CN219152882U - Longitudinal axis traveling mechanism for ground rail type truss robot - Google Patents
Longitudinal axis traveling mechanism for ground rail type truss robot Download PDFInfo
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- CN219152882U CN219152882U CN202223191795.8U CN202223191795U CN219152882U CN 219152882 U CN219152882 U CN 219152882U CN 202223191795 U CN202223191795 U CN 202223191795U CN 219152882 U CN219152882 U CN 219152882U
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- sliding table
- linear
- guide rail
- linear sliding
- truss robot
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- 230000007246 mechanism Effects 0.000 title claims abstract description 48
- 230000005540 biological transmission Effects 0.000 claims abstract description 40
- 230000033001 locomotion Effects 0.000 claims description 16
- 230000001050 lubricating effect Effects 0.000 claims description 12
- 238000004804 winding Methods 0.000 claims description 5
- 230000007123 defense Effects 0.000 claims description 2
- 238000005461 lubrication Methods 0.000 abstract description 4
- 230000002035 prolonged effect Effects 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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Abstract
The utility model provides a longitudinal axis travelling mechanism for a ground rail type truss robot, which comprises a linear transmission guide rail, wherein the guide rail is arranged along a body of the linear transmission guide rail and is arranged on an upper travelling unit along the Y-axis direction; the linear sliding table is arranged on the guide rail in a sliding manner and can linearly move along the Y-axis direction; the transmission mechanism is arranged between the linear transmission guide rail and the linear sliding table; the limiting assembly is arranged at the initial section and the final end of the linear transmission guide rail and is used for safely limiting the linear sliding table; the travel switch assembly is arranged on the traveling path of the linear sliding table and used for limiting protection and power on-off; the oiling mechanism is arranged on the linear sliding table; according to the Y-axis moving mechanism provided by the utility model, the stability is improved in the aspects of a transmission side, a lubrication side, a Y-axis limiting side and the like by configuring the limiting assembly, the travel switch assembly, the drag chain assembly and the oiling mechanism, so that the overall stability of the Y-axis moving mechanism is improved.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a longitudinal axis traveling mechanism for a ground rail type truss robot.
Background
Truss robots, also known as large rectangular robots, are fully automated industrial equipment that perform motion by completing linear motion along X, Y, and Z axis coordinate systems, and have a very wide range of applications. The rectangular X-axis, Y-axis and Z-axis coordinate systems are the main frames of the truss robot, and can adjust the position of a workpiece or realize the track motion of the workpiece. The ground rail type truss robot is generally assembled between the robot and the ground rail type truss, and the X-axis stability is very high, the speed is high, and the precision is high.
The vertical axis in the ground rail type truss robot structure, namely the Y-axis travelling mechanism is directly connected with the end actuating mechanism, so that the movement stability is extremely important, the precision and accuracy of adjusting the position of a workpiece or realizing the track movement of the workpiece are directly influenced, and therefore, the movement stability of the vertical axis travelling mechanism is extremely important.
Disclosure of Invention
The utility model aims at providing a rational in infrastructure's vertical axis running gear for ground rail formula truss robot to promote stability in aspects such as transmission side, lubrication side, Y axle spacing side, guarantee vertical axis running gear's overall stability.
The technical scheme adopted by the utility model is as follows:
a longitudinal axis running gear for a ground track truss robot, comprising:
the linear transmission guide rail is provided with a guide rail along the body;
the linear sliding table is arranged on the guide rail in a sliding manner and can linearly move along the Y-axis direction;
the transmission mechanism is arranged between the linear transmission guide rail and the linear sliding table and is used for providing driving force for the linear sliding table;
the limiting assembly is arranged at the initial section and the final end of the linear transmission guide rail and is used for safely limiting the linear sliding table;
the travel switch assembly is arranged on the traveling path of the linear sliding table and used for limiting protection and power on-off;
and the oiling mechanism is arranged on the linear sliding table and is used for following the linear sliding table and oiling the transmission mechanism.
Further, the cable winding and unwinding device also comprises a drag chain component which is reversely and fixedly arranged on one side of the linear transmission guide rail along the Y axis and used for winding and unwinding cables.
Further, the drag chain assembly comprises a drag chain groove fixedly arranged on one side of the linear transmission guide rail, a drag chain is arranged in the drag chain groove, and the drag chain is connected with the linear sliding table through a drag chain bracket.
Further, the surface of the linear sliding table is provided with a mounting surface with holes, and the bottom of the linear sliding table is in sliding connection with the guide rail through a plurality of sliding seats.
Further, the transmission mechanism comprises a driving piece fixedly arranged on the top of the linear sliding table, and further comprises a helical gear fixedly arranged on the inner side of the guide rail, and the driving end of the driving piece is meshed with the helical gear through the helical gear to drive the linear sliding table to move.
