CN219649943U - Z-axis limiting and protecting device of truss robot - Google Patents
Z-axis limiting and protecting device of truss robot Download PDFInfo
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- CN219649943U CN219649943U CN202320762143.0U CN202320762143U CN219649943U CN 219649943 U CN219649943 U CN 219649943U CN 202320762143 U CN202320762143 U CN 202320762143U CN 219649943 U CN219649943 U CN 219649943U
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- 230000007704 transition Effects 0.000 claims abstract description 43
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- 230000001012 protector Effects 0.000 claims 1
- 238000013461 design Methods 0.000 abstract description 2
- 230000006872 improvement Effects 0.000 abstract description 2
- 238000012423 maintenance Methods 0.000 abstract description 2
- 230000004044 response Effects 0.000 abstract description 2
- 230000001360 synchronised effect Effects 0.000 description 12
- 230000007246 mechanism Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 4
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- 238000010586 diagram Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
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- 230000003287 optical effect Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
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Abstract
The utility model relates to a Z-axis limiting protection device of a truss robot, which comprises a mounting plate, a transition structure and an execution structure, wherein two mounting holes are formed in the mounting plate, 2 mounting holes are formed in the mounting plate, the transition structure and the execution structure are respectively arranged in the two mounting holes, and the transition structure is connected with the execution structure. The utility model has the advantages of small volume, compact structure, convenient arrangement in product design, strong adaptability, suitability for various working scenes, reliable work, low maintenance cost, strong load capacity, low cost, quick response speed and convenient improvement and upgrading of most truss robots. Because the radius of the reference circle of the transition gear is larger than that of the execution gear, the Z-axis of the truss robot can be braked by a smaller electromagnetic brake.
Description
Technical Field
The utility model relates to the field of product truss robots, in particular to a Z-axis limiting mechanism of a truss manipulator in a heavy-load truss robot.
Background
In the Z-axis lifting process of the truss robot, the Z-axis mechanical arm needs to be stopped at any height to work, an optical axis which is longer than the Z-axis mechanical arm is usually adopted by the existing truss robot, and the optical axis is locked and fixed by a locking device when the Z-axis mechanical arm is lifted to any position, or a balance bar is used for balancing the weight of the Z-axis mechanical arm, so that the output shaft of a driving motor reducer of the Z-axis mechanical arm is protected, and the Z-axis of the truss robot is prevented from falling due to a fault.
However, the existing protection mode has great limitation in application scenes due to structural size and mechanical strength, and can only be used in scenes with short lifting stroke of the Z-axis mechanical arm, so that the protection of the Z-axis mechanical arm of the truss mechanical arm with large stroke and heavy load is not well realized, and the safety and stability are limited. According to these problems, the prior art is improved, and patent number CN202022788176.1 proposes a mechanical arm Z-axis stabilizing device, which has a structure that "the mechanical arm Z-axis is slidably connected with the fixing support, and is located at one side of the fixing support, the Z-axis synchronous belt fixing seat is fixedly connected with the mechanical arm Z-axis, the synchronous belt placing component is fixedly connected with the fixing support, and is located at an outer side wall of the fixing support, one end of the synchronous belt is fixedly connected with the Z-axis synchronous belt fixing seat, the other end of the synchronous belt is fixedly connected with the synchronous belt placing component, one end of the tension spring is fixedly connected with the fixing support, the other end of the tension spring is fixedly connected with the sliding component, the sliding rail is fixedly connected with the fixing support, and is located at an outer side wall of the fixing support, and the sliding component is slidably connected with the sliding rail, and is embedded in the sliding rail. The mechanical arm Z-axis synchronous belt fixing seat has the advantages that the mechanical arm Z-axis is subjected to upward pulling force caused by the synchronous belt due to the action of the Z-axis synchronous belt fixing seat when a technician controls the mechanical arm Z-axis to displace downwards, and the upward pulling force balances the downward force generated