CN215789838U - Connecting rod supporting mechanism with automatic parallelism correcting function - Google Patents

Abstract

The utility model provides a connecting rod supporting mechanism with automatic parallelism deviation correction function. The upper pin shaft seat is fixed at the bottom of the Y shaft of the rectangular coordinate robot, the lower pin shaft seat is fixed on a guide rail slide block of one of the beams of the X shaft of the rectangular coordinate robot, the upper pin shaft and the lower pin shaft are respectively installed in pin shaft holes of the upper pin shaft seat and the lower pin shaft seat, and two ends of the connecting rod are respectively connected with the upper pin shaft and the lower pin shaft. The utility model realizes the automatic parallelism deviation rectifying function of the two guide rails of the X axis of the rectangular coordinate robot through the relative swing of the connecting rods, improves the running stability of the Y axis and the load along the X axis, and simultaneously reduces the production cost of the rectangular coordinate robot.

Description

Connecting rod supporting mechanism with automatic parallelism correcting function

Technical Field

The utility model relates to the technical field of cartesian robots, in particular to a connecting rod supporting mechanism with automatic parallelism deviation correction function.

Background

When the X-direction stroke of the traditional rectangular coordinate robot is large (generally larger than 4m), the production cost of the rectangular coordinate robot is increased due to the requirements on the machining and installation precision of 2 longer X-direction linear guide rails; due to the influence of a plurality of factors such as structure, length, temperature, stress deformation and the like, the 2X-direction linear guide rails are difficult to always keep 100% parallelism, and the unparallel of the 2X-direction linear guide rails can also fluctuate the X-direction driving force, so that the stability of the Y axis and the load moving along the X axis is influenced.

Disclosure of Invention

The utility model mainly aims to provide a connecting rod supporting mechanism with automatic parallelism deviation rectifying function, which solves the problems of high equipment cost and low operation stability in the prior art.

In order to achieve the above object, according to one aspect of the present invention, there is provided a link supporting mechanism with automatic parallelism correcting function, provided on a cartesian robot, comprising: an upper pin shaft seat, a lower pin shaft seat, an upper pin shaft, a lower pin shaft and a connecting rod; the upper pin shaft seat is fixed at the bottom of the Y shaft of the rectangular coordinate robot; the lower pin shaft seat is fixed on a guide rail slide block of one beam of the X-axis of the rectangular coordinate robot; the upper pin shaft and the lower pin shaft are respectively arranged in the pin shaft holes of the upper pin shaft seat and the lower pin shaft seat; two ends of the connecting rod are respectively connected with the upper pin shaft and the lower pin shaft.

Furthermore, the upper pin shaft seat comprises a first seat body and a first pin shaft hole; the first seat body is connected with the bottom of the Y axis of the rectangular coordinate robot; the first pin shaft hole is connected with the upper pin shaft.

Further, the lower pin shaft seat comprises a second seat body and a second pin shaft hole; the second seat body is connected with a guide rail slide block of one beam of the X-axis of the rectangular coordinate robot; the second pin shaft hole is connected with the lower pin shaft.

Further, the connecting rod comprises a connecting rod body, an upper pin shaft hole and a lower pin shaft hole; wherein, the upper pin shaft hole is connected with the upper pin shaft; the lower pin shaft hole is connected with the lower pin shaft.

Compared with the prior art, the utility model has the beneficial effects that:

aiming at the problems that the existing rectangular coordinate robot has high processing and installation cost of a longer X-direction linear guide rail and has low running stability of a Y axis and a load along the X direction, the technical scheme of the utility model designs the connection of the Y axis of the rectangular coordinate robot and the X-axis linear guide rail slide block into a mode that one end is in rigid fixed connection and the other end is in flexible support by a connecting rod, so that the unparallel of 2 linear guide rails is rectified and eliminated by the relative swing of the connecting rod when the Y axis and the load move along the X axis, thereby ensuring the running stability of the Y axis and the load and simultaneously reducing the production cost of the linear guide rail with higher requirement on the parallel precision.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the utility model and, together with the description, serve to explain the utility model and not to limit the utility model. In the drawings:

FIG. 1 is a schematic structural view of the support mechanism of the present invention;

FIG. 2 is an enlarged view of the structure of FIG. 1 at A in accordance with the present invention;

FIG. 3 is a schematic structural view of the upper pin shaft seat of the present invention;

FIG. 4 is a schematic structural view of the lower pin shaft seat of the present invention;

FIG. 5 is a schematic view of the connecting rod of the present invention;

wherein the above reference numerals:

1. an upper pin shaft seat; 2. a lower pin shaft seat; 3. an upper pin shaft; 4. a lower pin shaft; 5. a connecting rod;

101. a first seat body; 102. a first pin shaft hole;

201. a second seat body; 202. a second pin shaft hole;

