CN216180522U - Industrial robot truss device based on three-axis adjustment - Google Patents
Industrial robot truss device based on three-axis adjustment Download PDFInfo
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- CN216180522U CN216180522U CN202122631838.9U CN202122631838U CN216180522U CN 216180522 U CN216180522 U CN 216180522U CN 202122631838 U CN202122631838 U CN 202122631838U CN 216180522 U CN216180522 U CN 216180522U
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Abstract
The utility model relates to the field of industrial robots, in particular to an industrial robot truss device based on three-axis adjustment, which can realize the hanging of a plurality of groups of robot units, ensure the stable hanging and provide large allowance adjustment in three-axis directions for a robot, and is characterized in that a ground rail is provided with a linear walking mechanism, the linear walking mechanism comprises a rack arranged along the length direction of the ground rail and a walking gear meshed with the rack, wherein the walking gear is driven by a motor, the motor and the gear are both arranged on a linear walking base, the linear walking base is provided with a support upright, the top end of the support upright is connected with a support beam by a rotating mechanism, the support beam is arranged perpendicular to the support upright, the support beam is provided with an industrial robot hanging mechanism, the further adjustment of the hanging robot in a second horizontal direction and a vertical direction can be realized, and the limitation of the arm extension of the existing industrial robot is effectively overcome, the processing requirements of large-size and special-shape large workpieces are met.
Description
Technical Field
The utility model relates to the technical field of industrial robot manufacturing, in particular to an industrial robot truss device based on three-axis adjustment, which can realize hanging of multiple groups of robot units, guarantee stable hanging and provide large allowance adjustment in three-axis directions for a robot.
Background
The existing industrial robot is matched with the truss support walking device to realize linear reciprocating motion in a single direction, and further can finish stopping and construction operation at any position in the linear direction, so that possibility is provided for realizing multi-station continuous construction. However, in an application scenario where the position of the construction space is relatively special, the industrial robot needs to flexibly adjust in the front-back direction, the left-right direction, and the up-down direction in addition to completing a long-range linear motion, so as to ensure that the accurate position of the workpiece to be processed can be processed. In addition, under different application scenes, the robot is required to process workpieces with different heights and within a radius range, and the common robot arm is limited and cannot meet the requirements.
Disclosure of Invention
Aiming at the defects and shortcomings in the prior art, the utility model provides the hanging robot truss device based on three-axis adjustment, which can realize hanging of a plurality of groups of robot units, ensure the stability of hanging and provide large allowance adjustment in the three-axis direction for a robot.
The utility model is achieved by the following measures:
the utility model provides an industrial robot truss device based on triaxial adjustment is equipped with the ground rail, its characterized in that, is equipped with sharp running gear on the ground rail, sharp running gear include along the rack that ground rail length direction set up, with rack toothing's walking gear, wherein walking gear is through motor drive, motor and gear all set up on sharp walking base, be provided with the support post on the sharp walking base, the top of support post is connected with a supporting beam through rotary mechanism, a supporting beam sets up with the support post is perpendicular, it hangs the mechanism to be equipped with industrial robot on the supporting beam.
The rotating mechanism comprises a bearing fixed at the top end of a supporting upright post, the outer ring of the bearing is provided with sawteeth, an inner ring body is connected with the bearing through a rotating shaft, the upper part of the inner ring body is fixedly connected with a supporting beam through a connecting piece, the side surface of the inner ring body is connected with a supporting plate, a driving gear is meshed with the sawteeth on the outer side of the bearing and is fixed on the supporting plate, and a driving motor is connected with the driving gear through a speed reducer to drive the driving gear to rotate along the outer ring of the bearing, so that the large-angle rotation of the inner ring body is completed.
The linear traveling mechanism on the ground rail is also provided with guide assemblies, the guide assemblies adopt guide rails arranged along the length direction of the ground rail and slide blocks matched with the guide rails, the slide blocks are fixed on the linear traveling base, and furthermore, two groups of guide assemblies which are symmetrically arranged are arranged on two sides of the ground rail.
The linear traveling mechanism is arranged on the supporting beam, is similar to the structure, enables the traveling base to linearly move along the supporting beam through the meshing of the gear arranged on the traveling base and the rack arranged on the supporting beam, wherein the gear is driven by the driving motor and the speed reducer, and further is provided with the traveling guide mechanism, and the traveling stability is ensured through the matching of the sliding rail and the sliding block.
