CN102626915B

CN102626915B - Matching structure of manipulator sliding table and guide beam

Info

Publication number: CN102626915B
Application number: CN201210098833.7A
Authority: CN
Inventors: 朱建惠
Original assignee: Changshu Huiyi Electrical Co ltd
Current assignee: Changshu Huiyi Electrical Co ltd
Priority date: 2012-04-06
Filing date: 2012-04-06
Publication date: 2014-05-07
Anticipated expiration: 2032-04-06
Also published as: CN102626915A

Abstract

The invention provides a matching structure of a manipulator sliding table and a guide beam, which belongs to the technical field of manipulators. The matching structure comprises the guide beam and the sliding table, wherein the guide beam is provided with first and second guide rails; the matching structure is characterized in that the guide beam comprises first and second side walls as well as a bottom wall; the first guide rail is fixed on one side of the length direction; the second guide rail is fixed on the other side of the length direction; at least one pair of first rollers is arranged on one side of the sliding table facing the bottom wall; at least one pair of second rollers is arranged on the other side of the sliding table; the sliding table extends out of the first side wall to one side of the first side wall and is fixed with a first side plate; the sliding table extends out of the second side wall to one side of the second side wall and is fixed with a second side plate; a first adjusting device is arranged at the first side plate bottom wall of the first side plate; and a second adjusting device is arranged at the second side plate bottom wall of the first side plate. The matching structure of the manipulator sliding table and the guide beam, provided by the invention, has the following advantages that: the stable motion effect of the sliding table can be enhanced, the friction force is reduced, the energy is saved, the maintenance strength and utilization cost can be reduced, the stopping rate of the manipulator is reduced, the noise is reduced and the environment on the working site is improved.

Description

The fit structure of manipulator slide unit and nose girder

Technical field

the invention belongs to manipulator technical field, be specifically related to the fit structure of a kind of manipulator slide unit and nose girder.

Background technology

the concept of manipulator is that people are known, there is the function that the apish hand of energy and arm complete some action, be the automatic pilot in order to capture, to carry object or operation tool by fixed routine, it can replace people's heavy work to realize mechanization and the automation of producing.Particularly: owing to protecting personal safety under harmful operating environment, thereby be widely used in the fields such as machine-building, metallurgy, electronics, light industry and even atomic energy.

manipulator is mainly comprised of hand (industry custom claims paw) and motion.Hand is the parts that grasp workpiece (or instrument), has various version, as clamp-type, holding type and absorbent-type etc. according to the shape, size, weight, material and the action request that are grasped object.Motion is to ensure that hand completes exercises and changes as rotated, swing and/or move to use position and the posture that is grasped object.The kind of manipulator can be divided into fluid pressure type, pneumatic type, electrodynamic type and mechanical type by type of drive, etc.

manipulator extremely favor of people because structure is relatively terse and cheap of motorized motions (servo-drive) mode, thereby be widely used in being not limited to the field that exemplifies above.As the industry's knowledge of the reason, manipulator is arranged on a slide unit conventionally by means of robot gantry, and slide unit and crossbeam (also claiming nose girder) are slidably matched, under the traction of the Timing Belt being driven by actuating unit, slide unit is moved back and forth on crossbeam, manipulator is moved between two stations, and complete the crawl of object and release movement under the automatic control of its controlling organization.

figure 4 shows that manipulator slide unit in prior art and the fit structure of nose girder, comprise that shape of cross section is rectangle or a foursquare nose girder 1 and a slide unit 2, at nose girder 1, towards a side of slide unit 2 and along the length direction of nose girder 1, be fixed with one first guide rail 11 and one second guide rail 12, first, the second guide rail 11, 12 is parallel, and slide unit 2 dyes a side surface of 1 and corresponding to first in the face of leading, the second guide rail 11, 12 position is installed with first, the second guide rail slide block 21, 22, by the first guide rail slide block 21 and the first guide rail 11 coordinate and the second guide rail slide block 22 forms guideway with coordinating of the second guide rail 12, for carrying the robot gantry 2 of manipulator, be fixed on slide unit 2, and by Timing Belt, drive slide unit 2 left sides under the driving of carrying the driving mechanism 4 on slide unit 2, move right.

