CN109304705A - A kind of truss robot double drive moved cross beam - Google Patents
A kind of truss robot double drive moved cross beam Download PDFInfo
- Publication number
- CN109304705A CN109304705A CN201811432474.8A CN201811432474A CN109304705A CN 109304705 A CN109304705 A CN 109304705A CN 201811432474 A CN201811432474 A CN 201811432474A CN 109304705 A CN109304705 A CN 109304705A
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- CN
- China
- Prior art keywords
- main frame
- frame body
- crossbeam
- driven wheel
- truss robot
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of truss robot double drive moved cross beams, including main body of cross-beam, main body of cross-beam includes crossbeam main frame body and stiffening plate, main body of cross-beam is two and is connected by stiffening plate, crossbeam main frame body both ends are equipped with power-driven system formation dual drive system and bottom end is equipped with driven wheel system, the guide rail matched with driven wheel system that is respectively equipped in the middle part of crossbeam main frame body and the wherein inside of a crossbeam main frame body are equipped with the rack gear matched with power-driven system, power-driven system includes servo motor, speed reducer and gear, the lower end of crossbeam main frame body is equipped with supporting plate, crossbeam main frame body one end is successively arranged servo motor from top to bottom, speed reducer connector sleeve, speed reducer, speed reducer terminal pad, supporting plate and gear；The present invention has reasonable in design, and the deformation because of weight and parallel algorithm generation is effectively reduced, reduces production cost, operational safety performance is high, while can reduce truss robot in the noise of motion process.
Description
Technical field
The invention belongs to machining equipment technical field more particularly to a kind of truss robot double drive moved cross beams.
Background technique
Truss robot moved cross beam is an important component of truss robot main structure, and not only itself is heavier for it,
It also plays and bears the longitudinal axis and integrally-built effect.Therefore, performance and peace of the design of moved cross beam to entire truss robot
There is very big influence entirely.
Traditional truss robot uses single driving, the kind of drive for the truss beam structure of slide rail, although structure
Simply, easy to control, but still there are the following problems: 1. pairs of motors require height, and mechanical load is larger, and there are noises, and is produced into
This height；2. frictional force is larger during the motion, is easily deformed, to crossbeam when weight quality reaches 1000kg or more
Unilateral side abrasion is larger, and local pressure is simultaneously uneven, is easy to appear sideslip problem, and position precision is lower, to influence whole truss
The performance of robot exists simultaneously certain security risk.
In view of this, the present invention is specifically proposed.
Summary of the invention
Aiming at the problems existing in the prior art, the object of the present invention is to provide a kind of truss robot double drive movable transverses
Beam, it is reasonable in design, the deformation because of weight and parallel algorithm generation is effectively reduced, reduces production cost, operational safety
Performance is high, while can reduce truss robot in the noise of motion process.
To achieve the goals above, a kind of truss robot double drive moved cross beam provided by the invention, including crossbeam master
Body, which is characterized in that the main body of cross-beam includes crossbeam main frame body and stiffening plate, and main body of cross-beam is two and passes through stiffening plate phase
Even, crossbeam main frame body both ends are equipped with power-driven system and bottom end and are equipped with driven wheel system, in the crossbeam main frame body
The guide rail matched with driven wheel system that portion is respectively equipped with and the wherein inside of a crossbeam main frame body are equipped with and power drive line
The rack gear that system matches.
Preferably, the power-driven system includes servomotor, gear reducer and gear, the lower end of the crossbeam main frame body
Equipped with supporting plate, crossbeam main frame body one end is successively arranged servomotor, gear reducer connector sleeve, speed reducer, deceleration from top to bottom
Machine terminal pad, supporting plate and gear；
Preferably, motor locating piece and motor adjustment block are for positioning motor there are two setting in the speed reducer terminal pad；
Preferably, the driven wheel system is set to supporting plate lower end, is connected including driven wheel, axis, bearing and with supporting plate
Driven wheel whole frame, the driven wheel are connected by being nested in driven wheel whole frame axis with driven wheel whole frame, institute
It states bearing insertion driven wheel center and is connected firmly on axis by cushion block positioning；
Preferably, the stiffening plate includes cross rail inner stiffening plate and cross rail outer stiffening plate, two inside and outside crossbeam main frame body
Side is fixedly connected with cross rail inner stiffening plate, cross rail outer stiffening plate respectively；
Preferably, limit base of the installation for limit above the cross rail inner stiffening plate；
Preferably, the cross sectional shape of the crossbeam main frame body is I-shaped or H-type.
It is provided by the invention, it has the following beneficial effects:
It is combined, is effectively prevented existing by the kind of drive of double-motor power driving structure and driven wheel guide rail form
Local pressure that single motor present in technology requires high and while transporting weight to occur is simultaneously uneven, is easy to appear sideslip problem, can
The deformation because of weight and parallel algorithm generation is effectively reduced, in addition can reduce truss robot making an uproar during the motion
Sound.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of truss robot double drive moved cross beam provided by the invention.
