WO2022257098A1

WO2022257098A1 - Gear and rack clearance adjusting apparatus for heavy-load truss robot

Info

Publication number: WO2022257098A1
Application number: PCT/CN2021/099617
Authority: WO
Inventors: 金超超; 施超; 苑忠亮
Original assignee: 宁波伟立机器人科技股份有限公司
Priority date: 2021-06-11
Filing date: 2021-06-11
Publication date: 2022-12-15

Abstract

A gear and rack clearance adjusting apparatus for a heavy-load truss robot, comprising a transmission plate (4). A gear seat (5) is slidably connected to the transmission plate (4). The gear seat (5) is provided with a first strip-shaped groove (10) and a second strip-shaped groove (11). The upper end face of the gear seat (5) is further provided with a cam adjusting block (9). The cam adjusting block (9) is inserted into the second strip-shaped groove (11) and rotatably connected to the gear seat (5). A transmission shaft (12) is rotatably connected to the center of the gear seat (5). A helical gear is fixedly connected to the bottom of the transmission shaft (12). The apparatus further comprises a helical rack (3) and a fixed base. The helical rack (3) is transmittingly connected to the helical gear. The fixed base is disposed at one side of the helical rack (3) and fixedly connected thereto. The first strip-shaped groove (10) is perpendicular to the helical rack (3), and the second strip-shape groove (11) is parallel to the helical rack (3).

Description

A rack-and-pinion gap adjustment device for a heavy-duty truss robot

technical field

The invention relates to the field of automation equipment, in particular to a rack and pinion gap adjustment device for a heavy-duty truss robot.

Background technique

With the development of modern industry, automated production has become more and more mainstream, and the flexible manufacturing technology with robots as the main body, that is, robotic automation equipment, is gradually playing an increasingly important role; among them, the truss robot is a commonly used robotic automation equipment.

The truss robot is a fully automatic industrial equipment based on the rectangular X, Y, Z three-coordinate system, which can adjust the position of the workpiece or realize the trajectory movement of the workpiece.

At present, the gap between the rack and pinion on the beam of the truss robot needs to be adjusted to be very small. Using conventional jacking screws and controlling the angle of rotation to change the length of the ejector to adjust the gap between the rack and pinion cannot achieve precise gap adjustment. Sometimes it needs to be adjusted repeatedly to achieve the ideal clearance. Due to the heavy load of the heavy-duty truss robot, the adjustment work is difficult; therefore, it is necessary to provide a smooth and accurate adjustment and can use the machining accuracy to ensure that the rack and pinion have a standard design clearance. Rack and pinion clearance adjustment device for heavy-duty truss robots.

Contents of the invention

In order to solve the problems of the technologies described above, the present invention adopts the following technical solutions:

A rack-and-pinion gap adjustment device for a heavy-duty truss robot, including a transmission plate, the transmission plate is slidably connected to a gear seat, and the gear seat is provided with a first bar-shaped groove and a second bar-shaped groove. The first bar There are bolts running through the inside of the shaped groove, and the bottom end of the bolt is fixedly connected with the transmission plate, and the upper end surface of the gear seat is also provided with a cam adjustment block, and the cam adjustment block is inserted into the second bar-shaped groove and connected with the Rotary connection of gear seat;

The center of the gear seat is rotatably connected to a transmission shaft, and the bottom end of the transmission shaft is fixedly connected to a helical gear;

It also includes a helical rack and a fixed base, the helical rack is in transmission connection with the helical gear, the fixed base is arranged on one side of the helical rack and is fixedly connected to it, the first bar-shaped groove is connected to the The helical rack is arranged vertically, and the second bar-shaped groove is arranged parallel to the helical rack.

Further, there are two gear seats and the transmission shaft, and the two gear seats are installed on both sides of the transmission plate. The helical gears include a driving helical gear and a driven helical gear. The transmission shaft is fixedly connected with the driving helical gear and the driven helical gear respectively.