there is following shortcoming in said structure: one, slide unit 2 is difficult to ensure lasting easy motion effect, because in the reciprocating process of slide unit 2, first, second guide rail slide block 21,22 and 11,12 frictions of first, second guide rail, thereby after using a period of time, because of first, second guide rail slide block 21,22 and/or 11, the 12 appearance frictions of first, second guide rail, the robust motion of slide unit 2 is affected, and finally causes the accuracy of action of manipulator to be affected; They are two years old, the resistance of motion is unfavorable for energy-conservation greatly, because the contact-making surface between first, second guide rail slide block 21,22 and first, second guide rail 11,12 is large, thereby the kinetic energy consuming just increases, be unfavorable for saving the electric energy of driving mechanism 4, incompatible with the energy-saving economic spirit of economizing type that the current whole society advocates; They are three years old, affect the operating efficiency of mechanism's hand, because need timely replacing after first, second guide rail slide block 21,22 and/or 11,12 wearing and tearing of first, second guide rail, otherwise can affect aforesaid action (motion) stationarity of slide unit 2, and change first, second guide rail slide block 21,22 and first, second guide rail 11,12 need to carry out under stopped status, and frequently change first, second guide rail slide block 21,22 and first, second guide rail 11,12 meeting increasing device use cost and increase workman's labour intensity; Its four, produce noise pollution because first, second guide rail slide block 21,22 easily produces ear-piercing noise while moving on first, second guide rail 11,12, working site environment is impacted.

in view of the shortcoming in above-mentioned prior art, be necessary to be improved, the applicant has done positive and useful design for this reason, and technical scheme described below produces under this background.

Summary of the invention

task of the present invention is to provide a kind of easy motion effect that contributes to ensure enduringly slide unit, be conducive to significantly reduce the friction of motion resistance of slide unit and use the electric energy of saving driving mechanism, be of value to nose girder is regulated and uses and avoid affecting the normal work of manipulator and avoiding the increase of use cost and avoid increasing workman's managing and protecting work difficulty and having and be convenient to avoid to produce noise pollution and use the manipulator slide unit of quiet environment at safeguard work scene and the fit structure of nose girder equipment because changing guide rail.

task of the present invention completes like this, and the fit structure of a kind of manipulator slide unit and nose girder comprises a nose girder with the first guide rail and the second guide rail, the slide unit matching with the first guide rail and the second guide rail, be characterised in that: described nose girder is by first, the second sidewall and be connected in first, diapire between the second sidewall is configured to the shape that cross section is H shape jointly, the first described guide rail is fixed on described diapire towards a side of the surperficial length direction of described slide unit, and described the second guide rail is fixed on diapire towards the opposite side of the surperficial length direction of slide unit, at slide unit, towards a side pivot of described diapire, be provided with at least one pair of first roller, and slide unit is provided with at least one pair of second roller towards the opposite side pivot of diapire, the first roller and the first guide rail form rolling pair, and the second roller and the second guide rail form rolling pair, wherein: slide unit leans out the first side wall and is fixed with one first side plate towards a side of described the first side wall, and slide unit probes into the second sidewall and is fixed with one second side plate towards a side of described the second sidewall, first, the second side plate corresponds to each other, on the first side plate diapire of the first side plate, be provided with for leading to described the first adjusting device that depth of beam is adjusted, this first adjusting device matches with described diapire, and on the second side plate diapire of the first side plate, be provided with equally for leading to described the second adjusting device that depth of beam is adjusted, this second adjusting device matches with described diapire.

in a specific embodiment of the present invention, the structure of the second described adjusting device is identical with the structure of the first described adjusting device.