by acceleration and gravity of the mechanical arm Z-axis when the mechanical arm Z-axis displaces downwards; when a technician controls the upward displacement of the manipulator Z shaft, the tension spring is still in a compressed state because of the pretightening force of the tension spring, the manipulator Z shaft is displaced upward because of the action of the Z-shaft synchronous belt fixing seat, the upward tension is applied to the manipulator Z shaft due to the action of the Z-shaft synchronous belt fixing seat, the upward tension can overcome a part of gravity of the manipulator Z shaft and downward friction force applied to the manipulator Z shaft during the upward displacement, the technician controls the manipulator Z shaft to stop moving when the manipulator Z shaft stops at a certain position in the process of the downward or upward displacement of the manipulator Z shaft, the upward tension applied to the tension spring and the synchronous belt still exists at the moment, the stability of the positioning and the repeated movement of the manipulator Z shaft is ensured, the instability in the process of the manipulator movement reaching a designated position is avoided, a certain position deviation or a certain play is caused, and the positioning accuracy is inaccurate. "
However, the technical structure is complex, the stability of the spring is mainly achieved through the tension spring, the stability of the spring cannot be ensured, so that the spring is easy to have the problem of limited stability after being used for a period of time, the safety problem is caused, and the potential safety hazard exists. Particularly when small devices are used, springs are more prone to problems, which make this technique ineffective.
Disclosure of Invention
In order to solve the technical problems, the utility model provides a Z-axis driving device capable of realizing protection of a Z-axis driving device and accidental falling protection of the Z-axis under a large stroke and a large load of a truss robot.
The utility model relates to a Z-axis limiting protection device of a truss robot, which comprises a mounting plate, a transition structure and an execution structure, wherein two mounting holes are formed in the mounting plate, 2 mounting holes are formed in the mounting plate, the transition structure and the execution structure are respectively arranged in the two mounting holes, and the transition structure is connected with the execution structure.
The executing structure comprises an electromagnetic brake, a brake shaft, a brake gear and a double-row angular contact ball bearing, wherein the electromagnetic brake is connected with the double-row angular contact ball bearing through the brake shaft, and the double-row angular contact ball bearing is connected with the brake gear.
The transition structure comprises an execution gear, a transition gear, a deep groove ball bearing, a bearing inner ring spacer and a bearing outer ring spacer, wherein the execution gear is connected with the transition gear, the deep groove ball bearing is fixed on the rear side of the execution gear, the bearing outer ring spacer is sleeved on the outer side of the deep groove ball bearing, the bearing inner ring spacer is installed at one end of the execution gear, and the deep groove ball bearing is installed on the outer side of the bearing inner ring spacer.
The deep groove ball bearing and the bearing outer ring spacer bush are arranged on one side of the mounting plate, and the bearing inner ring spacer bush and the deep groove ball bearing are arranged on the other side of the mounting plate.
The transition gear is meshed with the braking gear, and the braking gear is connected with the electromagnetic brake through a braking shaft. Because the radius of the transition gear is larger than that of the execution gear, the Z shaft can be locked by the braking gear with smaller braking force, and the Z shaft falling caused by overlarge radial force and protection faults can be prevented from being caused by the output shaft of the driving motor.
The transition gear pitch circle radius is greater than the actuator gear pitch circle radius.
The executing gear and the transition gear are connected together through keys.
And the executing gear is meshed with the Z-axis rack of the truss robot and is connected with the transition gear in a coaxial key manner.
Compared with the prior art, the utility model has the beneficial effects that: the utility model has the advantages of small volume, compact structure, convenient arrangement in product design, strong adaptability, suitability for various working scenes, reliable work, low maintenance cost, strong load capacity, low cost, quick response speed and convenient improvement and upgrading of most truss robots.
Because the radius of the reference circle of the transition gear is larger than that of the execution gear, the Z-axis of the truss robot can be braked by a smaller electromagnetic brake.