The industrial robot hanging mechanism comprises a vertical beam, a linear travelling mechanism and a hanging base, wherein the vertical beam, the linear travelling mechanism and the hanging base are arranged along the vertical direction, and the hanging base is arranged on the vertical beam through the linear travelling mechanism in the vertical direction.
According to the utility model, the two sides of the supporting beam are respectively provided with the linear walking mechanisms, each group of linear walking mechanisms is correspondingly provided with at least one group of industrial robot hanging mechanisms, and the linear walking mechanisms and the industrial robot hanging mechanisms are symmetrically arranged on the two sides of the supporting beam, so that the industrial robot hanging mechanisms on the two sides of the supporting beam are ensured to bear more balanced load in a working state, and the phenomenon of overlarge bending deformation of the load bearing on one side of the supporting beam is avoided.
When the linear traveling mechanism is used, the long-range adjustment along the length direction of the ground rail is realized by controlling the driving motor in the linear traveling mechanism on the ground rail, and the requirement on the processing length of a large workpiece is met; through the control of actuating motor among the slewing mechanism, it revolves the axis of rotation to realize fixing a supporting beam on the inner circle body, do 0-360 wide-angle adjustment along vertical direction promptly, at this moment, industrial robot on the supporting beam hangs the mechanism and drives industrial robot and accomplish the angle and along the adjustment of ground rail direction horizontal position, furthermore, through a supporting beam and hang the sharp running gear on the mechanism, can realize hanging the further adjustment of robot on second horizontal direction and vertical side, thereby it is limited effectively to overcome current industrial robot arm exhibition, satisfy the jumbo size, the processing demand of the big work piece of special shape, the control about the motor in this application adopts current motor control technology to realize, this is not repeated.
Description of the drawings:
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural view of the rotating mechanism of the present invention.
FIG. 3 is a partial structural view of a support beam according to the present invention.
FIG. 4 is a schematic structural diagram of a supporting beam and a hanging mechanism of an industrial robot in the utility model.
Reference numerals: the device comprises a ground rail 1, a linear walking base 2, a supporting upright post 3, a supporting beam 4, an industrial robot hanging mechanism 5, a bearing 6, an inner ring body 7, a bearing plate 8, a driving gear 9, a rack 10, a gear 11 and a walking guide mechanism 12.
The specific implementation mode is as follows:
the utility model is further described below with reference to the accompanying drawings and examples.
As shown in the attached figure 1, the utility model provides an industrial robot truss device based on three-axis adjustment, which is provided with a ground rail 1, wherein a linear walking mechanism is arranged on the ground rail 1, the linear walking mechanism comprises a rack arranged along the length direction of the ground rail 1 and a walking gear meshed with the rack, the walking gear is driven by a motor, the motor and the gear are both arranged on a linear walking base 2, a supporting upright 3 is arranged on the linear walking base 2, the top end of the supporting upright 3 is connected with a supporting beam 4 through a rotating mechanism, the supporting beam 4 is perpendicular to the supporting upright 3, and an industrial robot hanging mechanism 5 is arranged on the supporting beam 4.
The rotating mechanism comprises a bearing 6 fixed at the top end of a supporting upright post, sawteeth are arranged on the outer ring of the bearing 6, an inner ring body 7 is connected with the bearing 6 through a rotating shaft, the inner ring body 7 is coaxially arranged at the inner side of the annular bearing 6, the upper part of the inner ring body 7 is fixedly connected with a supporting beam 4 through a connecting piece, the side surface of the inner ring body 7 is connected with a supporting plate 8, a driving gear 9 is meshed with the sawteeth on the outer side of the bearing and is fixed on the supporting plate 8, and a driving motor is connected with the driving gear 9 through a speed reducer to drive the driving gear to rotate along the outer ring of the bearing 6, so that large-angle rotation of the inner ring body 7 is completed.
The linear traveling mechanism on the ground rail 1 is also provided with guide assemblies, the guide assemblies adopt guide rails arranged along the length direction of the ground rail 1 and slide blocks matched with the guide rails, the slide blocks are fixed on the linear traveling base 2, and furthermore, two groups of guide assemblies which are symmetrically arranged are arranged on two sides of the ground rail 1.