in another specific embodiment of the present invention, the shape of cross section of the first described side plate and the second described side plate is all ［ shape.

in another specific embodiment of the present invention, on the first described side plate diapire, offer the swivel nut hole that quantity equates with the quantity of described the first adjusting device, the first described adjusting device comprises swivel nut, push rod, spring, pulley, pulley spindle and swing arm, swivel nut interts in described swivel nut hole, and located by the first setscrew nut and the second setscrew nut, push rod is set in the swivel nut centre bore of swivel nut, and towards one end of swing arm, be fixed with a spring seat board at push rod, spring is nested with on push rod, one end of this spring is bearing in described swivel nut centre bore, and the other end is bearing on spring seat board, pulley is fixed on pulley spindle, and contact with described the first side wall, pulley spindle is fixed on one end of swing arm, and the other end pivot of swing arm is arranged on arm shaft, arm shaft is arranged on the first described side plate.

in another specific embodiment of the present invention, on described pulley spindle, be provided with cushion cover.

of the present invention, also have in a specific embodiment, described pulley forms a sidewall mating groove, and this sidewall mating groove matches with described the first side wall.

more of the present invention and in a specific embodiment, be provided with jump-ring slot at described pulley the tip of the axis, on this jump-ring slot, be provided with one spacing and use and stop pulley to be escaped in the jump ring of pulley spindle for the pulley to described.

in of the present invention and then a specific embodiment, the quantity of the first described adjusting device is one or two, and when the quantity of the first adjusting device is two, swing arm has two, and the setting party of two swing arms is contrary towards each other.

of the present invention again more and in a specific embodiment, the first described roller has a pair of, each first roller pivot is arranged on the first roller shaft, and the first roller shaft is fixed on the first roller axle bed, the first roller axle bed is fixed on described slide unit towards a side of described diapire, and corresponding with the first described guide rail; The second described roller has a pair of, and each second roller pivot is arranged on the second roller shaft, and the second roller shaft is fixed on the second roller axle bed, and the second roller axle bed is fixed on slide unit towards a side of described diapire, and corresponding with the second described guide rail.

in again of the present invention and then a specific embodiment, in one end of the first described side plate and the second side plate, be equipped with one first shrouding, and be equipped with one second shrouding at the other end of the first side plate and the second side plate.

technical scheme provided by the invention is owing to adopting first, second roller to form rolling pair with first, second guide rail respectively, thereby can improve the easy motion effect of slide unit; Because first, second roller is tangent with first, second guide rail respectively, thereby can significantly reduce friction, be conducive to energy-conservation; Owing to can nose girder being done to adjust up and down by first, second adjusting device, to compensate the wear extent between first, second roller and first, second guide rail, with respect to prior art, cause is without frequent first, second roller and/or first, second guide rail changed, therefore can alleviate and safeguard intensity and use cost, and can reduce the shutdown probability of manipulator; Owing to having adopted coordinating of roller and guide rail, thereby can reduce noise ultimate attainmently, improve the environment of working site.

Accompanying drawing explanation

fig. 1 is embodiments of the invention structure chart.

fig. 2 is the application examples schematic diagram of Fig. 1.

fig. 3 is the side view of Fig. 2.

fig. 4 is manipulator slide unit in prior art and the matching chart of nose girder.

The specific embodiment

for the auditor that the makes Patent Office especially public can be expressly understood technical spirit of the present invention and beneficial effect more, applicant elaborates the mode with embodiment below, but to the description of embodiment, be not all the restriction to the present invention program, any according to the present invention design, done only for pro forma but not substantial equivalent transformation all should be considered as technical scheme category of the present invention.

