CN216940670U

CN216940670U - Gantry three-axis V-shaped guide rail truss robot

Info

Publication number: CN216940670U
Application number: CN202220370103.7U
Authority: CN
Inventors: 周慧珍
Original assignee: Beijing Moyungge Precision Rack Co ltd
Current assignee: Beijing Moyungge Precision Rack Co ltd
Priority date: 2022-02-23
Filing date: 2022-02-23
Publication date: 2022-07-12
Anticipated expiration: 2032-02-23

Abstract

The utility model discloses a gantry three-axis V-shaped guide rail truss robot, which belongs to the technical field of mechanical equipment and comprises an X-axis auxiliary steel beam, an X-axis main steel beam and pillars fixedly arranged at the bottoms of two ends of the X-axis auxiliary steel beam and the X-axis main steel beam, wherein the X-axis auxiliary steel beam and the X-axis main steel beam are arranged in parallel; the X-axis motion mechanism can reduce the probability that the phenomenon that the Y-axis is twisted and blocked when moving along the X-axis direction and the phenomenon that the X-axis direction is warped easily, so that the whole system runs more stably and efficiently.

Description

Gantry three-axis V-shaped guide rail truss robot

Technical Field

The utility model relates to the technical field of mechanical equipment, in particular to a gantry three-axis V-shaped guide rail truss robot.

Background

The truss robot belongs to a rectangular coordinate robot, and is full-automatic industrial equipment which is established on the basis of an X, Y, Z three-coordinate system and used for adjusting stations of workpieces or realizing functions of track running and the like of the workpieces. In industrial applications, the truss robot has a dual-axis and multi-axis structure, and is suitable for different application fields according to different loads, costs and technical contents. The automatic workpiece grabbing device can replace manual work to complete all processes of automatic workpiece grabbing, feeding, blanking, clamping, station moving and overturning, workpiece sequence changing and processing and the like, labor cost can be greatly saved, and production efficiency is improved.

However, when the existing three-axis truss robot is used, the Y-axis is easy to be distorted and stuck when moving along the X-axis direction, the X-axis direction is easy to be warped, the safety coefficient of the operation process is low, and the transmission efficiency is further reduced.

SUMMERY OF THE UTILITY MODEL

1. Technical problem to be solved

Aiming at the problems in the prior art, the utility model aims to provide a gantry three-axis V-shaped guide rail truss robot which can reduce the probability that the Y axis is twisted and stuck when moving along the X axis direction and the head warping phenomenon is easy to occur in the X axis direction, so that the whole system is more stable and efficient to operate.

2. Technical scheme

In order to solve the above problems, the present invention adopts the following technical solutions.

A gantry three-axis V-shaped guide rail truss robot comprises an X-axis auxiliary steel beam, an X-axis main steel beam and struts fixedly arranged at the bottoms of two ends of the X-axis auxiliary steel beam and the X-axis main steel beam in parallel, wherein a flat guide rail rack and an X-axis buffer device are fixedly arranged on the inner side surface of the X-axis auxiliary steel beam, an X-axis V-shaped guide rail rack is fixedly arranged on the inner side surface of the X-axis main steel beam, a Y-axis steel beam is movably connected between the X-axis auxiliary steel beam and the X-axis main steel beam, a first driving assembly and a second driving assembly for X-axis driving are arranged between two ends of the Y-axis steel beam and the X-axis auxiliary steel beam and between the X-axis main steel beam, a Y-axis V-shaped guide rail rack is symmetrically arranged on one side surface of the Y-axis steel beam, a Z-axis steel beam is movably connected to one side surface close to the Y-axis V-shaped guide rail rack, and a Y-axis steel beam for Y-axis driving is arranged between the Z-axis steel beam, A Z-axis driven compound drive assembly.

Furthermore, first drive assembly including fixed mounting in the Y axle girder steel is close to the X axle flat roller support plate of X axle auxiliary girder steel one end, the X axle flat roller support plate is close to a side-mounting of X axle auxiliary girder steel has flat roller assembly, flat roller assembly with flat guide rail rack top surface sliding connection, flat guide rail rack with still be provided with anti-falling safety device between the flat roller assembly.

