CN218965415U - Z-axis moving mechanism of ground rail type truss robot - Google Patents
Z-axis moving mechanism of ground rail type truss robot Download PDFInfo
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- CN218965415U CN218965415U CN202223169600.XU CN202223169600U CN218965415U CN 218965415 U CN218965415 U CN 218965415U CN 202223169600 U CN202223169600 U CN 202223169600U CN 218965415 U CN218965415 U CN 218965415U
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Abstract
The utility model provides a Z-axis moving mechanism of a ground rail type truss robot, which comprises a steel structure main body, wherein a guide rail is arranged along the axial main body of the steel structure main body; the power sliding table is arranged along the axial direction of the steel structure main body in a sliding way; the driving mechanism is arranged between the power sliding table and the steel structure main body and is used for providing driving force; the drag chain assembly is arranged on one side of the steel structure main body; the oiling mechanism is arranged at the top of the power sliding table; the dustproof assembly is arranged on the linear path of the power sliding table and is used for sealing and dustproof the inside of the steel structure main body when the power sliding table moves; the utility model optimizes the stability of the Z-axis moving mechanism at the guide adhesiveness, the service life, the safety limit and the transmission side so as to improve the movement stability of the Y-axis moving mechanism and provide a stable foundation for a three-axis rectangular coordinate system.
Description
Technical Field
The utility model relates to the technical field of truss robots, in particular to a Z-axis moving mechanism of a ground rail type truss robot.
Background
The ground rail type truss robot is a robot widely applied to the field of automatic spraying or welding, can realize automatic and intelligent operation, has high speed and good accuracy, can effectively prevent dust, can save cost by using the equipment to replace manpower, and greatly improves the processing efficiency; the working behavior is mainly performed by completing linear motion along the X axis, the Y axis and the Z axis to match the action of the end effector.
For the ground rail type truss robot, because the X-axis ground rail of the ground rail type truss robot is directly laid on the ground, namely the practical running stability of the X-axis is less, the Z-axis moving mechanism of the three-axis rectangular coordinate is a connecting mechanism of the X-axis moving mechanism and the Y-axis moving mechanism, and the effect of bearing the X-axis moving mechanism and the Y-axis moving mechanism is achieved. Therefore, in the three-axis linear guide rail movement of the ground rail type truss robot, the Z-axis moving mechanism plays a role in supporting up and down, the stability of the Z-axis moving mechanism directly determines the operation quality of the ground rail type truss robot, and the movement stability of the Z-axis moving mechanism is very important.
Disclosure of Invention
The utility model aims to provide a Z-axis moving mechanism of a ground track type truss robot, so that the stability of the Z-axis moving mechanism is optimized on the guiding adhesiveness, safety limit and transmission side, the movement stability of the Z-axis moving mechanism of the ground track type truss robot is improved, and a stable foundation is provided for a three-axis rectangular coordinate system of the ground track type truss robot.
The technical scheme adopted by the utility model for solving the technical problems is as follows:
z-axis moving mechanism of ground rail type truss robot, which comprises
The steel structure main body is provided with a guide rail along the axial body and is used as a linear moving mechanism bearing main body;
the power sliding table is arranged in a sliding way along the axial direction of the steel structure main body and is used as a free end and is provided with a linear mechanism of the next unit;
the driving mechanism is arranged between the power sliding table and the steel structure main body and is used for providing driving force;
the drag chain assembly is arranged on one side of the steel structure main body and is used for accommodating cables;
the oiling mechanism is arranged at the top of the power sliding table and is used for carrying out follow-up lubrication on the driving mechanism;
and the dustproof assembly is arranged on the linear path of the power sliding table and is used for sealing and dustproof the inside of the steel structure main body when the power sliding table moves.
Further, the steel structure main body is of a hollow design, the main body is arranged along the vertical direction, and the bottom of the main body is provided with a flange skirt.
Further, a plurality of mounting holes are uniformly distributed on the upper surface of the power sliding table, and the bottoms of the mounting holes are in sliding connection with the sliding rails on the two sides of the steel structure main body through a plurality of sliding seats.
Further, the driving mechanism comprises a driving piece fixedly arranged on the top of the power sliding table and a rack arranged on one side of the guide rail, a gear is arranged at the driving end of the driving piece, and the gear and the rack are meshed to drive the power sliding table.
Further, the driving end of the driving piece transmits power to the gear through the speed reducer and outputs the power to the gear.
