CN210551201U

CN210551201U - Guide rail-free truss robot

Info

Publication number: CN210551201U
Application number: CN201921293951.7U
Authority: CN
Inventors: 邬心超
Original assignee: Changzhou Yingtian Automation Technology Co ltd
Current assignee: Changzhou Yingtian Automation Technology Co ltd
Priority date: 2019-08-12
Filing date: 2019-08-12
Publication date: 2020-05-19
Anticipated expiration: 2029-08-12

Abstract

The utility model discloses a exempt from guide rail truss robot belongs to truss robot technical field. The utility model discloses a guide rail-free truss robot, which comprises a truss, a walking mechanism and a driving mechanism, wherein the walking mechanism is slidably mounted on a beam of the truss, and the driving mechanism drives the walking mechanism to transversely slide on the beam; the cross section of the cross beam is rectangular, the traveling mechanism comprises a sliding frame, an upper roller, a right roller, a left roller and a lower roller, the upper portion of the sliding frame is provided with a rectangular installation channel, the upper roller is installed at the top of the rectangular installation channel, the lower roller is installed at the bottom of the rectangular installation channel, the right roller is installed on the right side of the rectangular installation channel, and the left roller is installed on the left side of the rectangular installation channel. The utility model discloses utilize gyro wheel structure all around to realize the steady sliding of running gear on the truss crossbeam, simple structure is compact, and the operation is nimble stable, need not to set up linear guide, does not receive sideslip stroke length restriction, and the running noise is little.

Description

Guide rail-free truss robot

Technical Field

The utility model relates to a truss robot, more specifically say, relate to a exempt from guide rail truss robot.

Background

Along with the rapid development of intelligent manufacturing, the automation degree of machining equipment is higher and higher, heavy labor of people is replaced, and the method is widely applied to the production and manufacturing industry. Usually, a plurality of robots are needed to cooperate in a production line, but the price of the robots is higher, so that the concept of the truss robot appears at present, the truss robot is a mechanical device developed on the basis of an feeding and discharging mechanism, and is mainly used for realizing automatic feeding and discharging and carrying of workpieces, single-machine automation and production line automation are completed, the production line structure is simplified, and the manufacturing cost is reduced.

At present, the truss robot on the market mainly includes running gear, truss crossbeam and linear guide, and running gear passes through linear guide and installs on the truss crossbeam, because the linear guide of overlength can't be processed at present home and abroad, consequently at the long run of truss robot, needs multistage concatenation linear guide, and linear guide has higher precision requirement to the plane of installation, has increased the production and processing degree of difficulty, and running gear easily causes the collision and produces great running noise to the guide rail at the operation in-process.

Disclosure of Invention

1. Technical problem to be solved by the utility model

The utility model discloses an it is not enough that it is poor, the noise of operation big etc. to overcome current truss robot to have the concatenation guide rail precision, provides a exempt from guide rail truss robot, adopts the technical scheme of the utility model, utilize gyro wheel structure realization running gear steadily to slide on the truss crossbeam all around, simple structure is compact, and the operation is nimble stable, need not to set up linear guide, does not receive sideslip stroke length restriction, and the noise of operation is little.

2. Technical scheme

In order to achieve the above purpose, the utility model provides a technical scheme does:

the utility model discloses a guide rail-free truss robot, which comprises a truss, a traveling mechanism and a driving mechanism, wherein the traveling mechanism is slidably mounted on a beam of the truss, and is driven by the driving mechanism to transversely slide on the beam; the cross-sectional shape of crossbeam be the rectangle, running gear including the frame that slides, go up gyro wheel, right gyro wheel, left gyro wheel and lower gyro wheel, the upper portion of frame that slides have a rectangle installation passageway, last gyro wheel install at the top of rectangle installation passageway for with the last lateral wall roll cooperation of crossbeam, lower gyro wheel install in the bottom of rectangle installation passageway, be used for with the lower lateral wall roll cooperation of crossbeam, right gyro wheel install on the right side of rectangle installation passageway, be used for with the right lateral wall roll cooperation of crossbeam, left gyro wheel install in the left side of rectangle installation passageway, be used for with the left lateral wall roll cooperation of crossbeam.

Furthermore, the upper roller is arranged on the roller shaft, and two ends of the roller shaft are arranged at the top of the rectangular mounting channel of the sliding frame through bearing seats.

Furthermore, two upper rollers are arranged on the roller shaft, and the two upper rollers are respectively arranged at two ends of the roller shaft.

Furthermore, the right roller, the left roller and the lower roller are all installed on the inner side wall of the sliding frame through an adjustable structure capable of adjusting the position of the corresponding side wall of the cross beam.

Furthermore, the upper roller, the right roller, the left roller and the lower roller are all rubber rollers.

