CN216138908U

CN216138908U - Gantry truss for moving industrial robot

Info

Publication number: CN216138908U
Application number: CN202121858456.3U
Authority: CN
Inventors: 黄莉莉
Original assignee: Guangzhou Seventh Axis Intelligent Equipment Co ltd
Current assignee: Guangzhou Seventh Axis Intelligent Equipment Co ltd
Priority date: 2021-08-10
Filing date: 2021-08-10
Publication date: 2022-03-29
Anticipated expiration: 2031-08-10

Abstract

The utility model relates to the technical field of truss robots, in particular to a gantry truss for moving an industrial robot, which comprises two support frames and a first gear rack transmission mechanism arranged between the support frames, wherein a truss is arranged at the top ends of the two support frames, the truss is connected with the two support frames in a sliding mode through the first gear rack transmission mechanism, and a second gear rack transmission mechanism is arranged in the middle of the side face, far away from the first gear rack transmission mechanism, of the truss. The utility model has the advantages that: the truss is connected with two support frames in a sliding mode through a first gear rack transmission mechanism, two idler wheels are connected to one side of the bottom surface of the truss in a rolling mode, two first sliding blocks are fixedly connected to the other side of the bottom surface of the truss, the two first sliding blocks are connected with the guide rail in a sliding mode, the two first gears are driven to rotate through a first driving motor through a gearbox, and therefore the truss is driven to slide stably, shaking is prevented, and the robot can accurately clamp a workpiece conveniently.

Description

Gantry truss for moving industrial robot

Technical Field

The utility model relates to the technical field of truss robots, in particular to a gantry truss for moving an industrial robot.

Background

The rectangular coordinate robot is a multifunctional manipulator which can realize automatic control, can be programmed repeatedly, has multiple degrees of freedom and can build a space rectangular relation with the degree of freedom of motion, is also called as a large rectangular coordinate robot and is also called as a truss robot or a gantry robot, the working behavior of the rectangular coordinate robot is mainly carried out by completing linear motion along an X, Y, Z shaft, the existing industrial robot is generally arranged on a truss and carries out linear motion in a wheel track mode, and the rectangular coordinate robot has the following defects while solving the problem of linear motion:

the existing gantry truss for moving the industrial robot is large in weight and large in kinetic energy during moving, and when the gantry truss is started or stopped, the wheel rails slide relatively, so that the truss shakes, and the accurate grabbing of a workpiece is influenced to a certain extent.

SUMMERY OF THE UTILITY MODEL

The utility model aims to overcome the defects of the prior art and provides a gantry truss for moving an industrial robot.

The purpose of the utility model is realized by the following technical scheme: the utility model provides a longmen truss is used in industrial robot removal, includes two support frames and sets up the first rack and pinion drive mechanism between the support frame, two the support frame top is provided with the truss, the truss is through first rack and pinion drive mechanism and two support frame sliding connection, the truss is kept away from the middle part of first rack and pinion drive mechanism side and is provided with second rack and pinion drive mechanism, the middle part of truss side is provided with the mount pad, the mount pad passes through second rack and pinion drive mechanism and truss sliding connection.

Optionally, first rack and pinion drive mechanism includes two first racks, two first gears, a driving motor and gearbox, two middle part fixed connection, two of the adjacent side of support frame are equallyd divide to first rack first gear all with the output fixed connection of gearbox, two first rack is equallyd divide and is do not mesh with first gear mutually, the top surface fixed connection of a driving motor and gearbox, a driving motor's output and the input fixed connection of gearbox, the middle part fixed connection of gearbox and truss side can be convenient for make a driving motor drive two first gears through the gearbox and rotate to be convenient for realize taking place relative motion between first gear and the first rack, thereby be convenient for make the truss can slide on the top of two support frames.

Optionally, one side of the bottom surface of the truss is rotatably connected with two idler wheels, the idler wheels are all in rolling connection with the top surface of one support frame, the other side of the bottom surface of the truss is fixedly connected with two first sliding blocks, the other side of the bottom surface of the truss is fixedly connected with a first guide rail and two first sliding blocks are all in sliding connection with the first guide rail, the first guide rail can guide the movement of the truss conveniently, meanwhile, the two idler wheels can reduce the friction force in the movement process of the truss conveniently, the weight of one side of the truss is conveniently and stably supported, and the overall operation stability is conveniently improved.

Optionally, the second gear rack transmission mechanism comprises a second rack, a second gear and a second driving motor, the second rack is fixedly connected with the middle of the side face of the truss, the second driving motor is fixedly connected with the mounting seat, the second gear is fixedly connected with the output end of the second driving motor, the second gear is meshed with the second rack, and the second driving motor drives the second gear to rotate, so that the second gear and the second rack can move relatively, and relative sliding between the mounting seat and the truss can be conveniently realized.