Furthermore, the second driving assembly comprises an X-axis V-shaped roller carrier plate fixedly installed at one end, close to the X-axis main steel beam, of the Y-axis steel beam, a first V-shaped roller assembly is installed at one side face, close to the X-axis main steel beam, of the X-axis V-shaped roller carrier plate, and the first V-shaped roller assembly is connected with the top face of the X-axis V-shaped guide rail rack in a sliding mode.

Furthermore, a Y-axis buffer device is further installed on one side surface, close to the Y-axis steel beam, of the X-axis V-shaped roller carrier plate.

Further, X axle owner girder steel top surface is provided with the X axle drive assembly who is used for providing the driving force, X axle drive assembly including install in the X axle guide slot and the energy supply circuit of X axle owner girder steel top surface, X axle V type gyro wheel support plate side-mounting has the follow-up gear device, follow-up gear device with X axle V type guide rail rack meshes mutually, just follow-up gear device with X axle drive assembly's power take off end transmission is connected.

Furthermore, the combined driving assembly comprises a YZ-axis carrier plate movably connected to the Z-axis steel beam and close to one side of the Y-axis steel beam, the YZ-axis carrier plate is close to four corners of one side of the Y-axis steel beam and is rotatably provided with an eccentric flange group and a concentric roller group which are parallel to each other, and the eccentric flange group and the concentric roller group are respectively slidably clamped on the upper side and the lower side of the two Y-axis V-shaped guide rail racks.

Further, the YZ axle carrier plate is kept away from Y axle steel beam side surface is installed and is used for eccentric flange group driven Y axle drive, the YZ axle carrier plate is close to Y axle V type guide rail rack one side rotates and is connected with lubricated felt gear unit, lubricated felt gear unit with Y axle V type guide rail rack meshes mutually, Y axle drive power take off with lubricated felt gear unit transmission is connected, lubricated felt gear unit with be provided with lubricated grease squirt between the Y axle V type guide rail rack.

Furthermore, four groups of second V-shaped roller assemblies are symmetrically arranged on the YZ-axis loading plate close to the side face of the Z-axis steel beam, the Z-axis steel beam is connected between the four groups of Y-axis V-shaped guide rail racks in a sliding mode, and a Z-axis driving assembly used for providing Z-axis sliding driving force for the Z-axis steel beam is further arranged on the surface of the Z-axis steel beam.

3. Advantageous effects

Compared with the prior art, the utility model has the advantages that:

(1) this scheme is injectd and is led its motion at Y axle steel beam both ends through being provided with flat roller components and flat guide rail rack and first V type roller components and X axle V type guide rail rack, be provided with simultaneously follow-up gear device and mesh mutually at X axle V type guide rail rack and carry out the drive in X axle direction, can relieve the X axle auxiliary steel girder along the degree of freedom of perpendicular with X axis direction, effectively prevent that the Y axle from taking place to distort when the motion along X axle direction and blocking dead phenomenon, it is more even to make X axle flat roller support plate and X axle V type roller support plate atress simultaneously, the probability of the easy first phenomenon that takes place to stick up of X axle direction has been reduced.

(2) This scheme is through evenly being provided with V type guide rail rack transmission system between X axle owner girder steel and Y axle steel roof beam and YZ axle support plate and Y axle steel roof beam, be line contact between gyro wheel and the guide rail, frictional force is little, high transmission speed, the noise is low, high accuracy, be applicable to the operating mode of well load more, simultaneously through still being provided with eccentric flange group and concentric roller train phase combination between YZ axle support plate and Y axle steel roof beam, can adjust as required, make the gear, the rack can reach reasonable, comfortable meshing, finally make entire system operation more steady, high-efficient.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

fig. 2 is a schematic structural view of the concentric roller group and the eccentric flange group of the present invention.

The reference numbers in the figures illustrate:

1. a pillar; 2. an X-axis secondary steel beam; 3. a flat rail rack; 4. an X-axis buffer device; 5. a flat roller assembly; 6. a fall protection safety device; 7. an X-axis flat roller carrier plate; 8. a Y-axis steel beam; 9. a Y-axis V-shaped guide rail rack; 10. a Y-axis buffer device; 11. an X-axis V-shaped roller carrier plate; 12. a first V-shaped roller assembly; 13. a follower gear device; 14. an X-axis main steel beam; 15. an X-axis V-shaped guide rail rack; 16. an eccentric flange group; 17. a YZ axis carrier plate; 18. driving the Y axis; 19. a second V-shaped roller assembly; 20. a concentric roller train; 21. a Z-axis steel beam; 22. lubricating the lubricator; 23. lubricating the felt gear unit.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention; it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work are within the scope of the present invention.