Furthermore, actuating mechanism include driving motor, driving pulley, driven pulleys and hold-in range, driving pulley and driven pulleys arrange the both ends of crossbeam in respectively, the hold-in range install between driving pulley and driven pulleys, driving motor install on the crossbeam, and driving motor's output shaft and driving pulley transmission are connected, hold-in range and the frame fixed connection that slides.

Furthermore, the synchronous belt is fixedly connected with the sliding frame through a pressing plate.

Furthermore, two ends of the beam of the truss are connected into a portal frame structure through the upright posts.

Furthermore, a manipulator is arranged at the lower part of the sliding frame.

3. Advantageous effects

Adopt the technical scheme provided by the utility model, compare with existing well-known technique, have following beneficial effect:

(1) the utility model discloses a guide rail-free truss robot, which comprises a truss, a traveling mechanism and a driving mechanism, wherein the traveling mechanism is slidably mounted on a beam of the truss and is driven by the driving mechanism to transversely slide on the beam;

(2) the utility model discloses a track-free truss robot, the gyro wheel is installed on the roller shaft on it, and the both ends of roller shaft are installed in the rectangle installation channel top of the frame that slides through the bearing frame, and the upper roller is mainly born the weight of the gyro wheel, and it is installed through the bearing frame, and it is nimble to rotate, and bearing capacity is strong, and the running noise is little; two upper rollers are arranged on the roller shaft and are respectively arranged at two ends of the roller shaft, so that the stress of the travelling mechanism is more stable, and the running stability of the travelling mechanism is improved;

(3) the right roller, the left roller and the lower roller of the guide rail-free truss robot are all arranged on the inner side wall of the sliding frame through the adjustable structures capable of adjusting the positions of the right roller, the left roller and the lower roller towards the corresponding side wall direction of the cross beam, so that the positions of the right roller, the left roller and the lower roller relative to the cross beam can be flexibly adjusted, and the assembly and the debugging of the walking mechanism on the truss cross beam are facilitated;

(4) the guide rail-free truss robot has the advantages that the upper idler wheel, the right idler wheel, the left idler wheel and the lower idler wheel are all rubber idler wheels, so that the operation noise is low, and the movement stability is good;

(5) the utility model discloses an exempt from guide rail truss robot, its actuating mechanism adopt hold-in range mechanism drive, and not only simple structure is compact, and operating stability is good, is suitable for the longer truss robot of round trip moreover very much.

Drawings

Fig. 1 is a schematic structural view of an angle of a guide-rail-free truss robot according to the present invention;

fig. 2 is a schematic structural view of another angle of the guide-rail-free truss robot of the present invention;

fig. 3 is a schematic structural view of a traveling mechanism in a guide-rail-free truss robot according to the present invention;

fig. 4 is the utility model discloses a cooperation state schematic diagram of running gear and crossbeam in exempting from guide rail truss robot.

The reference numerals in the schematic drawings illustrate:

1. a truss; 1-1, upright columns; 1-2, a cross beam; 2. a traveling mechanism; 2-1, a sliding frame; 2-2, mounting a roller; 2-3, a right roller; 2-4, a left roller; 2-5, lower rollers; 2-6, roller shaft; 2-7, bearing seats; 3. a drive mechanism; 3-1, driving a motor; 3-2, a driving belt wheel; 3-3, a driven belt wheel; 3-4, synchronous belts; 4. a robot arm.

Detailed Description

For a further understanding of the present invention, reference will be made to the following detailed description taken in conjunction with the accompanying drawings and examples.

Examples

Referring to fig. 1 to 4, the guide-rail-free truss robot of the embodiment includes a truss 1, a traveling mechanism 2 and a driving mechanism 3, two ends of a cross beam 1-2 of the truss 1 are connected by an upright post 1-1 to form a gantry structure, the traveling mechanism 2 is slidably mounted on the cross beam 1-2 of the truss 1, the driving mechanism 3 drives the traveling mechanism 2 to laterally slide on the cross beam 1-2, and a manipulator 4 is arranged on the traveling mechanism 2 to realize grabbing and carrying of parts. The cross section of the beam 1-2 is rectangular, the walking mechanism 2 comprises a sliding frame 2-1, an upper roller 2-2, a right roller 2-3, a left roller 2-4 and a lower roller 2-5, the upper part of the sliding frame 2-1 is provided with a rectangular installation channel, the size of the rectangular mounting channel is larger than the section size of the beam 1-2, the upper roller 2-2 is mounted at the top of the rectangular mounting channel, used for rolling and matching with the upper side wall of the beam 1-2, the lower roller 2-5 is arranged at the bottom of the rectangular mounting channel, is used for rolling and matching with the lower side wall of the beam 1-2, a right roller 2-3 is arranged at the right side of the rectangular mounting channel, is used for rolling and matching with the right side wall of the cross beam 1-2, and a left roller 2-4 is arranged at the left side of the rectangular mounting channel and is used for rolling and matching with the left side wall of the cross beam 1-2. By adopting the truss robot walking structure design, the walking mechanism 2 can stably slide on the truss beams 1-2 by utilizing the peripheral roller structures, the structure is simple and compact, the operation is flexible and stable, no linear guide rail is required to be arranged, the limitation of the transverse moving stroke length is avoided, the manufacture is simple, and the operation noise is low.