Further, the fixed base includes a flat rail transmission beam and a flat guide rail, the flat rail is arranged on one side of the helical rack, the flat rail transmission beam is fixedly connected to the lower end of the flat guide rail, and the flat guide rail is connected to the flat guide rail. The transmission plate is slidingly connected.

Further, a fixing block is fixedly connected to the side of the transmission plate away from the driving helical gear and the driven helical gear, and the fixing block abuts against the flat guide rail.

Further, the transmission shaft fixedly connected with the driving helical gear is fixedly connected with the output end of the motor.

Further, the bottom of the transmission plate is provided with a third chute, and the two transmission shafts are provided with limit blocks, and the limit blocks cooperate with the third chute.

Further, a transverse moving beam is installed at the center of the transmission plate.

Further, the cam adjustment block includes a rotating part and a matching part, the rotating part is fixedly connected to the top end of the matching part, an eccentric hole is provided inside the rotating part and the matching part, and the rotating part rotates connected in the second bar-shaped groove.

The beneficial effects of the present invention are:

The invention provides a rack-and-pinion gap adjustment device for a heavy-duty truss robot. Firstly, the gear seat is slidably connected to the transmission plate, and by setting the first bar-shaped groove and the second bar-shaped groove on the gear seat, the gear seat has a The sliding position is fixed, and the cam adjustment block is installed inside the second strip groove. By rotating the cam adjustment block smoothly and slowly, the height of the transmission plate supported by the cam adjustment block is changed to move the transmission plate. When the transmission plate moves, it drives the transmission shaft to move, and the driving helical gear and the driven helical gear fixedly connected to the transmission shaft gradually approach the helical rack and finally achieve meshing, and finally complete the alignment between the rack and pinion smoothly and accurately. to adjust the gap.

Description of drawings

Fig. 1 is a three-dimensional schematic diagram of a rack-and-pinion gap adjustment device for a heavy-duty truss robot according to the present invention.

Fig. 2 is a top view of a rack-and-pinion gap adjustment device for a heavy-duty truss robot according to the present invention.

Fig. 3 is a front view of a rack-and-pinion gap adjustment device for a heavy-duty truss robot according to the present invention.

Fig. 4 is a side view of a rack-and-pinion gap adjustment device for a heavy-duty truss robot according to the present invention.

Fig. 5 is a schematic diagram of a traverse moving part of a rack-and-pinion gap adjustment device for a heavy-duty truss robot according to the present invention.

Fig. 6 is a cross-sectional view of the driving part of a rack-and-pinion gap adjustment device for a heavy-duty truss robot according to the present invention.

Fig. 7 is a schematic diagram of the connection between the gear and the transmission plate of a rack-and-pinion gap adjustment device for a heavy-duty truss robot according to the present invention.

Fig. 8 and Fig. 9 are schematic diagrams of a cam adjustment block of a rack-and-pinion gap adjustment device for a heavy-duty truss robot according to the present invention.

Among them, in the figure:

1-flat rail transmission beam; 2-flat guide rail; 3-helical rack; 4-transmission plate; 5-gear seat; 6-transverse moving beam; 7-driving helical gear; Adjusting block; 10-first bar slot; 11-second bar slot; 12-transmission shaft; 13-third chute; 14-limit block; 15-rotating part; 16-cooperating part; 17-eccentric Hole; 18-fixed block; 19-bolt.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with accompanying drawings 1-8 in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all implementations example. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Example

Combined with Figures 1-8, this embodiment provides a rack-and-pinion gap adjustment device for a heavy-duty truss robot.