Example 1:

referring to fig. 1-2, a gantry three-axis V-shaped rail truss robot includes an X-axis auxiliary steel beam 2 and an X-axis main steel beam 14 which are arranged in parallel, and a pillar 1 fixedly installed at the bottom of each of two ends of the X-axis auxiliary steel beam 2 and the X-axis main steel beam 14, a flat rail rack 3 and an X-axis buffer 4 are fixedly installed on the inner side of the X-axis auxiliary steel beam 2, an X-axis V-shaped rail rack 15 is fixedly installed on the inner side of the X-axis main steel beam 14, a Y-axis steel beam 8 is movably connected between the X-axis auxiliary steel beam 2 and the X-axis main steel beam 14, a first driving component and a second driving component for X-axis driving are installed between two ends of the Y-axis steel beam 8 and the X-axis auxiliary steel beam 2 and the X-axis main steel beam 14, a Y-axis V-shaped rail rack 9 is symmetrically installed on one side of the Y-axis steel beam 8, a Z-axis steel beam 21 is movably connected to one side of the Y-axis V-shaped rail rack 9, a combined driving assembly for Y, Z shaft driving is arranged between the Z-axis steel beam 21 and the Y-axis steel beam 8.

Referring to fig. 1, the first driving assembly includes an X-axis flat roller carrier plate 7 fixedly mounted at one end of the Y-axis steel beam 8 close to the X-axis auxiliary steel beam 2, and a flat roller assembly 5 is mounted at one side of the X-axis flat roller carrier plate 7 close to the X-axis auxiliary steel beam 2, and the flat roller assembly 5 is slidably connected with the top surface of the flat guide rail rack 3, so that the movement of the Y-axis steel beam 8 can be guided and limited, and meanwhile, an anti-falling safety device 6 is further arranged between the flat guide rail rack 3 and the flat roller assembly 5, so that the phenomenon of dislocation or separation between the flat roller assembly 5 and the flat guide rail rack 3 can be avoided, and the stability and safety of the movement can be guaranteed.

Referring to fig. 1, the second driving assembly includes an X-axis V-shaped roller carrier plate 11 fixedly mounted at one end of the Y-axis steel beam 8 close to the X-axis main steel beam 14, and a first V-shaped roller assembly 12 is mounted on one side of the X-axis V-shaped roller carrier plate 11 close to the X-axis main steel beam 14, and the first V-shaped roller assembly 12 is slidably connected with the top surface of the X-axis V-shaped guide rail rack 15, so as to guide and limit the movement of the Y-axis steel beam 8.

Referring to fig. 1, a Y-axis buffer device 10 is further installed on a side surface of the X-axis V-shaped roller carrier plate 11 close to the Y-axis steel beam 8, so that the motion impact force during the motion process can be reduced, and the motion process is smoother and quieter.

Referring to fig. 1, an X-axis driving assembly for providing driving capability is arranged on the top surface of an X-axis main steel beam 14, and includes an X-axis guide slot and an energy supply line which are arranged on the top surface of the X-axis main steel beam 14, and a follower gear device 13 is arranged on the side surface of an X-axis V-shaped roller carrier plate 11, and the follower gear device 13 is engaged with an X-axis V-shaped guide rail rack 15, and the follower gear device 13 is in transmission connection with the power output end of the X-axis driving assembly, so that the X-axis driving assembly can drive a Y-axis steel beam 8 to move along an X-axis auxiliary steel beam 2 and the X-axis main steel beam 14 integrally through the follower gear device 13, and further realize the movement of the device in the X-axis direction.