embodiment:

please provide a nose girder 1 referring to Fig. 1, this nose girder 1 is configured to by first, second sidewall 13,14 and the diapire 15 between first, second sidewall 13,14 shape that shape of cross section is H shape, and namely nose girder 1 adopts H shaped steel.Nose girder 1 under use state towards on a side, more particularly diapire 15 is fixed with one first guide rail 11 towards a surperficial side of the slide unit 2 that is about to describe with the first screw 111 below, and opposite side is fixed with one second guide rail 12 with the second screw 121, first, second guide rail 11,12 is parallel.

one piece both can for cuboid also can for square and for flat slide unit 2, match with aforesaid nose girder 2, specifically: at slide unit 2, towards a side of nose girder 1 and in the position corresponding to the first guide rail 11, with interval state pivot, be provided with a pair of the first roller 23, and opposite side and be provided with a pair of the second roller 24 with interval state pivot equally in the position corresponding to the second guide rail 12.Shown in figure, each first roller 23 is arranged on the first roller shaft 231 rotationally, and the first roller shaft 231 is fixed on the first roller axle bed 2311, and the first roller axle bed 2311 use the 3rd screw 23111 is fixed on slide unit 2.Equally, each second roller 24 is arranged on the second roller shaft 241 rotationally, and the second roller shaft 241 is fixed on the second roller axle bed 2411, and the second roller axle bed 2411 is fixed on slide unit 2 by the 4th screw 24111.The first roller 23 and the first guide rail 11 form tangent matching relationship, and the second roller 24 and the second guide rail 12 form tangent matching relationship.In this Fig. 1, also show be fixed on slide unit 2 for carrying the robot gantry 3 of manipulator.

please continue to refer to Fig. 1, aforesaid slide unit 2 leans out the first side wall 13 and is fixed with one first side plate 5 with one group of the 5th screw 52 towards a side of the first side wall 13, and slide unit 2 leans out the second sidewall 14 and is fixed with one second side plate 6 with one group of the 6th screw 62 towards a side of the second sidewall 14, first, second side plate 5,6 corresponds to each other, and shape of cross section is all ［ shape.More particularly, the shape of cross section of the first side plate 5 is " ［ " shape, and the shape of cross section of the second side plate 6 is " ］ " shape.

on the first side plate diapire 51 of the first side plate 5, offer the swivel nut hole 511 that quantity equates with the quantity of first adjusting device 7 that also will describe in detail below, equally, on the second side plate diapire 61 of the second side plate 6, also offer for the swivel nut hole (not marking Reference numeral in figure) that the first adjusting device 8 is set.

because the structure of aforesaid the second adjusting device 8 is identical with the first adjusting device 7 with operating principle etc., so applicant is only described in detail the first adjusting device 7 below.And in the present embodiment, the quantity of the first adjusting device 7 has two to have a pair ofly, and the second adjusting device 8 is only one.

preferably but not the first adjusting device 7 being definitely limited to comprises swivel nut 71, push rod 72, spring 73, pulley 74, pulley spindle 75 and swing arm 76, swivel nut 71 is set in aforesaid swivel nut hole 511, and by the first setscrew nut 711 and the second setscrew nut 712, swivel nut 71 is positioned on swivel nut hole 511 reliably.Push rod 72 is set in the swivel nut centre bore 713 of swivel nut 71, this push rod 72 towards on one end towards one end of swing arm 76, be fixed with a spring seat board 721, spring 73 is nested with on push rod 72, and one end of this spring 73 (lower end) is bearing in swivel nut centre bore 713, and the other end (upper end) is bearing on spring seat board 721.By swivel nut nut 714(one being formed on swivel nut 71, also can claim swivel nut adjusting nut) clockwise or counterclockwise adjusting, can make swivel nut 71 rise or decline, drive push rod 72 to rise or decline, because the end, upper end of push rod 72 contacts with swing arm, therefore push rod 72 more upwards, swing arm 76 is raised, vice versa.Pulley 74 is fixed on pulley spindle 75, and this pulley 74 forms a sidewall mating groove 741, and the thickness of the width of this sidewall mating groove 741 and aforesaid the first side plate 13 adapts.Pulley spindle 75 is fixed on one end (this one end is the free end of swing arm 76) of swing arm 76, and on pulley spindle 75, be also provided with a cushion cover 751, by this cushion cover 751, ensure pulleys 74 match with the first side wall 13 rightly (contacting), again, end at pulley spindle 75 offers a jump-ring slot 752, after pulley 74 is placed on pulley spindle 75, jump ring 7521 is inserted in jump-ring slot 752, thereby limited by 7521 pairs of pulleys 74 of jump ring, in order to avoid pulley 74 is escaped from pulley spindle 75.In addition, if change jump-ring slot 752 into cotter-pin hold, and use jump ring 7521 instead split pin, should be considered as so equivalence and substitute and still belong to technology contents category of the present invention.The other end of aforesaid swing arm 76 is rounded end or claims that supported end is arranged on arm shaft 761 rotationally, and arm shaft 761 is fixed on the first side plate 5, and is limited by arm shaft nut 7611.