The support beam 4 is provided with a linear travelling mechanism which is similar to the structure, the linear travelling mechanism is meshed with a rack 10 arranged on the support beam 4 through a gear arranged on a travelling base, so that the travelling base moves linearly along the support beam 4, wherein the gear 11 is driven by a driving motor and a speed reducer, and further, the linear travelling mechanism is also provided with a travelling guide mechanism 12 which ensures the travelling stability through the matching of a slide rail and a slide block.
The industrial robot hanging mechanism 5 comprises a vertical beam, a linear travelling mechanism and a hanging base, wherein the vertical beam, the linear travelling mechanism and the hanging base are arranged along the vertical direction, and the hanging base is arranged on the vertical beam through the linear travelling mechanism in the vertical direction.
According to the utility model, the two sides of the supporting beam 4 are respectively provided with the linear walking mechanisms, each group of linear walking mechanisms is correspondingly provided with at least one group of industrial robot hanging mechanisms 5, and the linear walking mechanisms and the industrial robot hanging mechanisms 5 are symmetrically arranged on the two sides of the supporting beam 4, so that the industrial robot hanging mechanisms 5 on the two sides of the supporting beam 4 are ensured to bear more balanced in a working state, and the excessive bending deformation of the bearing on one side of the supporting beam 4 is avoided.
Example 1:
the embodiment provides an industrial robot truss device based on three-axis adjustment, which is provided with the industrial robot truss device based on three-axis adjustment, a ground rail 1 is arranged, a linear walking mechanism is arranged on the ground rail 1, the linear walking mechanism comprises a rack arranged along the length direction of the ground rail 1 and a walking gear meshed with the rack, the walking gear is driven by a motor, the motor and the gear are both arranged on a linear walking base 2, a supporting upright 3 is arranged on the linear walking base 2, the top end of the supporting upright 3 is connected with a supporting beam 4 through a rotating mechanism, the supporting beam 4 is perpendicular to the supporting upright 3, and an industrial robot hanging mechanism 5 is arranged on the supporting beam 4; the linear traveling mechanism on the ground rail 1 is also provided with guide assemblies, the guide assemblies adopt guide rails arranged along the length direction of the ground rail and sliding blocks matched with the guide rails, the sliding blocks are fixed on a linear traveling base, and two groups of symmetrically arranged guide assemblies are arranged on two sides of the ground rail 1 in the example;
in the embodiment, the rotating mechanism comprises a bearing 6 fixed at the top end of a supporting upright post, sawteeth are arranged on the outer ring of the bearing 6, an inner ring body 7 is connected with the bearing 6 through a rotating shaft, the inner ring body 7 is coaxially arranged at the inner side of the annular bearing 6, the upper part of the inner ring body 7 is fixedly connected with a supporting beam 4 through a connecting piece, the side surface of the inner ring body 7 is connected with a supporting plate 8, a driving gear 9 is meshed with the sawteeth on the outer side of the bearing and is fixed on the supporting plate 8, and a driving motor is connected with the driving gear 9 through a speed reducer to drive the driving gear to rotate along the outer ring of the bearing 6, so that large-angle rotation of the inner ring body 7 is completed;
as shown in fig. 3, the support beam 4 of this embodiment is provided with a linear traveling mechanism, which is similar to the above structure, and the linear traveling mechanism is engaged with the rack 10 on the support beam through a gear 11 on the traveling base, so that the traveling base linearly moves along the support beam 4, wherein the gear is driven by a driving motor and a speed reducer, and the traveling guide mechanism 42 is provided to ensure the traveling stability through the matching of the slide rail and the slide block; in the embodiment, the two sides of the supporting beam 4 are respectively provided with the linear travelling mechanisms, each group of linear travelling mechanisms is correspondingly provided with at least one group of industrial robot hanging mechanisms 5, and the linear travelling mechanisms and the industrial robot hanging mechanisms are symmetrically arranged on the two sides of the supporting beam 4, so that the industrial robot hanging mechanisms 5 on the two sides of the supporting beam 4 are ensured to bear more balanced in a working state, and one side of the supporting beam is prevented from bearing excessive bending deformation;
the industrial robot hanging mechanism 5 comprises a vertical beam, a linear walking mechanism and a hanging base, wherein the vertical beam, the linear walking mechanism and the hanging base are arranged in the vertical direction, and the hanging base is arranged on the vertical beam through the linear walking mechanism in the vertical direction.