Further, the limiting assembly comprises two limiting seats fixedly arranged at the initial section and the final end of the linear transmission guide, and a buffer is arranged on the limiting seats towards the movement defense line of the linear sliding table.
Further, the travel switch assembly comprises two contact pieces respectively arranged on the front side wall and the rear side wall of the linear transmission guide rail, and two limit switches arranged on the side wall of the linear sliding table, wherein the limit switches follow the linear sliding table and are in electrical contact with the contact pieces at the end points of the travel range.
Further, oiling mechanism is including setting up in the oiling machine at linear sliding table top to and set up in the lubricating felt of linear sliding table below, the middle part of lubricating felt is connected through the pivot, and the upper portion of pivot is through the mounting bracket hoist and mount in linear sliding table bottom, and the play oily end of oiling machine communicates in lubricating felt.
The utility model has the advantages that:
1. according to the Y-axis travelling mechanism provided by the utility model, linear motion is built on the Y axis through the linear transmission guide rail, sliding guide is built on the bottom of the linear sliding table through the plurality of sliding seats, so that the gear rack is tilted for transmission, good guiding adhesive force is obtained, and the guiding is more stable and higher in precision.
2. The Y-axis moving mechanism suitable for the ground rail type truss robot is provided with the limiting component on the linear moving path, limits the safe range travel of the linear sliding table and has the buffering function, so that the operation stability of the Y-axis moving mechanism is assisted to be improved.
3. By configuring the travel switch assembly, the function of starting or closing a circuit is achieved by utilizing the collision of internal elements, so that the stability of the Y-axis travelling mechanism in the reciprocating travelling direction of the Y-axis is improved, and the machine can automatically stop running or change the movement state as long as the machine reaches a set position.
4. An oiling mechanism is arranged on the linear sliding table of the Y-axis moving mechanism, and is driven by the linear sliding table, so that mechanical abrasion is reduced, stability is improved, and service life is prolonged.
Drawings
FIG. 1 is a schematic diagram of the utility model and the installation of a Z-axis running mechanism and a manipulator;
FIG. 2 is a schematic view of the utility model and a robot;
FIG. 3 is a schematic perspective view of the present utility model;
FIG. 4 is an enlarged view of a portion of FIG. 3 at A;
fig. 5 is a schematic perspective view of a linear sliding table in the present utility model.
Wherein: 1. a linear drive guide rail; 11. a guide rail; 21. a slide; 22. a mounting surface; 2. a linear slipway; 3. a transmission mechanism; 31. a driving member; 32. a helical rack; 33. bevel gear; 4. a limit component; 41. a limit seat; 42. a buffer; 5. a travel switch assembly; 51. a contact; 52. a limit switch; 6. an oiling mechanism; 61. an oiling machine; 62. a rotating shaft; 63. a lubricating felt; 7. a manipulator; 8. a Z-axis walking mechanism; 9. an organ cover; 10. a tow chain assembly; 101. a drag chain; 102. a drag chain groove; 103. a drag chain bracket.
Detailed Description
The technical scheme of the utility model is further described below with reference to the accompanying drawings.
As shown in fig. 1 to 5, a longitudinal axis traveling mechanism for a ground track type truss robot includes a linear transmission guide rail 1, along the body of which a guide rail 11 is provided; a linear slide table 2 slidably provided on the guide rail 11 and linearly movable in the Y-axis direction; the transmission mechanism 3 is arranged between the linear transmission guide rail 1 and the linear sliding table 2 and is used for providing driving force for the linear sliding table 2; the limiting component 4 is arranged at the initial section and the final end of the linear transmission guide rail 1 and is used for safely limiting the linear sliding table 2; the travel switch assembly 5 is arranged on the traveling path of the linear sliding table 2 and used for limiting protection and power on-off; and an oiling mechanism 6, which is arranged on the linear sliding table 2 and is used for oiling the transmission mechanism 3 along with the linear sliding table 2.
In some embodiments, the device comprises a drag chain assembly 10 which is reversely fixed on one side of the linear transmission guide rail 1 along the Y axis and is used for winding and unwinding cables; the drag chain assembly 10 comprises a drag chain 101 groove fixedly arranged on one side of the linear transmission guide rail 1, a drag chain 101 is arranged in the drag chain 101 groove, and the drag chain 101 is connected with the linear sliding table 2 through a drag chain 101 bracket. Through the above technical scheme, the setting of tow chain subassembly 10 can effectively realize accomodating of cable.