as aforementioned, because the first adjusting device 7 in the present embodiment has a pair ofly, therefore corresponding parts respectively have a pair of, so, preferably the swing arm of a pair of the first adjusting device 7 76 is to reciprocal mode and arranges.

preferably, the left end that is location status shown in Fig. 1 in one end of aforesaid the first side plate 5 and the second side plate 6 is screwed one first shrouding 9a, and is that right-hand member is screwed one second shrouding 9b equally at the other end.

application examples:

please be referring to Fig. 2 and Fig. 3 and still in conjunction with Fig. 1, as shown in Figure 2, one has been arranged on (prior art is arranged on slide unit 2) on nose girder 1 by the driving mechanism 4 with the driven by servomotor of rotating function, under the work of driving mechanism 4, by Timing Belt 10 band slide unit 2 left and right on nose girder 1 that are connected with slide unit 2, move back and forth, and nose girder 1 is fixed on nose girder holder 16, nose girder holder 16 is fixed on pedestal.

after using a period of time, once first, second roller 23,24 and/or first, second guide rail 11,12, there is wearing and tearing situation, so, as applicant in the above as described in, push rod nut 722 is made adjustments, make push rod 72 increase, swing arm 76 is raised, by swing arm 76 band movable pulleys 74, raised, by pulley 74, the first side wall 13 is raised, finally make the wearing clearance between the first guide rail 11 and the first roller 23 eliminate.The second adjusting device 8 is done to identical adjustment simultaneously, the second sidewall 14 is raised, to compensate or to claim to eliminate the wearing clearance between the second guide rail 12 and the second roller 24.

in sum, technical scheme provided by the invention has solved the technical problem in prior art ideally, has completed invention task, has embodied faithfully all the technique effect that applicant concludes in technique effect hurdle.

Claims

1. a fit structure for manipulator slide unit and nose girder, comprises a nose girder (1) with the first guide rail (11) and the second guide rail (12), the slide unit (2) matching with the first guide rail (11) and the second guide rail (12), it is characterized in that: described nose girder (1) is by first, the second sidewall (13, 14) and be connected in first, the second sidewall (13, 14) diapire between (15) is configured to the shape that cross section is H shape jointly, described the first guide rail (11) is fixed on described diapire (15) towards a side of the surperficial length direction of described slide unit (2), and described the second guide rail (12) is fixed on diapire (15) towards the opposite side of the surperficial length direction of slide unit (2), at slide unit (2), towards a side pivot of described diapire (15), be provided with at least one pair of first roller (23), and slide unit (2) is provided with at least one pair of second roller (24) towards the opposite side pivot of diapire (15), the first roller (23) forms rolling pair with the first guide rail (11), and the second roller (24) forms rolling pair with the second guide rail (12), wherein: slide unit (2) leans out the first side wall (13) and is fixed with one first side plate (5) towards a side of described the first side wall (13), and slide unit (2) probes into the second sidewall (14) and is fixed with one second side plate (6) towards a side of described the second sidewall (14), first, the second side plate (5, 6) correspond to each other, on the first side plate diapire (51) of the first side plate (5), be provided with the first adjusting device (7) for the height of described nose girder (1) is adjusted, this first adjusting device (7) matches with described diapire (15), and on the second side plate diapire (61) of the first side plate (6), be provided with the second adjusting device (8) for the height of described nose girder (1) is adjusted equally, this second adjusting device (8) matches with described diapire (15).