When the utility model is used, the long-distance adjustment along the length direction of the ground rail 1 is realized by controlling the driving motor in the linear traveling mechanism on the ground rail 1, and the requirement on the processing length of a large workpiece is met; through the control of actuating motor among the slewing mechanism, it revolves the axis of rotation to realize fixing a supporting beam on the inner circle body, do 0-360 wide-angle adjustment along vertical direction promptly, at this moment, industrial robot on the supporting beam hangs mechanism 5 and drives industrial robot and accomplish angle and along the adjustment of ground rail direction horizontal position, furthermore, through a supporting beam and hang the sharp running gear on the mechanism, can realize hanging the further adjustment of robot on second horizontal direction and vertical side, thereby it is limited effectively to overcome current industrial robot arm exhibition, satisfy the jumbo size, the processing demand of the big work piece of special shape, the control about the motor in this application adopts current motor control technique to realize, this is not repeated.
Claims (7)
1. The utility model provides an industrial robot truss device based on triaxial adjustment is equipped with the ground rail, its characterized in that, is equipped with sharp running gear on the ground rail, sharp running gear include along the rack that ground rail length direction set up, with rack toothing's walking gear, wherein walking gear is through motor drive, motor and gear all set up on sharp walking base, be provided with the support post on the sharp walking base, the top of support post is connected with a supporting beam through rotary mechanism, a supporting beam sets up with the support post is perpendicular, it hangs the mechanism to be equipped with industrial robot on the supporting beam.
2. The industrial robot truss device based on three-axis adjustment as claimed in claim 1, wherein the rotating mechanism comprises a bearing fixed at the top end of the supporting column, the bearing outer ring is provided with saw teeth, the inner ring body is connected with the bearing through a rotating shaft, the upper part of the inner ring body is fixedly connected with the supporting beam through a connecting piece, the side surface of the inner ring body is connected with a bearing plate, a driving gear is meshed with the saw teeth at the outer side of the bearing and fixed on the bearing plate, and a driving motor is connected with the driving gear through a speed reducer to drive the driving gear to rotate along the bearing outer ring, so that large-angle rotation of the inner ring body is achieved.
3. The industrial robot truss device based on three-axis adjustment as claimed in claim 1, wherein the linear traveling mechanism on the ground rail is further provided with a guide assembly, the guide assembly adopts a guide rail arranged along the length direction of the ground rail and a slide block matched with the guide rail, and the slide block is fixed on the linear traveling base.
4. The industrial robot truss device based on three-axis adjustment as claimed in claim 3, wherein two sets of symmetrically arranged guide assemblies are arranged on two sides of the ground rail.
5. The truss apparatus for an industrial robot based on three-axis adjustment according to claim 1, wherein the support beam is provided with a linear traveling mechanism, the linear traveling mechanism is similar to the above structure, and the traveling base is linearly moved along the support beam by engaging a gear provided on the traveling base with a rack provided on the support beam, wherein the gear is driven by a driving motor and a speed reducer.
6. The industrial robot truss device based on three-axis adjustment according to claim 1, wherein the industrial robot hanging mechanism comprises a vertical beam arranged along a vertical direction, a linear walking mechanism and a hanging base, and the hanging base is arranged on the vertical beam through the linear walking mechanism in the vertical direction.
7. The industrial robot truss device based on three-axis adjustment according to claim 1, wherein two sides of the supporting beam are respectively provided with a linear walking mechanism, and each group of linear walking mechanisms is correspondingly provided with at least one group of industrial robot hanging mechanisms.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122631838.9U CN216180522U (en) | 2021-10-30 | 2021-10-30 | Industrial robot truss device based on three-axis adjustment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202122631838.9U CN216180522U (en) | 2021-10-30 | 2021-10-30 | Industrial robot truss device based on three-axis adjustment |
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| CN216180522U true CN216180522U (en) | 2022-04-05 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115635229A (en) * | 2022-12-22 | 2023-01-24 | 河北华洋精工机械制造有限公司 | Intelligent welding robot |
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2021
- 2021-10-30 CN CN202122631838.9U patent/CN216180522U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115635229A (en) * | 2022-12-22 | 2023-01-24 | 河北华洋精工机械制造有限公司 | Intelligent welding robot |
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