In some embodiments, the surface of the linear slipway 2 has a perforated mounting surface 22, the bottom of which is slidingly connected to the rail 11 by a plurality of carriages 21, preferably 8 carriages 21. The transmission mechanism 3 comprises a driving piece 31 fixedly arranged at the top of the linear sliding table 2, and further comprises a helical gear 32 fixedly arranged at the inner side of the guide rail 11, and the driving end of the driving piece 31 is meshed with the helical gear 32 through a helical gear 33 so as to drive the linear sliding table 2 to move.
Through the technical scheme, the linear sliding table 2 can have good motion guiding and rail grabbing adhesiveness, so that motion stability is improved. The cooperative use conditions of the driving mechanism, the linear sliding table 2 and the sliding seat 21 are that the driving piece 31 comprises, but is not limited to, a servo motor, and under external servo control, a bevel gear 33 is driven by the servo motor to be meshed with a bevel gear 32, so that the linear sliding table 2 is driven to move forwards and backwards, after the linear sliding table 2 is provided with a driving force, the guiding of the linear sliding table 2 in the forward and backward movement is realized by fixedly arranging the sliding seats 21 below the sliding seats 21, 8 sliding seats 21 are preferably selected, and the 8 sliding seats 21 are contacted with a sliding rail for guiding, so that the linear sliding table has good guiding adhesiveness.
In some embodiments, the limiting assembly 4 includes two limiting seats 41 fixedly arranged at the initial section and the final end of the linear transmission guide, and a buffer 42 is arranged on the limiting seats 41 towards the movement line of the linear sliding table 2.
Through the technical scheme, the Y-axis travelling mechanism provided by the utility model can effectively avoid the problem that the front and back running strokes of the linear sliding table 2 are uncontrollable in the use working condition of the ground track type truss robot, prevent the exceeding of the safety strokes and avoid potential safety hazards.
In some embodiments, the travel switch assembly 5 includes two contact members 51 respectively disposed on the front and rear side walls of the linear driving rail 1, and two limit switches 52 disposed on the side walls of the linear sliding table 2, where the limit switches 52 follow the linear sliding table 2 and electrically contact with the contact members 51 at the end points of the travel range.
Through the technical scheme, in the working condition of the ground track type truss robot, the motion stroke of the linear sliding table 2 along the Y axis is limited by the limit switch 52, the limit switch 52 is in electrical contact with the contact piece 51, and the on-off of the electrical connection of the limit switch 52 and the contact piece 51 realizes the on-off of a power supply, so that the round trip and the automatic control are realized.
In some embodiments, the oiling mechanism 6 includes an oiling machine 61 disposed at the top of the linear sliding table 2, and a lubricating felt 63 disposed below the linear sliding table 2, where the middle of the lubricating felt 63 is connected through a rotating shaft 62, and the upper part of the rotating shaft 62 is lifted at the bottom of the linear sliding table 2 through a mounting frame, and an oil outlet end of the oiling machine 61 is communicated with the lubricating felt 63.
Through the technical scheme, the Y-axis travelling mechanism provided by the utility model can realize the follow-up lubrication of mechanical parts and transmission parts in the use working condition of the ground track type truss robot, and the principle is that the oil outlet end of the oiling machine 61 is communicated with the upper part of the rotating shaft 62 through a hose, the middle part of the rotating shaft 62 is in a hollow design, oil enters the lubricating felt 63 through the rotating shaft 62, the outline of the lubricating felt 63 is in a gear-shaped design, so that the oil can be meshed with the helical rack 32 in the moving process of the linear sliding table 2, the oil lubrication of wear parts such as the helical rack is realized, and meanwhile, other mechanical parts on a working path can be lubricated, so that the mechanical wear rate is reduced, the maintenance frequency is reduced, the service life is prolonged, and the running stability is improved.
The working principle is as follows: the Y-axis travelling mechanism is installed on the ground rail type truss robot, specifically, as shown in fig. 1, the fixed end of the Y-axis travelling mechanism body is arranged at the free end of the Z-axis travelling mechanism 8, so that the Y-axis travelling mechanism is driven to move up and down along the vertical direction, the free end of the Y-axis travelling mechanism is used for installing a manipulator 7, the tail end of the manipulator 7 is used for installing a welding gun or spraying equipment, meanwhile, the ground rail type truss robot is also provided with an X-axis travelling mechanism 8Z, so that a triaxial rectangular coordinate system is established, and the Y-axis travelling mechanism body can linearly displace in a space range to adjust the position of a workpiece or realize the track movement of the workpiece, so as to realize welding or spraying operation.
The above description is only illustrative of the utility model and is not to be construed as limiting the utility model, which is defined in the claims and modifications can be made in any number of ways within the scope of the utility model.