2. the fit structure of manipulator slide unit according to claim 1 and nose girder, is characterized in that the structure of described the second adjusting device (8) is identical with the structure of described the first adjusting device (7).

3. the fit structure of manipulator slide unit according to claim 1 and nose girder, the shape of cross section of the first side plate (5) described in it is characterized in that and described the second side plate (6) is all ［ shape.

4. the fit structure of manipulator slide unit according to claim 1 and nose girder, it is characterized in that offering the swivel nut hole (511) that quantity equates with the quantity of described the first adjusting device (7) on the first described side plate diapire (51), described the first adjusting device (7) comprises swivel nut (71), push rod (72), spring (73), pulley (74), pulley spindle (75) and swing arm (76), swivel nut (71) interts in described swivel nut hole (511), and by the first setscrew nut (711) and the second setscrew nut (712) location, push rod (72) is set in the swivel nut centre bore (713) of swivel nut (71), and towards one end of swing arm (76), be fixed with a spring seat board (721) at push rod (72), spring (73) is nested with on push rod (72), one end of this spring (73) is bearing in described swivel nut centre bore (713), and the other end is bearing on spring seat board (721), pulley (74) is fixed on pulley spindle (75), and contact with described the first side wall (13), pulley spindle (75) is fixed on one end of swing arm (76), and the other end pivot of swing arm (76) is arranged on arm shaft (761), arm shaft (761) is arranged on described the first side plate (5).

5. the fit structure of manipulator slide unit according to claim 4 and nose girder, is characterized in that being provided with cushion cover (751) on described pulley spindle (75).

6. the fit structure of manipulator slide unit according to claim 4 and nose girder, is characterized in that described pulley (74) formation has a sidewall mating groove (741), and this sidewall mating groove (741) matches with described the first side wall (13).

7. the fit structure of manipulator slide unit according to claim 4 and nose girder, it is characterized in that being provided with jump-ring slot (752) at the end of described pulley spindle (75), on this jump-ring slot (752), be provided with one spacing and use and stop pulley (74) to be escaped in the jump ring (7521) of pulley spindle (75) for the pulley to described (74).

8. the fit structure of manipulator slide unit according to claim 4 and nose girder, the quantity that it is characterized in that described the first adjusting device (7) is one or two, and when the quantity of the first adjusting device (7) is two, swing arm (76) has two, and the setting party of two swing arms (76) is contrary towards each other.

9. the fit structure of manipulator slide unit according to claim 1 and nose girder, it is characterized in that described the first roller (23) has a pair of, each the first roller (23) pivot is arranged on the first roller shaft (231), and the first roller shaft (231) is fixed on the first roller axle bed (2311), the first roller axle bed (2311) is fixed on described slide unit (2) towards a side of described diapire (15), and corresponding with described the first guide rail (11); Described the second roller (24) has a pair of, each the second roller (24) pivot is arranged on the second roller shaft (241), and the second roller shaft (241) is fixed on the second roller axle bed (2411), the second roller axle bed (2411) is fixed on slide unit (2) towards a side of described diapire (15), and corresponding with described the second guide rail (12).

10. the fit structure of manipulator slide unit according to claim 1 and nose girder, it is characterized in that being equipped with one first shrouding (9a) in one end of described the first side plate (5) and the second side plate (6), and be equipped with one second shrouding (9b) at the other end of the first side plate (5) and the second side plate (6).