CN218313528U

CN218313528U - X-axis walking mechanism for truss robot

Info

Publication number: CN218313528U
Application number: CN202222207556.0U
Authority: CN
Inventors: 赵宇; 赵增科
Original assignee: Wuxi Xinjinyu Intelligent Manufacturing Co ltd
Current assignee: Wuxi Xinjinyu Intelligent Manufacturing Co ltd
Priority date: 2022-08-22
Filing date: 2022-08-22
Publication date: 2023-01-17
Anticipated expiration: 2032-08-22

Abstract

The utility model discloses an X-axis walking mechanism for a truss robot, which comprises a transmission linear guide rail arranged along an X axis, an X-axis sliding table arranged on the transmission linear guide rail in a sliding way, and a driving piece which is fixedly arranged at the top of the X-axis sliding table and the driving end of which downwards runs through the X-axis sliding table; the transmission mechanism comprises a rack arranged along the axial direction of the transmission linear guide rail and a gear arranged at the driving end of the driving part, and the rack is meshed with the gear to perform transmission; the cable protection drag chain mechanism is arranged on one side of the transmission linear guide rail, the limiting mechanism is fixedly arranged at one end of the X-axis sliding table, and the automatic oil injection mechanism is arranged at the top of the X-axis sliding table; the utility model discloses use gear, rack as the transmission form, the walking of leading of drive slip table on transmission linear guide, the guide rail of two sides is arranged and to be let the slip table obtain bigger direction adhesive force to make the motion more stable, the high accuracy of walking has been guaranteed to rack and pinion's transmission form simultaneously.

Description

X-axis walking mechanism for truss robot

Technical Field

The utility model relates to a truss robot technical field, concretely relates to X axle running gear for truss robot.

Background

The truss robot belongs to a linear mobile robot or equipment, and is also called a large-scale rectangular coordinate robot or a gantry robot, and the working behavior of the truss robot is mainly performed by completing linear motion along an X axis, a Y axis and a Z axis.

For example, in chinese patent application with publication number (CN 215240840U), it is pointed out that the motion in the X-axis direction needs to have good motion stability to satisfy the stability of the overall motion, and thus the motion stability in the X-axis direction is an important factor affecting the precision and the service life of the truss robot in the operation process; meanwhile, the patent application provides an X-axis movement mechanism applied to a gantry type truss robot.

In the truss robot with multiple manipulators, such as the truss robot with multiple manipulators for axle carrying, how to solve the problem of the stability of the movement of the manipulators in the X-axis direction becomes a technical problem to be solved because the plurality of manipulators are arranged in the long-distance X-axis movement walking process.

SUMMERY OF THE UTILITY MODEL

Aiming at the defects in the prior art, the X-axis travelling mechanism for the truss robot is reasonable in structure, the sliding table is driven to travel on the transmission linear guide rail in a guiding mode by taking the gear and the rack as transmission modes, the guide rails on the two sides can enable the sliding table to obtain larger guiding adhesive force, so that the movement is more stable, and meanwhile, the high traveling precision is ensured by the transmission mode of the gear and the rack; meanwhile, mechanisms such as oil injection, limiting and drag chains are configured to assist in improving the running stability.

The utility model discloses the technical scheme who adopts as follows:

the utility model provides a X axle running gear for truss robot, its includes along the transmission linear guide that the X axle set up, still includes:

the X-axis sliding table is arranged on the transmission linear guide rail in a sliding manner, is used for bearing other parts and moves linearly along the X-axis direction;

the driving part is fixedly arranged at the top of the X-axis sliding table, and the driving end downwards penetrates through the X-axis sliding table and is used for providing driving force;

the transmission mechanism comprises a rack arranged along the axial direction of the transmission linear guide rail and a gear arranged at the driving end of the driving part, and the rack is meshed with the gear to perform transmission;

the cable protection drag chain mechanism is arranged on one side of the transmission linear guide rail;

the limiting mechanism is fixedly arranged at one end of the X-axis sliding table;

and the automatic oiling mechanism is arranged at the top of the X-axis sliding table and used for lubricating the follow-up transmission mechanism.

