect the three-dimensional shape of large objects, such as large castings and many three-dimensional aluminum plates on airplanes. In many of the measurement tasks, the Cartesian Cartesian robot of Germany has been operating very reliably for many years. With the German Bagra's Cartesian robots and linear motion units, test robots of almost any size can be quickly assembled to save time, labor and money. Two users in Beijing used German Bagra's Cartesian robots and CCD cameras to inspect objects. In two years, the robots operated very smoothly. With the rapid development of high-volume, fully-automated production and many products that are to be tested 100% in many production processes, such Cartesian coordinate robots will have a wider range of market prospects and development potential!
Application of Baigra's Cartesian Coordinate Robot in NDT Industry
According to ISO8373, a robot is defined as an industrial automation device whose position can be fixed or moved, which can realize automatic control, repeatable programming, multi-function and multi-use, and end operator position can be programmed in 3 or more degrees of freedom. Here the freedom refers to the axis that can be moved or rotated. The Cartesian robot is based on the linear motion axis. Each motion axis usually corresponds to the X axis, Y axis, and Z axis in the Cartesian coordinate system. In most cases, the angle between each linear motion axis of the Cartesian robot is a right angle. The control system we use for the German ENGERHART company's three-axis numerical control system to control, X-axis and Z-axis motors are used Germany Baigra SER31122 servo motor and reducer ratio of 8 NEUGART reducer to control. As the entire equipment used in Germany Bagra company's servo motor and German Bagra company Cartesian coordinate robot, so completely guarantee the accuracy of the entire system, even in the entire system repeat positioning accuracy detection multiple times u-level accuracy, greatly improving the quality of the test.