Further, the drag chain assembly comprises a drag chain groove which is arranged on the side wall of the steel structure main body in a fitting mode, and a drag chain is arranged in the drag chain groove.
Further, the oiling mechanism comprises an oiling machine arranged at the top edge of the power sliding table, an oil distributing pipe is arranged on one side of the oiling machine, the oiling mechanism further comprises a lubricating felt arranged at the bottom of the power sliding table, the lubricating felt is toothed and meshed with the rack, and the oil outlet end of the oil distributing pipe is communicated with the lubricating felt.
Further, the dustproof component is an organ protection cover.
The beneficial effects of the utility model are as follows:
1. the driving mechanism takes a transmission form of a helical gear and a rack as a driving mechanism of the power sliding table; the bottom of the sliding table is connected with the guide rail through a plurality of sliding seats in a sliding way, so that good guiding adhesive force is obtained, and the guiding is more stable and the precision is higher;
2. the driving mechanism is characterized in that a speed reducer is arranged at the driving end of the servo motor, and the free end mounting surface of the Z-axis moving mechanism faces to the horizontal direction, so that after the Z-axis moving mechanism is arranged on the power sliding table side of the Z-axis moving mechanism, higher torque is required to drive larger load, and the speed reducer is arranged, so that the reduction ratio can be reasonably selected;
3. the upper and lower strokes are provided with the limiting components, so that the running stability is better, and the safety is more stable;
4. the configuration of the oiling mechanism reduces the mechanical abrasion of the Z-axis moving mechanism, reduces the failure rate and reduces the maintenance frequency, thereby prolonging the service life and improving the stability.
Drawings
FIG. 1 is a perspective view of a first view of the present utility model;
FIG. 2 is a perspective view of a second view of the present utility model;
FIG. 3 is a schematic diagram of a transmission mechanism;
fig. 4 is a schematic diagram illustrating the installation of the driving member and the decelerator in the present utility model.
Wherein: 1. a steel structure main body; 2. a guide rail; 3. a power slipway; 4. a driving mechanism; 5. a tow chain assembly; 6. an oiling mechanism; 7. a dust-proof assembly; 11. a flange skirt; 31. a mounting hole; 32. a slide; 41. a driving member; 42. a rack; 43. a gear; 44. a speed reducer; 51. a drag chain groove; 52. a drag chain; 61. an oiling machine; 62. oil distributing pipes; 65. a rotating shaft; 66. a lubricating felt; 8. a limit seat; 9. a buffer.
Detailed Description
The following describes specific embodiments of the present utility model with reference to the drawings.
As shown in fig. 1 to 4, a Z-axis moving mechanism of a ground track type truss robot includes a steel structure main body 1, along an axial body of which a guide rail 2 is provided for carrying the main body as a linear moving mechanism; a power sliding table 3 slidably arranged along the axial direction of the steel structure main body 1 and used as a free end and provided with a linear mechanism of a next unit; a driving mechanism 4, which is arranged between the power slipway 3 and the steel structure main body 1 and is used for providing driving force; a drag chain assembly 5 provided at one side of the steel structure body 1 for receiving a cable; the oiling mechanism 6 is arranged at the top of the power sliding table 3 and is used for carrying out follow-up lubrication on the driving mechanism 4; and the dustproof assembly 7 is arranged on the linear path of the power sliding table 3 and is used for sealing and dustproof the inside of the steel structure main body 1 when the power sliding table 3 moves.
Through the technical scheme, the bottom of the Z-axis moving mechanism is fixedly arranged on the upper moving unit of the ground rail type truss robot (such as the X-axis moving unit of the ground rail type truss robot) through the flange skirt edge 11, so that the free end of the X-axis moving unit drives the Z-axis moving mechanism to move to form a space rectangular displacement coordinate system; the Z-axis moving mechanism body also has a free end, namely a power sliding table 3, and the power sliding table 3 is driven by a driving mechanism 4 to realize the displacement movement of the up-and-down stroke, so that a next traveling unit is installed, a rectangular coordinate system moving mechanism formed on the X, Y, Z three axes is formed, and the servo control is performed through an external PLC integrated control end, so that the automatic welding, spraying and other operations are realized.
In some embodiments, the steel body 1 is hollow, the body is arranged along the vertical direction, and the bottom of the steel body is provided with a flange skirt 11, and the flange skirt 11 is used for being in butt joint and fixation with the mounting surface of the previous unit.