Optionally, the side that the truss is close to the mount pad is along two second guide rails of its length direction fixedly connected with, the mount pad is close to the equal fixedly connected with second slider in four corners of second guide rail side, four two liang of a set of, two sets of second slider is equallyd divide respectively with second guide rail sliding connection, and two second guide rails can be convenient for lead the slip of mount pad, and then are convenient for improve holistic stationarity, are convenient for realize accurate movement.

The utility model has the following advantages:

1. this a longmen truss is used in industrial robot removes, the truss is through first rack and pinion drive mechanism and two support frame sliding connection, one side roll connection of truss bottom surface has two gyro wheels, two first sliders of opposite side fixedly connected with, and two first sliders all with guide rail sliding connection, drive two first gears through a driving motor through the gearbox and rotate, thereby the drive truss slides steadily, thereby prevent that the shake from taking place, the robot of being convenient for carries out the accuracy clamp to the work piece and gets.

Drawings

FIG. 1 is a schematic view of an assembly structure of the present invention;

FIG. 2 is an enlarged schematic view of FIG. 1 at A;

FIG. 3 is an enlarged view of the structure of FIG. 1 at B;

FIG. 4 is an enlarged view of the structure of FIG. 1 at C;

FIG. 5 is a first perspective structural view of the truss of the present invention;

FIG. 6 is a schematic structural view of a truss according to the present invention from a second perspective;

fig. 7 is a schematic view of the mounting seat structure of the present invention.

In the figure: 1-a support frame, 2-a first gear and rack transmission mechanism, 201-a first rack, 202-a first gear, 203-a first driving motor, 204-a gearbox, 3-a truss, 4-a roller, 5-a mounting seat, 6-a second sliding block, 7-a second guide rail, 8-a second gear and rack transmission mechanism, 801-a second rack, 802-a second gear, 803-a second driving motor, 9-a first guide rail and 10-a first sliding block.

Detailed Description

The utility model will be further described with reference to the accompanying drawings, but the scope of the utility model is not limited to the following.

As shown in fig. 1 to 7, a gantry truss for moving an industrial robot comprises two support frames 1 and a first gear and rack transmission mechanism 2 arranged between the support frames 1, a truss 3 is arranged at the top end of each support frame 1, the truss 3 is slidably connected with the two support frames 1 through the first gear and rack transmission mechanism 2, a second gear and rack transmission mechanism 8 is arranged in the middle of the side face, away from the first gear and rack transmission mechanism 2, of the truss 3, a mounting seat 5 is arranged in the middle of the side face of the truss 3, and the mounting seat 5 is slidably connected with the truss 3 through the second gear and rack transmission mechanism 8.

As an optional technical scheme of the utility model: the first gear rack transmission mechanism 2 comprises two first gear racks 201, two first gears 202, a first driving motor 203 and a gearbox 204, wherein the two first gear racks 201 are respectively fixedly connected with the middle part of the adjacent side surface of the support frame 1, the two first gears 202 are respectively fixedly connected with the output end of the gearbox 204, the two first gear racks 201 are respectively meshed with the first gears 202, the first driving motor 203 is fixedly connected with the top surface of the gearbox 204, the output end of the first driving motor 203 is fixedly connected with the input end of the gearbox 204, the gearbox 204 is fixedly connected with the middle part of the side surface of the truss 3, the gearbox 204 is fixedly connected with the middle part of one side surface of the truss 3 through the middle part of one side surface of the truss 3, so that an installation position can be conveniently provided for the first driving motor 203, the first driving motor 203 can conveniently drive a gear set inside the gearbox 204 to rotate, and the two first gears 202 can be conveniently driven to rotate, the driving truss 3 and the two support frames 1 slide relatively, and the first driving motor 203 can adopt a servo motor, so that the running precision and the stability of the truss 3 can be improved again.

As an optional technical scheme of the utility model: one side of 3 bottom surfaces of truss is rotated and is connected with two gyro wheels 4, two gyro wheels 4 all with a support frame 1's top surface roll connection, two first sliders 10 of opposite side fixedly connected with of 3 bottom surfaces of truss, the first guide rail 9 of its length direction fixedly connected with is followed to the top surface of another support frame 1, two first sliders 10 all with first guide rail 9 sliding connection, first guide rail 9 passes through the top surface fixed connection of bolt and a support frame 1, assemble mutually through a plurality of support frames 1, increase the length of first guide rail 9 and first rack 201, thereby can be convenient for make truss 3 carry out remote operation, be convenient for carry out remote transportation to the work piece.

As an optional technical scheme of the utility model: the second gear rack transmission mechanism 8 comprises a second rack 801, a second gear 802 and a second driving motor 803, the second rack 801 is fixedly connected with the middle part of the side surface of the truss 3, the second driving motor 803 is fixedly connected with the mounting seat 5, the second gear 802 is fixedly connected with the output end of the second driving motor 803, the second gear 802 is meshed with the second rack 801, the second driving motor 803 can conveniently drive the second gear 802 to rotate, further, the second gear 802 and the second rack 801 can move relatively, and the mounting seat 5 is driven to move along the length direction of the truss 3.