Including a transmission plate 4, the transmission plate 4 is slidingly connected with two gear seats 5, the two gear seats 5 are installed on both sides of the transmission plate 4, and the two gear seats 5 are provided with a first strip groove 10 and the second strip groove 11, the inside of the first strip groove 10 is penetrated with a bolt 19, and the bottom end of the bolt 19 is fixedly connected with the transmission plate 4; as shown in Fig. 5, each described in this embodiment The gear seat 5 is provided with four first bar-shaped grooves 10, the first bar-shaped grooves 10 are evenly distributed on the gear seat 5, and the second bar-shaped grooves 11 are arranged at the geometric center of the gear seat 5 below.

The upper end surfaces of the two gear seats 5 are also provided with a cam adjustment block 9, which is inserted into the second bar-shaped groove 11 and is rotatably connected with the gear seat 5; the cam adjustment block 9 includes a rotating part 15 and matching part 16, the rotating part 15 is fixedly connected to the top end of the matching part 16, and an eccentric hole 17 is provided inside the rotating part 15 and the matching part 16, and the matching part is installed on In the second bar-shaped groove 11, a bolt 19 is inserted into the eccentric hole 17, and the bolt 19 passes through the eccentric hole 17 and is fixedly connected with the transmission plate 4, so that the cam adjustment block 9 is limited to the The upper end of the transmission plate 4, and the diameter of the bolt 19 inserted into the eccentric hole 17 is smaller than the diameter of the eccentric hole 17, the cam adjustment block 9 can rotate freely; the centers of the two gear seats 5 are respectively connected in rotation There is a transmission shaft 12, and the bottom ends of the two transmission shafts 12 are respectively fixedly connected with the driving helical gear 7 and the driven helical gear 8, and the transmission shaft 12 fixedly connected with the driving helical gear 7 is connected with the output end of the motor , used to provide power for the work of the heavy-duty truss robot; when the rotating part 15 is rotated, the matching part 16 is driven to rotate, and when the rotating part 15 rotates, the thrust of the cam structure to the transmission plate 4 occurs The change drives the transmission plate 4 to slide, and the transmission plate 4 drives the driving helical gear 7 and the driven helical gear 8 to slide laterally and mesh with the helical rack 3 .

A fixed block 18 is fixedly connected to the side of the transmission plate 4 away from the driving helical gear 7 and the driven helical gear 8, and the fixed block 18 abuts against the flat guide rail 2 for fixing the transmission plate 4. plate 4.

It also includes a helical rack 3 and a fixed base, the helical rack 3 is in transmission connection with the driving helical gear 7 and the driven helical gear 8, the fixed base is arranged on one side of the helical rack 3 and fixedly connected with it , the first bar-shaped groove 10 is arranged perpendicular to the helical rack 3, the second bar-shaped groove 11 is arranged parallel to the helical rack 3, and the width of the second bar-shaped groove 11 is larger than the The maximum thrust of the cam structure of the rotating part 15, the first bar-shaped groove 10 selects an appropriate length according to the gap size to be adjusted according to actual needs.

The fixed base includes a flat rail transmission beam 1 and a flat guide rail 2. The flat rail 2 is arranged on one side of the helical rack 3. The flat rail transmission beam 1 is fixedly connected to the lower end of the flat rail 2. The guide rail 2 is slidingly connected with the transmission plate 4 .

In this embodiment, screws are used to pass through the first bar-shaped groove 10 and fixedly connected with the transmission plate 4 , so that the gear seat 5 has a definite sliding position.

The bottom of the transmission plate 4 is provided with a third chute 13, and the two transmission shafts 12 are provided with a limit block 14, and the limit block 14 cooperates with the third chute 13, and the limit block 14 The width is equal to the width of the third chute 13, and the length of the limiting block 14 is less than the length of the third chute 13, and the limiting block 14 limits the lateral movement of the transmission shaft 12 and the gear , for vertical movement only.

The center position of the transmission plate 4 is also provided with a horizontally moving beam 6 , and the horizontally moving beam 6 is fixedly connected with the transmission plate 4 for connecting the mechanical arm of the robot.