Drawings
FIG. 1 is an illustration of the assembly of the Z-axis limit mechanism of the truss robot of the present utility model; (the other side schematic of FIG. 1 needs to be provided.)
FIG. 2 is a schematic diagram of the Z-axis limiting mechanism of the truss robot in use;
FIG. 3 is a schematic diagram of the Z-axis limiting mechanism of the truss robot;
FIG. 4 is a schematic diagram of the Z-axis limiting mechanism of the truss robot in use;
FIG. 5 is an exploded view of the Z-axis limit mechanism of the truss robot of the present utility model;
the reference numerals in the drawings: the device comprises a mounting plate (1), an executing gear (2), a transition gear (3), an electromagnetic brake (4), a brake shaft (5), a brake gear (6), a double-row angular contact ball bearing (7), a deep groove ball bearing (8), a bearing inner ring spacer (9) and a bearing outer ring spacer (10).
Detailed Description
The following description of the embodiments of the present utility model will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the utility model are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
In the description of the present utility model, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art. In addition, the technical features of the different embodiments of the present utility model described below may be combined with each other as long as they do not collide with each other.
Example 1
The utility model relates to a Z-axis limiting protection device of a truss robot, which comprises a mounting plate (1), a transition structure and an execution structure, wherein two mounting holes are formed in the mounting plate (1), the number of the mounting holes is 2, and the transition structure and the execution structure are respectively arranged in the two mounting holes and are connected. The execution structure comprises an electromagnetic brake (4), a brake shaft (5), a brake gear (6) and a double-row angular contact ball bearing (7), wherein the electromagnetic brake (4) is connected with the double-row angular contact ball bearing (7) through the brake shaft (5), and the double-row angular contact ball bearing (7) is connected with the brake gear (6). The transition structure comprises an executing gear (2), a transition gear (3), a deep groove ball bearing (8), a bearing inner ring spacer (9) and a bearing outer ring spacer (10), wherein the executing gear (2) is connected with the transition gear (3), the deep groove ball bearing (8) is fixed on the rear side of the executing gear (2), the bearing outer ring spacer (10) is sleeved on the outer side of the deep groove ball bearing (8), the bearing inner ring spacer (9) is installed at one end of the executing gear (2), and the deep groove ball bearing (8) is installed on the outer side of the bearing inner ring spacer (9). The deep groove ball bearing (8) and the bearing outer ring spacer (10) are arranged on one side of the mounting plate (1), and the bearing inner ring spacer (9) and the deep groove ball bearing (8) are arranged on the other side of the mounting plate (1). The transition gear (3) is meshed with the brake gear (6), and the brake gear (6) is connected with the electromagnetic brake (4) through the brake shaft (5). Because the radius of the transition gear (3) is larger than that of the execution gear (2), the braking gear (6) can lock the Z shaft by using smaller braking force, and the Z shaft falling caused by overlarge radial force and faults is prevented from being caused by the output shaft of the driving motor. The indexing radius of the transition gear is larger than that of the execution gear (2). The execution gear (2) and the transition gear (3) are connected together through keys.
Example 2
As shown in fig. 1 and 2, the utility model relates to a Z-axis limiting protection device of a truss robot, wherein the Z-axis limiting mechanism comprises a mounting plate (1), an executing gear (2), a transition gear (3), an electromagnetic brake (4), a brake shaft (5), a brake gear (6), a double-row angular contact ball bearing (7), a deep groove ball bearing (8), a bearing inner ring spacer (9) and a bearing outer ring spacer (10), the executing gear (2) and the transition gear (3) are connected together by keys, and the executing gear (2) and the transition gear are fixed on the mounting plate (1) through the two deep groove ball bearings (8), the bearing inner ring spacer (9) and the bearing outer ring spacer (10). The brake gear (6) is meshed with the transition gear (3) and is connected with the electromagnetic brake (4) through the brake shaft (5) and the double-row angular contact ball bearing (7). When the driving motor is electrified and works normally, the electromagnetic brake (4) is electrified and is in an on state, the brake gear (6) rotates along with the transition wheel, when the fault is powered off or the motor stops supplying power, the electromagnetic brake (4) is in an attracting state, at the moment, the electromagnetic brake (4) locks the brake shaft (5), the brake gear (6) bites the transition gear (3), the execution gear (2) bites the Z-axis rack of the truss robot, and the Z-axis of the truss robot is limited at the current position. If the working state is normal or not according to the control command and the Z-axis position sensor of the truss robot in the state that the driving motor and the electromagnetic brake (4) are electrified, the power is immediately cut off if the working state is abnormal, so that the Z-axis of the truss robot is stopped at the current position. Because the pitch circle radius of the transition gear (3) is larger than that of the execution gear (2), the Z axis of the truss robot can be braked by using a smaller electromagnetic brake (4).