Fig. 2 is the sectional view in the direction Figure 1A-A.
Fig. 3 is the enlarged drawing of Fig. 2 Local C.
Fig. 4 is the top view of Fig. 1.
Fig. 5 is the enlarged drawing of the part Fig. 4 D.
Fig. 6 is the left view of Fig. 1.
Fig. 7 is the enlarged drawing of the part Fig. 6 E.
Fig. 8 is the sectional view in the direction Fig. 7 B-B.
In figure:
1. 5. speed reducer of crossbeam main frame body 2. cross rail outer stiffening plate, 3. cross rail inner stiffening plate, 4. supporting plate, 6. gear
7. 10. motor reducer connector sleeve of speed reducer terminal pad 8. motor locating piece, 9. motor adjustment block, 11. servo motor 12.
19. rack gear of bearing 13. driven wheel, 14. cushion block, 15. driven wheel whole frame, 16. axis, 17. nut, 18. guide rail 20. is horizontal
Axis limit base.
Specific embodiment
The present invention will be further described with attached drawing combined with specific embodiments below, to help the contents of the present invention are understood.
It as shown in figures 1-8, is a kind of truss robot double drive moved cross beam provided by the invention, including main body of cross-beam,
Main body of cross-beam includes crossbeam main frame body 1, stiffening plate, and stiffening plate includes cross rail inner stiffening plate 2 and cross rail outer stiffening plate 3, cross
Beam body inside and outside two crossbeam main frame bodies 1 by cross rail inner stiffening plate 2 and cross rail outer stiffening plate 3 by being welded together
It constitutes, the section of crossbeam main frame body 1 can belong to interest field of the present invention for I-shaped, H-type etc., in cross rail inner stiffening plate 3
Side's installation limit base 20；1 both ends of crossbeam main frame body are equipped with power-driven system formation dual drive system and bottom end is equipped with driven wheel
System, the guide rail 18 matched with driven wheel system that the middle part of crossbeam main frame body 1 is respectively equipped with and wherein a crossbeam main frame body 1
Inside be equipped with the rack gear 19 that matches with power-driven system, guide rail 18 and rack gear 19 can respectively with the longitudinal axis of truss robot
It is connected, the longitudinal axis can realize displacement function with this configuration.Power-driven system includes servomotor, gear reducer and gear, crossbeam
The lower end of main frame body 1 is equipped with supporting plate 4, and 1 one end of crossbeam main frame body is successively arranged servo motor 11, speed reducer connector sleeve from top to bottom
10, speed reducer 5, speed reducer terminal pad 7, supporting plate 4 and gear 6 install speed reducer terminal pad 7, speed reducer terminal pad above supporting plate 4
7 are positioned by two motor locating pieces 8 and two motor adjustment blocks 9, and specific installation site is unrestricted, installation position
It sets and rationally belongs to interest field of the present invention, realized by servo motor 11 and speed reducer 5 and the linkage of 6 dynamical system of gear
Movement.Driven wheel system is set to 4 lower end of supporting plate, including driven wheel 13, axis 16, bearing 12 and the driven wheel being connected with supporting plate 4
Whole frame 15, driven wheel 13 are connected by being nested in 15 axis 16 of driven wheel whole frame with driven wheel whole frame 15, axis
Hold 12 insertion driven wheel, 13 center and by cushion block 14 positioning connect firmly on axis 16,16 bottom of axis equipped with nut 17 be fixed on from
On driving wheel whole frame 15.
Working principle of the present invention is as follows: whole system is first turned on, the crossbeam initial position for defaulting truss robot is
The left end of crossbeam main frame body 1.When crossbeam is moved right, by the servo for giving 1 two sides of crossbeam main frame body simultaneously
Motor 11 signals, and makes its rotating forward.Servo motor is rotated forward by speed reducer 5, band moving gear 6, and gear 6 can match with rack gear 19
It closes, realizes power drive, at the same time, driven wheel 13 and guide rail 18 in driven pulley mechanism cooperate, and allow crossbeam in level
Movement is generated on position to the right.
It can similarly obtain, when crossbeam is moved downward, by the servo motor for giving 1 two sides of crossbeam main frame body simultaneously
11 signal, and make its reversion.Servo motor 11 is rotated forward by speed reducer 5, band moving gear 6, and gear 6 is matched with rack gear 19, real
Existing power drive, at the same time, driven wheel 13 and guide rail 18 in driven pulley mechanism cooperate, and allow crossbeam on horizontal position
Movement is generated to the right.And so on, it can be achieved that crossbeam moves horizontally.