Since the upper roller 2-2 is the main bearing wheel, in the embodiment, the upper roller 2-2 is installed on the roller shaft 2-6, two ends of the roller shaft 2-6 are installed on the top of the rectangular installation channel of the sliding frame 2-1 through the bearing seats 2-7, and the direct design of the roller shaft 2-6 can be larger, so that the design is flexible in rotation, strong in bearing capacity and low in operation noise. Preferably, two upper rollers 2-2 are arranged on the roller shaft 2-6, and the two upper rollers 2-2 are respectively arranged at two ends of the roller shaft 2-6, so that the stress of the travelling mechanism is more stable, and the running stability of the travelling mechanism is improved. The upper roller 2-2, the right roller 2-3, the left roller 2-4 and the lower roller 2-5 are preferably rubber rollers, so that the operation noise is low, and the movement stability is good. In order to facilitate assembly and adjustment, the right roller 2-3, the left roller 2-4 and the lower roller 2-5 in the embodiment are all mounted on the inner side wall of the sliding frame 2-1 through an adjustable structure capable of adjusting positions towards the direction of the corresponding side wall of the beam 1-2, so that the positions of the right roller 2-3, the left roller 2-4 and the lower roller 2-5 relative to the beam 1-2 can be flexibly adjusted, and the assembly and adjustment of the travelling mechanism 2 on the truss beam are facilitated. The adjustable structure can be designed as follows: the wheel shafts of the right roller 2-3, the left roller 2-4 and the lower roller 2-5 are all fixed on the sliding frame 2-1 through roller mounting plates, kidney-shaped holes are formed in the roller mounting plates, and the wheel shafts of the rollers are fixedly mounted in the kidney-shaped holes of the corresponding roller mounting plates through fastening nuts, so that the positions of the rollers can be adjusted through adjusting the positions of the rollers in the kidney-shaped holes, and flexible assembly of the guide-rail-free truss robot is achieved.

As shown in fig. 2, in this embodiment, the driving mechanism 3 includes a driving motor 3-1, a driving pulley 3-2, a driven pulley 3-3 and a synchronous belt 3-4, the driving pulley 3-2 and the driven pulley 3-3 are respectively disposed at two ends of the beam 1-2, the driving pulley 3-2 and the driven pulley 3-3 are mounted on the beam 1-2 through a bearing seat, the synchronous belt 3-4 is mounted between the driving pulley 3-2 and the driven pulley 3-3, the driving motor 3-1 is mounted on the beam 1-2, an output shaft of the driving motor 3-1 is in transmission connection with the driving pulley 3-2, specifically, a shaft coupling is adopted to connect an output shaft of the driving motor 3-1 with a wheel shaft of the driving pulley 3-2, and the synchronous belt 3-4 is fixedly connected with the sliding frame 2-1, the synchronous belt 3-4 and the sliding frame 2-1 can be fixedly connected through a pressing plate. By adopting the driving mechanism, the driving mechanism has simple and compact structure and good operation stability, and is particularly suitable for the truss robot with longer round trip. In order to make the whole structure of the truss robot more compact, in this embodiment, preferably, the upper part of the synchronous belt 3-4 is connected with the inner side of the top of the sliding frame 2-1, the lower part of the synchronous belt 3-4 passes through the upper space of the rectangular installation channel of the sliding frame 2-1, at this time, the upper rollers 2-2 are arranged at the left and right sides of the roller shafts 2-6, and a space through which the synchronous belt 3-4 passes is also reserved in the middle part, so that the matching structure of the driving mechanism 3 and the traveling mechanism 2 is simpler and more compact, and the operation is more flexible. The manipulator 4 is arranged at the lower part of the sliding frame 2-1, and the manipulator 4 can be connected with the sliding frame 2-1 by adopting a lifting mechanism. The manipulator 4 can adopt a sucker type grabbing manipulator, and can also adopt the existing manipulators with other structural forms.