Through the technical scheme, the robot can be arranged at the free end of the upper right-angle coordinate system walking unit of the ground rail type truss robot, and the robot can automatically operate under the control of the control end.
In some embodiments, the power slipway 3 has a plurality of mounting holes 31 uniformly distributed on its upper surface, and the bottom of the power slipway is slidably connected with the slide rails on two sides of the steel structure main body 1 through a plurality of slide bases 32.
Through the technical scheme, the power sliding table 3 provided by the utility model is provided with the plurality of mounting holes 31 which can be uniformly distributed, 8-10 power sliding tables 3 are used as free ends, and the upper surface of the power sliding table 3 forms a mounting surface and is fixedly connected with the Y-axis travelling mechanism of the ground track type truss robot, so that a rectangular coordinate system movement mechanism on X, Y, Z three axes is realized; the bottom is preferably provided with 8 sliding seats 32, and one side is 4 bottoms fixedly arranged on the power sliding table 3, and the linear and guiding movement of the power sliding table 3 is realized through the sliding guide of the sliding seats 32 and the guide rail 2.
In some embodiments, the driving mechanism 4 includes a driving member 41 fixed on the top of the power sliding table 3 and a rack 42 disposed on one side of the guide rail 2, a gear 43 is disposed at the driving end of the driving member 41, and the rack 42 of the gear 43 is meshed with the rack 42 to drive the power sliding table 3; the driving end of the driving member 41 transmits power through the decelerator 44 and outputs the power to the gear 43, and the driving member 41 includes, but is not limited to, a servo motor as a preferred embodiment, and the decelerator 44 includes, but is not limited to, a gear box.
Through the technical scheme, the driving mechanism 4 consists of a servo motor, a gear box and a fixing piece. The gear 43 is meshed with the rack 42, so that the power sliding table 3 is driven, the gear 43 is meshed with the rack 42 in a helical gear mode, and the rotating speed of the motor is transmitted to the rack 42 through the gear box after being reduced by the gear 43; the motor cable and the control cable on the servo motor are connected through a plug.
The drag chain assembly 5 comprises a drag chain groove 51 which is attached to the side wall of the steel structure main body 1, and a drag chain 52 is arranged in the drag chain groove 51.
Through the above technical solution, the robot, the linear slide and the medium supply pipeline are all laid in the drag chain 52 system. The energy supply drag chain 52 is located in the lateral guidance system. The following is realized by the following coupler being fixed on the power slipway 3. The other end of the energy supply tow chain 52 is screwed onto a fixed point module in the guidance system. The fixing method depends on the allowable stroke (H) of the power slipway 3 and the width (BK) of the energy supply drag chain 52 system. The plug board forms an interface (connection cable) between the linear slide and the robot control device. All of the plugs of the cable contained in the energy supply tow chain 52 system are secured to the plug deck.
In some embodiments, the oiling mechanism 6 includes an oiling machine 61 disposed at the top edge of the power sliding table 3, an oil distributing pipe 62 is set on one side of the oiling machine 61, and a lubricating felt 66 disposed at the bottom of the power sliding table 3, the lubricating felt 66 is toothed and engaged with the rack 42, and an oil outlet end of the oil distributing pipe 62 is communicated with the lubricating felt 66; more specifically, the middle part of the lubricating felt 66 is penetrated with a rotating shaft 65, the middle part of the rotating shaft 65 is hollow, and the top of the rotating shaft 65 is fixed at the bottom of the power sliding table 3 through a mounting frame, so that the lubricating felt 66 is driven by the power sliding table 3 and is meshed with the rack 42;
by the technical scheme, the self-lubrication of the Z-axis moving mechanism can be realized, the service life of the Z-axis moving mechanism is prolonged, and the equipment failure rate is reduced; the working principle is that the oiling machine 61 is communicated with the oil distributing pipe 62, and the oil distributing pipe 62 conveys oil to a hollow through hole at the top of the rotating shaft 65 through a hose, so that the lubricating felt 66 is oiled.
In some embodiments, the dustproof component 7 is an organ protection cover, and the action principle is that the organ protection cover is respectively arranged at the top and the bottom of the steel structure main body 1 according to the ductility of the organ protection cover, one end of the organ protection cover is connected to the end part of the steel structure main body 1, the other end of the organ protection cover is fixed with the power sliding table 3, and in the up-down travel of the power sliding table 3, the sealing performance of the inside of the guide rail 2 of the steel structure main body 1 can be greatly improved, the entry of sundries and dust is reduced, so that the whole service life of the Z-axis moving mechanism is prolonged, and hidden dangers in need of maintenance are reduced.