501. a connecting rod body; 502. an upper pin shaft hole; 503. and a lower pin shaft hole.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The present invention provides a link supporting mechanism with automatic parallelism deviation correction, which is arranged on a cartesian robot, please refer to fig. 1 to 5, the supporting mechanism comprises:

an upper pin shaft seat 1, a lower pin shaft seat 2, an upper pin shaft 3, a lower pin shaft 4 and a connecting rod 5. The upper pin shaft seat 1 is fixed at the bottom of the Y shaft of the rectangular coordinate robot; the lower pin shaft seat 2 is fixed on a guide rail slide block of one beam of the X axis of the rectangular coordinate robot; the upper pin shaft 3 and the lower pin shaft 4 are respectively arranged in the pin shaft holes of the upper pin shaft seat 1 and the lower pin shaft seat 2; two ends of the connecting rod 5 are respectively connected with the upper pin shaft 3 and the lower pin shaft 4.

The upper pin shaft base 1 includes a first base 101 and a first pin shaft hole 102. The first seat body 101 is connected with the bottom of the Y axis of the rectangular coordinate robot; the first pin shaft hole 102 is connected to the upper pin shaft 3.

The lower pin shaft base 2 includes a second base body 201 and a second pin shaft hole 202. The second base 201 is connected with a guide rail slide block of one beam of the X-axis of the rectangular coordinate robot; the second pin shaft hole 202 is connected to the lower pin shaft 4.

The link 5 includes a link body 501, an upper pin hole 502, and a lower pin hole 503. Wherein, the upper pin shaft hole 502 is connected with the upper pin shaft 3; the lower pin shaft hole 503 is connected to the lower pin shaft 4.

The connecting rod supporting mechanism is mainly applied to X-direction and Y-direction movement of a rectangular coordinate robot, deviation rectification compensation is carried out on parallelism errors of 2 linear guide rails on an X shaft through relative swinging of a connecting rod in the supporting mechanism, the Y shaft and a load can be guaranteed to move stably along the X shaft all the time, and the working principle of the supporting mechanism is described in detail below.

The working principle is as follows: divide into leading rail and vice guide rail with 2 linear guide of cartesian robot X axle, Y axle one end carries out rigid fixed connection with X axle leading rail slider, and the other end carries out flexible connecting rod with X axle vice guide rail slider and articulates, and Y axle and load move according to the axis direction of X axle leading rail all the time. When the X-axis auxiliary guide rail generates obvious parallelism deviation relative to the main guide rail, the connecting rod 5 at one side of the auxiliary guide rail deflects at a certain angle relative to the Y axis, and the parallelism deviation between the X-axis 2 guide rails can be eliminated through the swinging of the connecting rod 5. The dimension in the Z direction of the Y axis and the load is theoretically reduced when the link 5 as a vertical support structure swings, but the reduction in the dimension in the Z direction caused when the swing angle of the link 5 is not large is also slight as long as the length of the link 5 reaches a certain value. For example, when the length of the link 5 is 100mm and the deviation of the parallelism between the main and auxiliary guide rails of the X axis is 2mm, the swing angle of the link 5 is about 1.15 °, the size reduction in the vertical direction is about 0.02mm, which is 1% of the actual horizontal deviation and can be ignored.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (4)

1. The utility model provides a link supporting mechanism with automatic deviation rectification of depth of parallelism, sets up on the cartesian robot which characterized in that includes:

an upper pin shaft seat (1), a lower pin shaft seat (2), an upper pin shaft (3), a lower pin shaft (4) and a connecting rod (5);

wherein, the upper pin shaft seat (1) is fixed at the bottom of the Y shaft of the rectangular coordinate robot; the lower pin shaft seat (2) is fixed on a guide rail slide block of one beam of the X axis of the rectangular coordinate robot; the upper pin shaft (3) and the lower pin shaft (4) are respectively arranged in the pin shaft holes of the upper pin shaft seat (1) and the lower pin shaft seat (2); two ends of the connecting rod (5) are respectively connected with the upper pin shaft (3) and the lower pin shaft (4).

2. The link supporting mechanism with automatic parallelism deviation correction according to claim 1,

the upper pin shaft seat (1) comprises a first seat body (101) and a first pin shaft hole (102); the first seat body (101) is connected with the bottom of the Y axis of the rectangular coordinate robot; the first pin shaft hole (102) is connected with the upper pin shaft (3).

3. The link supporting mechanism with automatic parallelism deviation correction according to claim 1,

the lower pin shaft seat (2) comprises a second seat body (201) and a second pin shaft hole (202); the second seat body (201) is connected with a guide rail slide block of one beam of the X-axis of the rectangular coordinate robot; the second pin shaft hole (202) is connected with the lower pin shaft (4).

4. The link supporting mechanism with automatic parallelism deviation correction according to claim 1,

the connecting rod (5) comprises a connecting rod body (501), an upper pin shaft hole (502) and a lower pin shaft hole (503); wherein, the upper pin shaft hole (502) is connected with the upper pin shaft (3); the lower pin shaft hole (503) is connected with the lower pin shaft (4).

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