The foregoing has shown and described the basic principles and main features of the present utility model and the advantages of the present utility model. Various components mentioned in the present utility model are common in the art, and it should be understood by those skilled in the art that the present utility model is not limited by the above embodiments, and the above embodiments and descriptions are merely illustrative of the principles of the present utility model, and various changes and modifications can be made in the present utility model without departing from the spirit and scope of the utility model, which is defined in the claims. The scope of the utility model is defined by the appended claims and equivalents thereof.
Claims (5)
1. The Z-axis limiting protection device of the truss robot is characterized by comprising a mounting plate, a transition structure and an execution structure, wherein two mounting holes are formed in the mounting plate, 2 mounting holes are formed in the mounting plate, the transition structure and the execution structure are respectively arranged in the two mounting holes, and the transition structure is connected with the execution structure;
the execution structure comprises an electromagnetic brake, a brake shaft, a brake gear and a double-row angular contact ball bearing, wherein the electromagnetic brake is connected with the double-row angular contact ball bearing through the brake shaft, and the double-row angular contact ball bearing is connected with the brake gear;
the transition structure comprises an execution gear, a transition gear, a deep groove ball bearing, a bearing inner ring spacer and a bearing outer ring spacer, wherein the execution gear is connected with the transition gear, the deep groove ball bearing is fixed on the rear side of the execution gear, the bearing outer ring spacer is sleeved on the outer side of the deep groove ball bearing, the bearing inner ring spacer is installed at one end of the execution gear, and the deep groove ball bearing is installed on the outer side of the bearing inner ring spacer.
2. The Z-axis limit protection device for the truss robot is characterized in that the deep groove ball bearing and the bearing outer ring spacer are arranged on one side of the mounting plate, and the bearing inner ring spacer and the deep groove ball bearing are arranged on the other side of the mounting plate.
3. The Z-axis limit protection device for the truss robot is characterized in that the transition gear is meshed with the brake gear, and the brake gear is connected with the electromagnetic brake through a brake shaft; because the radius of the transition gear is larger than that of the execution gear, the Z shaft can be locked by the braking gear with smaller braking force, and the Z shaft falling caused by overlarge radial force and protection faults can be prevented from being caused by the output shaft of the driving motor.
4. A truss robot Z-axis limit guard according to claim 3 wherein the transition gear pitch radius is greater than the actuator gear pitch radius.
5. A Z-axis limit protector for a truss robot according to claim 3, wherein the actuator gear is connected to the transition gear by a key.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320762143.0U CN219649943U (en) | 2023-04-10 | 2023-04-10 | Z-axis limiting and protecting device of truss robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320762143.0U CN219649943U (en) | 2023-04-10 | 2023-04-10 | Z-axis limiting and protecting device of truss robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219649943U true CN219649943U (en) | 2023-09-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320762143.0U Active CN219649943U (en) | 2023-04-10 | 2023-04-10 | Z-axis limiting and protecting device of truss robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219649943U (en) |
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2023
- 2023-04-10 CN CN202320762143.0U patent/CN219649943U/en active Active
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