It should be noted that, the bottom up-down travel path of the present utility model is further provided with a limiting assembly, the limiting assembly includes a limiting seat 8 fixedly arranged at the top and bottom of the steel structure main body 1, and a buffer 9 is arranged on the limiting seat 8 along the up-down direction, so that when the movement range of the power sliding table 3 exceeds the safety range, physical limiting is performed, and a signal is sent to cut off or brake the power source.
The above description is intended to illustrate the utility model and not to limit it, the scope of which is defined by the claims, and any modifications can be made within the scope of the utility model.
Claims (8)
1. The utility model provides a Z axle moving mechanism of ground rail formula truss robot which characterized in that: comprising
The steel structure main body (1) is provided with a guide rail (2) along the axial body thereof and is used as a linear moving mechanism bearing main body;
the power sliding table (3) is arranged along the axial direction of the steel structure main body (1) in a sliding way and is used as a free end and is provided with a linear mechanism of a next unit;
the driving mechanism (4) is arranged between the power sliding table (3) and the steel structure main body (1) and is used for providing driving force;
the drag chain assembly (5) is arranged on one side of the steel structure main body (1) and is used for accommodating cables;
the oiling mechanism (6) is arranged at the top of the power sliding table (3) and is used for carrying out follow-up lubrication on the driving mechanism (4);
and the dustproof assembly (7) is arranged on the linear path of the power sliding table (3) and is used for sealing and dustproof the inside of the steel structure main body (1) when the power sliding table (3) moves.
2. The Z-axis moving mechanism of a ground track type truss robot of claim 1, wherein: the steel structure main body (1) is of a hollow design, the main body is arranged in the vertical direction, and the bottom of the main body is provided with a flange skirt (11).
3. The Z-axis moving mechanism of a ground track type truss robot of claim 1, wherein: the upper surface of power slip table (3) equipartition has a plurality of mounting holes (31), and its bottom is through a plurality of slide (32) and the slide rail sliding connection of steel structure main part (1) both sides limit.
4. The Z-axis moving mechanism of a ground track type truss robot of claim 1, wherein: the driving mechanism (4) comprises a driving piece (41) fixedly arranged at the top of the power sliding table (3) and a rack (42) arranged on one side of the guide rail (2), a gear (43) is arranged at the driving end of the driving piece (41), and the rack (42) of the gear (43) is meshed with the power sliding table (3).
5. The Z-axis moving mechanism of a ground track type truss robot of claim 4 wherein: the driving end of the driving piece (41) transmits power to the gear (43) through the speed reducer (44) and outputs the power to the gear.
6. The Z-axis moving mechanism of a ground track type truss robot of claim 1, wherein: the drag chain assembly (5) comprises a drag chain groove (51) which is arranged on the side wall of the steel structure main body (1) in a fitting mode, and a drag chain (52) is arranged in the drag chain groove (51).
7. The Z-axis moving mechanism of a ground track type truss robot of claim 4 wherein: the oiling mechanism (6) comprises an oiling machine (61) arranged at the top edge of the power sliding table (3), an oil distributing pipe (62) is arranged on one side of the oiling machine (61), the oiling machine further comprises a lubricating felt (66) arranged at the bottom of the power sliding table (3), the lubricating felt (66) is toothed and meshed with the rack (42), and an oil outlet end of the oil distributing pipe (62) is communicated with the lubricating felt (66).
8. The Z-axis moving mechanism of a ground track type truss robot of claim 4 wherein: the dustproof component (7) is an organ protection cover.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223169600.XU CN218965415U (en) | 2022-11-29 | 2022-11-29 | Z-axis moving mechanism of ground rail type truss robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223169600.XU CN218965415U (en) | 2022-11-29 | 2022-11-29 | Z-axis moving mechanism of ground rail type truss robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218965415U true CN218965415U (en) | 2023-05-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202223169600.XU Active CN218965415U (en) | 2022-11-29 | 2022-11-29 | Z-axis moving mechanism of ground rail type truss robot |
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| CN (1) | CN218965415U (en) |
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- 2022-11-29 CN CN202223169600.XU patent/CN218965415U/en active Active
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