A kind of truss robot double drive moved cross beam provided by the invention can mutually be tied with the longitudinal axis system of truss robot
It closes.When crossbeam moves to required position, the longitudinal axis system of truss robot can carry out horizontal displacement, crossbeam both ends on crossbeam
It is separately installed with limit base 20, it, can stop motion when longitudinal axis system touches limit base 20.
Specific case used herein elaborates inventive concept, the explanation of above example is only intended to
Help understands core of the invention thought.It should be pointed out that for those skilled in the art, not departing from this
Under the premise of inventive concept, any obvious modification, equivalent replacement or the other improvements made should be included in the present invention
Protection scope within.
Claims (7)
1. a kind of truss robot double drive moved cross beam, including main body of cross-beam, which is characterized in that the main body of cross-beam includes cross
Beam main frame body and stiffening plate, main body of cross-beam are two and are connected by stiffening plate that crossbeam main frame body both ends are driven equipped with power
Dynamic system and bottom end be equipped with driven wheel system, and what is be respectively equipped in the middle part of the crossbeam main frame body matches with driven wheel system
Guide rail and the wherein inside of a crossbeam main frame body are equipped with the rack gear matched with power-driven system.
2. a kind of truss robot double drive moved cross beam according to claim 1, which is characterized in that the power drive
System includes servomotor, gear reducer and gear, and the lower end of the crossbeam main frame body is equipped with supporting plate, crossbeam main frame body one end
It is successively arranged servomotor, gear reducer connector sleeve, speed reducer, speed reducer terminal pad, supporting plate and gear from top to bottom.
3. a kind of truss robot double drive moved cross beam according to claim 2, which is characterized in that the speed reducer connects
It connects motor locating piece and motor adjustment block there are two setting on disk and is used for positioning motor.
4. a kind of truss robot double drive moved cross beam according to claim 2, which is characterized in that the driven train
System is set to supporting plate lower end, and including driven wheel, axis, bearing and the driven wheel whole frame being connected with supporting plate, the driven wheel is logical
It crosses and is nested in driven wheel whole frame axis and is connected with driven wheel whole frame, the bearing is embedded in driven wheel center and passes through pad
Block positioning connects firmly on axis.
5. a kind of truss robot double drive moved cross beam according to claim 1, which is characterized in that the stiffening plate packet
Include cross rail inner stiffening plate and cross rail outer stiffening plate, inside and outside crossbeam main frame body respectively with cross rail inner stiffening plate, crossbeam
Outer stiffening plate is fixedly connected with.
6. a kind of truss robot double drive moved cross beam according to claim 5, which is characterized in that the cross rail inner
Limit base of the installation for limit above stiffening plate.
7. a kind of truss robot double drive moved cross beam according to claim 1, which is characterized in that the crossbeam body frame
The cross sectional shape of body is I-shaped or H-type.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811432474.8A CN109304705A (en) | 2018-11-27 | 2018-11-27 | A kind of truss robot double drive moved cross beam |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811432474.8A CN109304705A (en) | 2018-11-27 | 2018-11-27 | A kind of truss robot double drive moved cross beam |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109304705A true CN109304705A (en) | 2019-02-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811432474.8A Pending CN109304705A (en) | 2018-11-27 | 2018-11-27 | A kind of truss robot double drive moved cross beam |
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| Country | Link |
|---|---|
| CN (1) | CN109304705A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090245992A1 (en) * | 2008-03-26 | 2009-10-01 | Denso Wave Incorporated | Suspension type robot whose robot body runs along traveling rail |
| CN203343793U (en) * | 2013-06-07 | 2013-12-18 | 上海发那科机器人有限公司 | Truss walking guide rail for hoisting robot |
| CN206326598U (en) * | 2016-12-28 | 2017-07-14 | 法博智能装备工程（常州）有限公司 | Gantry robot |
| CN206702998U (en) * | 2017-05-10 | 2017-12-05 | 广州协鸿工业机器人技术有限公司 | Truss robot guide assembly |
-
2018
- 2018-11-27 CN CN201811432474.8A patent/CN109304705A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090245992A1 (en) * | 2008-03-26 | 2009-10-01 | Denso Wave Incorporated | Suspension type robot whose robot body runs along traveling rail |
| CN203343793U (en) * | 2013-06-07 | 2013-12-18 | 上海发那科机器人有限公司 | Truss walking guide rail for hoisting robot |
| CN206326598U (en) * | 2016-12-28 | 2017-07-14 | 法博智能装备工程（常州）有限公司 | Gantry robot |
| CN206702998U (en) * | 2017-05-10 | 2017-12-05 | 广州协鸿工业机器人技术有限公司 | Truss robot guide assembly |
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Application publication date: 20190205 |
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| RJ01 | Rejection of invention patent application after publication |