For further understanding, the technical solution of the present invention is now right with reference to fig. 1 to 4. the working process of the guide rail-free truss robot of the present invention is explained as follows:

when the truss frame 2-2 is in work, the driving motor 3-1 drives the synchronous belt 3-4 to rotate, the synchronous belt 3-4 is utilized to pull the sliding frame 2-1 to slide on the cross beam 1-2, in the process, due to the action of gravity, the upper roller 2-2 acts on the side wall of the top of the cross beam 1-2 to play a role in bearing the weight of the traveling mechanism 2, and the right roller 2-3, the left roller 2-4 and the lower roller 2-5 play a limiting role in the traveling mechanism 2 to prevent the traveling mechanism 2 from jolting downwards and shaking left and right during the operation, so that the sliding stability and flexibility of the traveling mechanism 2 on the cross beam 1-2 of the truss frame 1 are improved. In order to ensure the operation stability of the sliding frame 2-1, it should be understood that the upper roller 2-2, the right roller 2-3, the left roller 2-4 and the lower roller 2-5 are at least arranged in two groups at the front and back positions of the sliding frame 2-1, so that the running mechanism 2 can run on the truss 1 smoothly.

The utility model discloses an exempt from guide rail truss robot utilizes gyro wheel structure all around to realize the steady sliding of running gear on the truss crossbeam, and simple structure is compact, and the operation is nimble stable, need not to set up linear guide, does not receive sideslip stroke length restriction, and the running noise is little.

The present invention and its embodiments have been described above schematically, and the description is not intended to be limiting, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art receives the teaching of the present invention, without creatively designing the similar structural modes and embodiments to the technical solutions, they should belong to the protection scope of the present invention.

Claims

1. A guide rail-free truss robot comprises a truss (1), a traveling mechanism (2) and a driving mechanism (3), wherein the traveling mechanism (2) is slidably mounted on a cross beam (1-2) of the truss (1), and the driving mechanism (3) drives the traveling mechanism (2) to transversely slide on the cross beam (1-2); the cross section of the cross beam (1-2) is rectangular, the traveling mechanism (2) comprises a sliding frame (2-1), an upper roller (2-2), a right roller (2-3), a left roller (2-4) and a lower roller (2-5), a rectangular mounting channel is formed in the upper portion of the sliding frame (2-1), the upper roller (2-2) is mounted at the top of the rectangular mounting channel and is used for being in rolling fit with the upper side wall of the cross beam (1-2), the lower roller (2-5) is mounted at the bottom of the rectangular mounting channel and is used for being in rolling fit with the lower side wall of the cross beam (1-2), the right roller (2-3) is mounted at the right side of the rectangular mounting channel and is used for being in rolling fit with the right side wall of the cross beam (1-2), and the left roller (2-4) is mounted at the left side of the rectangular mounting channel, for rolling engagement with the left side wall of the cross-member (1-2).

2. The guideway-free truss robot of claim 1, wherein: the upper roller (2-2) is arranged on a roller shaft (2-6), and two ends of the roller shaft (2-6) are arranged at the top of the rectangular mounting channel of the sliding frame (2-1) through bearing seats (2-7).

3. The guideway-free truss robot of claim 2, wherein: two upper rollers (2-2) are arranged on the roller shaft (2-6), and the two upper rollers (2-2) are respectively arranged at two ends of the roller shaft (2-6).

4. A track-free truss robot as claimed in claim 1, 2 or 3, wherein: the right idler wheel (2-3), the left idler wheel (2-4) and the lower idler wheel (2-5) are all installed on the inner side wall of the sliding frame (2-1) through adjustable structures capable of adjusting positions towards the direction of the corresponding side wall of the cross beam (1-2).

5. The guideway-free truss robot of claim 4, wherein: the upper roller (2-2), the right roller (2-3), the left roller (2-4) and the lower roller (2-5) are all rubber rollers.

6. The guideway-free truss robot of claim 1, wherein: the driving mechanism (3) comprises a driving motor (3-1), a driving pulley (3-2), a driven pulley (3-3) and a synchronous belt (3-4), the driving pulley (3-2) and the driven pulley (3-3) are respectively arranged at two ends of the beam (1-2), the synchronous belt (3-4) is arranged between the driving pulley (3-2) and the driven pulley (3-3), the driving motor (3-1) is arranged on the beam (1-2), an output shaft of the driving motor (3-1) is in transmission connection with the driving pulley (3-2), and the synchronous belt (3-4) is fixedly connected with the sliding frame (2-1).

7. The guideway-free truss robot of claim 6, wherein: the synchronous belt (3-4) is fixedly connected with the sliding frame (2-1) through a pressing plate.

8. The guideway-free truss robot of claim 1, wherein: two ends of a beam (1-2) of the truss (1) are connected into a portal frame structure through an upright post (1-1).

9. The guideway-free truss robot of claim 1, wherein: the lower part of the sliding frame (2-1) is provided with a manipulator (4).