When the rack-and-pinion gap adjustment device for a heavy-duty truss robot described in this embodiment is in use, by turning the cam adjustment block 9 smoothly and slowly, the width of the transmission plate 4 supported by the cam adjustment block 9 is changed to make The transmission plate 4 moves, and when the transmission plate 4 moves, it drives the transmission shaft 12 to move, and the driving helical gear 7 and the driven helical gear 8 fixedly connected to the transmission shaft 12 gradually approach the helical rack 3 and finally The meshing is achieved, and finally the gap between the rack and pinion is adjusted smoothly and accurately.

The above description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the invention. Various modifications to the above-described embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention will not be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

A rack-and-pinion gap adjustment device for a heavy-duty truss robot, characterized in that it includes a transmission plate (4), the transmission plate (4) is slidably connected to a gear seat (5), and the gear seat (5) is provided with a second A strip groove (10) and a second strip groove (11), the inside of the first strip groove (10) is penetrated with a bolt (19), and the bottom end of the bolt (19) is connected with the drive plate (4 ) is fixedly connected, and the upper end surface of the gear seat (5) is also provided with a cam adjustment block (9), and the cam adjustment block (9) is inserted into the second bar-shaped groove (11) and connected with the gear seat (5 ) rotary connection;

The center of the gear seat (5) is rotatably connected with a transmission shaft (12), and the bottom end of the transmission shaft (12) is fixedly connected with a helical gear;

It also includes a helical rack (3) and a fixed base, the helical rack (3) is in transmission connection with the helical gear, the fixed base is arranged on one side of the helical rack (3) and fixedly connected with it, the The first bar-shaped groove (10) is arranged perpendicular to the helical rack (3), and the second bar-shaped groove (11) is arranged parallel to the helical rack (3).
The rack-and-pinion gap adjustment device for a heavy-duty truss robot according to claim 1, characterized in that, two gear seats (5) and two transmission shafts (12) are provided, and two of the gear seats (5) Installed on both sides of the transmission plate (4), the helical gear includes a driving helical gear (7) and a driven helical gear (8), and the two transmission shafts (12) are respectively connected to the driving helical gear Gear (7) is fixedly connected with driven helical gear (8).
The rack-and-pinion gap adjustment device for a heavy-duty truss robot according to claim 2, wherein the fixed base includes a flat rail transmission beam (1) and a flat guide rail (2), and the flat guide rail (2) is set On one side of the helical rack (3), the flat rail transmission beam (1) is fixedly connected to the lower end of the flat rail (2), and the flat rail (2) is slidingly connected to the transmission plate (4) .
The rack-and-pinion gap adjustment device for a heavy-duty truss robot according to claim 3, wherein the drive plate (4) is far away from the driving helical gear (7) and the driven helical gear (8) One side of one side is fixedly connected with a fixed block (18), and the fixed block (18) abuts against the flat guide rail (2).
A rack-and-pinion gap adjustment device for a heavy-duty truss robot according to claim 2, characterized in that the drive shaft (12) fixedly connected to the driving helical gear (7) is fixedly connected to the output end of the motor.
A rack-and-pinion gap adjustment device for a heavy-duty truss robot according to claim 1, wherein a third chute (13) is provided at the bottom of the transmission plate (4), and the two transmission shafts (12 ) is provided with a limit block (14), and the limit block (14) cooperates with the third chute (13).
The rack-and-pinion gap adjustment device for a heavy-duty truss robot according to claim 1, characterized in that a transverse moving beam (6) is installed at the center of the transmission plate (4).
A rack-and-pinion gap adjustment device for a heavy-duty truss robot according to claim 1, wherein the cam adjustment block (9) includes a rotating part (15) and a matching part (16), and the rotating part ( 15) Fixedly connected to the top end of the matching part (16), the rotating part (15) and the inside of the matching part (16) are provided with an eccentric hole (17) passing through, and the matching part is rotatably connected to the second In the two strip grooves (11).