Referring to fig. 1 and 2, the combined driving assembly includes a YZ axis carrying plate 17 movably connected to a side surface of the Z axis steel beam 21 close to the Y axis steel beam 8, and the YZ axis carrying plate 17 close to a side surface of the Y axis steel beam 8 is rotatably installed with an eccentric flange set 16 and a concentric roller set 20 which are parallel to each other, and the eccentric flange set 16 and the concentric roller set 20 are respectively slidably engaged with upper and lower sides of the two Y axis V-shaped guide rails 9, so that the connecting bolts between the eccentric flange set 16 and the YZ axis carrying plate 17 can be loosened as required, the positions of the paired eccentric flange sets 16 can be adjusted in the direction of arrow of fig. 2, so that the V-shaped surface of the roller is close to the V-shaped surface of the Y axis V-shaped guide rails 9 (a gap of about 0.1mm is left), and the eccentric flange set 16 and the YZ axis carrying plate 17 are fastened by bolts, the YZ axis carrying plate 17 is manually pushed, and the driving plate is freely slid by a thrust of 150 and 250N, which shows that the adjustment is completed, if the thrust is too large or too small, the bolt needs to be loosened for readjustment until the requirement is met, so that the gear and the rack can be reasonably and comfortably meshed, and finally the whole system can run more stably and efficiently.

Referring to fig. 1, a Y-axis drive 18 for driving an eccentric flange set 16 is installed on the surface of one side of a YZ-axis carrying plate 17, which is far away from a Y-axis steel beam 8, and a lubricating felt gear unit 23 is rotatably connected to one side of the YZ-axis carrying plate 17, which is close to a Y-axis V-shaped guide rail rack 9, and the lubricating felt gear unit 23 is meshed with the Y-axis V-shaped guide rail rack 9, and a power output end of the Y-axis drive 18 is in transmission connection with the lubricating felt gear unit 23, so that the Y-axis drive 18 can drive the YZ-axis carrying plate 17 to move integrally along the Y-axis V-shaped guide rail rack 9 through the lubricating felt gear unit 23, thereby realizing the movement of the device in the Y-axis direction, and meanwhile, a lubricating lubricator 22 is arranged between the lubricating felt gear unit 23 and the Y-axis V-shaped guide rail rack 9, so that the movement wear can be reduced and the noise can be reduced.

Referring to fig. 1, four sets of second V-shaped roller assemblies 19 are symmetrically mounted on a YZ-axis carrying plate 17 near the side of a Z-axis steel beam 21, the Z-axis steel beam 21 is slidably connected between the four sets of Y-axis V-shaped guide rails 9, and a Z-axis driving assembly for providing a Z-axis sliding driving force for the Z-axis steel beam 21 is further disposed on the surface of the Z-axis steel beam 21, so that the device can move in the Z-axis direction.

When in use: firstly, the following gear device 13 can be driven to rotate by the X-axis driving component, the following gear device 13 is meshed with the X-axis V-shaped guide rail rack 15, and then the following gear device 13 can drive the Y-axis steel beam 8 to integrally move along the X-axis auxiliary steel beam 2 and the X-axis main steel beam 14, and meanwhile, the movement of the Y-axis steel beam 8 can be limited and guided at two ends of the Y-axis steel beam 8 by the flat roller component 5, the flat guide rail rack 3, the first V-shaped roller component 12 and the X-axis V-shaped guide rail rack 15;

secondly, the YZ-axis carrying plate 17 can be driven to rotate by the Y-axis drive 18, and is meshed with the Y-axis V-shaped guide rail rack 9 through the lubricating felt gear unit 23, so that the Z-axis steel beam 21 can be driven to integrally move along the Y-axis steel beam 8 through the lubricating felt gear unit 23, and the movement of the YZ-axis carrying plate 17 is limited and guided on the upper side and the lower side of the two Y-axis V-shaped guide rail racks 9 through the eccentric flange group 16 and the concentric roller group 20;

finally, the Z-axis steel beam 21 can move along the Z-axis between the four second V-shaped roller assemblies 19 under the action of the Z-axis driving assembly, so that X, Y, Z three-coordinate system movement is realized.

The foregoing is only a preferred embodiment of the present invention; the scope of the utility model is not limited thereto. Any person skilled in the art should be able to cover the technical scope of the present invention by equivalent or modified solutions and modifications within the technical scope of the present invention.