As an optional technical scheme of the utility model: truss 3 is close to two second guide rails 7 of side of mount pad 5 along its length direction fixedly connected with, mount pad 5 is close to the equal fixedly connected with second slider 6 in four corners of second guide rail 7 side, two liang a set of four second sliders 6, two sets of second sliders 6 are equallyd divide do not with second guide rail 7 sliding connection, two second guide rails 7 not only can be convenient for lead the motion of mount pad 5, can be convenient for bear the weight of mount pad 5 and lower part auxiliary assembly simultaneously, mesh with second rack 801 through second gear 802, and servo motor is chooseed for use to second driving motor 803, the stationarity and the accuracy of improvement mount pad 5 operation can be convenient for like this, thereby be convenient for satisfy user's user demand.

The utility model discloses a need following step during the use:

1) when the truss support is used, the first driving motor 203 drives the gear set inside the gearbox 204 to rotate, the two first gears 202 are driven to rotate from the output end of the gearbox 204 after speed change, and then the two first gears 202 can be synchronously meshed with the first rack 201 respectively, so that the truss 3 and the two support frames 1 can be driven to slide relatively;

2) one side of 3 bottom surfaces of truss rotates and is connected with two gyro wheels 4, two first sliders 10 of opposite side fixedly connected with of 3 bottom surfaces of truss, and two first sliders 10 all with fixed connection at the first guide rail 9 sliding connection of 1 top surface of a support frame, first guide rail 9 can be convenient for lead to the motion of truss 3, and two gyro wheels 4 not only can support truss 3, and frictional force when can reducing 3 one end of truss and remove, thereby be convenient for when smooth and easy slip to truss 3, reduce whole oscillating quantity, thereby be convenient for carry out the accuracy to the work piece and snatch.

In conclusion, when the user uses the robot, the truss 3 is connected with the two support frames 1 in a sliding manner through the first gear-rack transmission mechanism 2, the two rollers 4 are connected to one side of the bottom surface of the truss 3 in a rolling manner, the two first sliding blocks 10 are fixedly connected to the other side of the bottom surface of the truss 3, the two first sliding blocks 10 are connected with the guide rail 9 in a sliding manner, the two first gears 202 are driven to rotate through the gearbox 204 by the first driving motor 203, the truss 3 is driven to slide stably, shaking is prevented, and the robot can accurately clamp a workpiece conveniently.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides an industrial robot is longmen truss for removal which characterized in that: including two support frames (1) and first rack and pinion drive mechanism (2), two of setting between support frame (1) top is provided with truss (3), truss (3) are through first rack and pinion drive mechanism (2) and two support frames (1) sliding connection, the middle part of keeping away from first rack and pinion drive mechanism (2) side in truss (3) is provided with second rack and pinion drive mechanism (8), the middle part of truss (3) side is provided with mount pad (5), mount pad (5) are through second rack and pinion drive mechanism (8) and truss (3) sliding connection.

2. The gantry truss for moving an industrial robot according to claim 1, wherein: first rack and pinion drive mechanism (2) are including two first racks (201), two first gears (202), first driving motor (203) and gearbox (204), two middle part fixed connection of dividing equally respectively with support frame (1) adjacent side first rack (201), two first gear (202) all with the output fixed connection of gearbox (204), two first rack (201) are divided equally and are do not meshed with first gear (202), the top surface fixed connection of first driving motor (203) and gearbox (204), the output of first driving motor (203) and the input fixed connection of gearbox (204), gearbox (204) and the middle part fixed connection of truss (3) side.

3. The gantry truss for moving an industrial robot according to claim 1, wherein: one side of truss (3) bottom surface is rotated and is connected with two gyro wheels (4), two gyro wheel (4) all with the top surface roll connection of a support frame (1), two first slider (10) of opposite side fixedly connected with of truss (3) bottom surface, another the top surface of support frame (1) is along its length direction fixedly connected with first guide rail (9), two first slider (10) all with first guide rail (9) sliding connection.

4. The gantry truss for moving an industrial robot according to claim 1, wherein: second gear teeth rack drive (8) include second rack (801), second gear (802) and second driving motor (803), second rack (801) and the middle part fixed connection of truss (3) side, second driving motor (803) and mount pad (5) fixed connection, the output fixed connection of second gear (802) and second driving motor (803), second gear (802) and second rack (801) mesh mutually.

5. The gantry truss for moving an industrial robot according to claim 1, wherein: truss (3) are close to two second guide rails (7) of side along its length direction fixedly connected with of mount pad (5), mount pad (5) are close to the equal fixedly connected with second slider (6) in four corners of second guide rail (7) side, four two liang of a set of, two sets of second slider (6) are equallyd divide and are do not with second guide rail (7) sliding connection.