Claims (8)
1. A vertical axis running gear for ground rail formula truss robot, its characterized in that: comprising the following steps:
a linear transmission guide rail (1) is provided with a guide rail (11) along the body;
a linear sliding table (2) which is slidably arranged on the guide rail (11) and can linearly move along the Y-axis direction;
the transmission mechanism (3) is arranged between the linear transmission guide rail (1) and the linear sliding table (2) and is used for providing driving force for the linear sliding table (2);
the limiting assembly (4) is arranged at the starting section and the ending end of the linear transmission guide rail (1) and is used for safely limiting the linear sliding table (2);
the travel switch assembly (5) is arranged on the traveling path of the linear sliding table (2) and used for limiting protection and switching on and off a power supply;
and the oiling mechanism (6) is arranged on the linear sliding table (2) and is used for following the linear sliding table (2) and oiling the transmission mechanism (3).
2. The longitudinal axis running gear for a ground track truss robot of claim 1 wherein: the cable winding and unwinding device also comprises a drag chain assembly (10) which is reversely and fixedly arranged on one side of the linear transmission guide rail (1) along the Y axis and used for winding and unwinding cables.
3. The longitudinal axis running gear for a ground track truss robot of claim 2 wherein: the drag chain assembly (10) comprises a drag chain (101) groove fixedly arranged on one side of the linear transmission guide rail (1), the drag chain (101) is arranged in the drag chain (101) groove, and the drag chain (101) is connected with the linear sliding table (2) through a drag chain (101) bracket.
4. The longitudinal axis running gear for a ground track truss robot of claim 1 wherein: the surface of the linear sliding table (2) is provided with a mounting surface (22) with holes, and the bottom of the linear sliding table is in sliding connection with the guide rail (11) through a plurality of sliding seats (21).
5. The longitudinal axis running gear for a ground track truss robot of claim 1 wherein: the transmission mechanism (3) comprises a driving piece (31) fixedly arranged at the top of the linear sliding table (2), and further comprises a bevel gear (32) fixedly arranged at the inner side of the guide rail (11), and the driving end of the driving piece (31) is meshed with the bevel gear (32) through a bevel gear (33) to drive the linear sliding table (2) to move.
6. The longitudinal axis running gear for a ground track truss robot of claim 1 wherein: the limiting assembly (4) comprises two limiting seats (41) fixedly arranged at the initial section and the final end of the linear transmission guide, and a buffer (42) is arranged on the limiting seats (41) towards the movement defense line of the linear sliding table (2).
7. The longitudinal axis running gear for a ground track truss robot of claim 1 wherein: the travel switch assembly (5) comprises two contact pieces (51) which are respectively arranged on the front side wall and the rear side wall of the linear transmission guide rail (1), and two limit switches (52) which are arranged on the side wall of the linear sliding table (2), wherein the limit switches (52) follow the linear sliding table (2) and are in electrical contact with the contact pieces (51) at the end points of the travel range.
8. The longitudinal axis running gear for a ground track truss robot of claim 1 wherein: oiling mechanism (6) are including setting up in oiling machine (61) at linear slip table (2) top to and set up in lubricating felt (63) of linear slip table (2) below, the middle part of lubricating felt (63) is connected through pivot (62), and the upper portion of pivot (62) is through the hoist and mount in linear slip table (2) bottom, and the play oily end of oiling machine (61) communicates in lubricating felt (63).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223191795.8U CN219152882U (en) | 2022-11-30 | 2022-11-30 | Longitudinal axis traveling mechanism for ground rail type truss robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223191795.8U CN219152882U (en) | 2022-11-30 | 2022-11-30 | Longitudinal axis traveling mechanism for ground rail type truss robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219152882U true CN219152882U (en) | 2023-06-09 |
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ID=86617429
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202223191795.8U Active CN219152882U (en) | 2022-11-30 | 2022-11-30 | Longitudinal axis traveling mechanism for ground rail type truss robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219152882U (en) |
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2022
- 2022-11-30 CN CN202223191795.8U patent/CN219152882U/en active Active
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240111 Address after: 214000 No.80 Xixin Road, Xibei Town, Xishan District, Wuxi City, Jiangsu Province Patentee after: Luo Zhitao Address before: Unit 11-4-501, Hongyi Road, Xinwu District, Wuxi City, Jiangsu Province, 214000 Patentee before: Wuxi xinjinyu Intelligent Manufacturing Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240401 Address after: 214000 No.80 Xixin Road, Xibei Town, Xishan District, Wuxi City, Jiangsu Province Patentee after: Wuxi Xinhuina Automation Equipment Co.,Ltd. Country or region after: China Address before: 214000 No.80 Xixin Road, Xibei Town, Xishan District, Wuxi City, Jiangsu Province Patentee before: Luo Zhitao Country or region before: China |