Claims

1. The utility model provides a longmen triaxial V type guide rail truss robot, includes X axle auxiliary steel beam (2) and X axle main steel beam (14) and fixed mounting in pillar (1) of X axle auxiliary steel beam (2) and X axle main steel beam (14) both ends bottom of parallel arrangement, its characterized in that: x axle auxiliary steel girder (2) medial surface fixed mounting has flat guide rail rack (3) and X axle buffer (4), X axle main steel girder (14) medial surface fixed mounting has X axle V type guide rail rack (15), X axle auxiliary steel girder (2) with swing joint has Y axle girder steel (8) between X axle main steel girder (14), Y axle girder steel (8) both ends with X axle auxiliary steel girder (2) with be provided with between X axle main girder steel (14) and be used for X axial drive's first drive assembly and second drive assembly, Y axle girder steel (8) wherein a side symmetry installs Y axle V type guide rail rack (9), Y axle girder steel (8) are being close to Y axle V type guide rail rack (9) a side swing joint has Z axle girder steel (21), Z axle girder steel (21) with be provided with between Y axle girder steel (8) and be used for Y axle V type guide rail rack (9), A Z-axis driven compound drive assembly.

2. The gantry three-axis V-shaped guide rail truss robot as claimed in claim 1, wherein: first drive assembly including fixed mounting in Y axle girder steel (8) are close to X axle auxiliary girder steel (2) one end X axle flat roller support plate (7), X axle flat roller support plate (7) are close to X axle auxiliary girder steel (2) a side-mounting has flat roller subassembly (5), flat roller subassembly (5) with flat guide rail rack (3) top surface sliding connection, flat guide rail rack (3) with still be provided with between flat roller subassembly (5) and prevent falling safety device (6).

3. The gantry three-axis V-shaped guide rail truss robot as claimed in claim 1, wherein: the second driving assembly comprises an X-axis V-shaped roller carrier plate (11) fixedly installed on the Y-axis steel beam (8) close to one end of the X-axis main steel beam (14), a first V-shaped roller assembly (12) is installed on one side face of the X-axis V-shaped roller carrier plate (11) close to one side face of the X-axis main steel beam (14), and the first V-shaped roller assembly (12) is connected with the top face of the X-axis V-shaped guide rail rack (15) in a sliding mode.

4. The gantry three-axis V-shaped guide rail truss robot as claimed in claim 3, wherein: and a Y-axis buffer device (10) is further installed on one side surface of the X-axis V-shaped roller carrier plate (11) close to the Y-axis steel beam (8).

5. The gantry three-axis V-shaped guide rail truss robot as claimed in claim 3, wherein: x axle owner girder steel (14) top surface is provided with the X axle drive assembly who is used for providing the driving force, X axle drive assembly including install in the X axle guide slot and the energy supply circuit of X axle owner girder steel (14) top surface, X axle V type gyro wheel support plate (11) side-mounting has follow-up gear device (13), follow-up gear device (13) with X axle V type guide rail rack (15) mesh mutually, just follow-up gear device (13) with X axle drive assembly's power take off end transmission is connected.

6. The gantry three-axis V-shaped guide rail truss robot as claimed in claim 1, wherein: the combined driving assembly comprises a YZ-axis carrier plate (17) movably connected to one side of the Z-axis steel beam (21) close to the Y-axis steel beam (8), eccentric flange groups (16) and concentric roller groups (20) which are parallel to each other are rotatably arranged at four corners of one side of the Y-axis steel beam (8) close to the YZ-axis carrier plate (17), and the eccentric flange groups (16) and the concentric roller groups (20) are respectively clamped on the upper side and the lower side of the two Y-axis V-shaped guide rail racks (9) in a sliding manner.

7. The gantry three-axis V-shaped guide rail truss robot as claimed in claim 6, wherein: keep away from YZ axle carrier plate (17) Y axle girder steel (8) one side surface mounting is used for eccentric flange group (16) driven Y axle drive (18), YZ axle carrier plate (17) are close to Y axle V type guide rail rack (9) one side is rotated and is connected with lubricated felt gear unit (23), lubricated felt gear unit (23) with Y axle V type guide rail rack (9) mesh mutually, Y axle drive (18) power take off with lubricated felt gear unit (23) transmission is connected, lubricated felt gear unit (23) with be provided with lubricated grease squirt (22) between Y axle V type guide rail rack (9).

8. The gantry three-axis V-shaped guide rail truss robot of claim 6, wherein: four groups of second V-shaped roller assemblies (19) are symmetrically mounted on the lateral surface, close to the Z-axis steel beam (21), of the YZ-axis carrier plate (17), the Z-axis steel beam (21) is connected among the four groups of Y-axis V-shaped guide rail racks (9) in a sliding mode, and a Z-axis driving assembly used for providing Z-axis sliding driving force for the Z-axis steel beam (21) is further arranged on the surface of the Z-axis steel beam (21).