Furthermore, the horizontal side and the outer side of the vertical surface of the transmission linear guide rail are respectively provided with a walking guide rail.

Further, X axle slip table is L shape cross-section design, including its body, along a plurality of slides of its horizontal side bottom surface setting and along a plurality of slides of its vertical side inner wall setting, slide and transmission linear guide sliding connection.

Further, the driving member is a servo motor.

Further, cable protection tow chain mechanism is including installing in the X axle tow chain walking groove of transmission linear guide one side and follow-up in the cable tow chain of X axle slip table.

Automatic oiling mechanism is including setting up the oiling machine on X axle slip table, still including seting up the through-hole on X axle slip table body, and the through-hole runs through downwards and is provided with the oiling pipe, and the bottom of oiling pipe is lubricated drive mechanism through setting up lubricated felt.

The outline of the lubricating felt is meshed with the rack so as to carry out rolling lubrication when the X-axis sliding table moves.

The mechanical arm is used for grabbing and unloading a product to be transported, such as an axle, so that the carrying work of the product to be transported of the truss robot is met.

The utility model has the advantages as follows:

1. according to the linear guide rail, the guide rails are arranged on the vertical side and the horizontal side of the linear guide rail in the transmission manner, the X-axis sliding table with the L-shaped section and the plurality of sliding seats are arranged, so that the guiding movement in the X-axis direction can obtain stable guiding adhesive force on the horizontal plane and the vertical plane, the guiding is more stable, and the precision is higher;

2 the integrated automatic oiling system is characterized in that an oiling machine is arranged on an X-axis sliding table, a felt with the outline meshed with a rack is arranged, an oiling machine on the upper portion and a transmission shaft on the lower portion are communicated through an oiling pipe, and the felt is arranged on the lower portion of the oiling pipe in a rolling mode through the transmission shaft, so that follow-up lubrication can be carried out when the X-axis sliding table moves linearly along an X axis, the service life of the whole mechanical part is greatly prolonged, and instability caused by long-time use and poor maintenance is avoided;

3. the application considers that the large-length X-axis truss structure is applied to a plurality of manipulators, each independent manipulator needs to be arranged on a moving mechanism which walks in X, Y and Z three degrees of freedom, and when the independent X-axis moving mechanism walks in the large-length X-axis axial direction, the axial limiting mechanism is arranged for avoiding interference and considering safety protection.

Drawings

FIG. 1 is a view of the present invention installed on a truss in a local use state;

fig. 2 is a first perspective view of the internal structure of the present invention;

fig. 3 is a second perspective view of the internal structure of the present invention;

fig. 4 is the whole usage state diagram of the utility model installed on the truss.

Wherein: 1. a transmission linear guide rail; 2. an X-axis sliding table; 3. a drive member; 4. a transmission mechanism; 5. a cable protection tow chain mechanism; 6. a limiting mechanism; 7. an automatic oiling mechanism; 11. a traveling guide rail; 21. a slide base; 41. a rack; 42. a gear; 51. an X-axis drag chain walking groove; 52. a cable drag chain; 71. an oiling machine; 73. a drive shaft; 74. felt; 8. and a power sliding table.

Detailed Description

The following describes embodiments of the present invention with reference to the drawings.

Please refer to fig. 1, fig. 2, fig. 3 and fig. 4;

the utility model provides a X axle running gear for truss robot, its transmission linear guide 1 that includes along the X axle setting still includes:

the X-axis sliding table 2 is arranged on the transmission linear guide rail 1 in a sliding manner, is used for bearing other parts and moves linearly along the X-axis direction;

the driving piece 3 is fixedly arranged at the top of the X-axis sliding table 2, and the driving end of the driving piece downwards penetrates through the X-axis sliding table 2 and is used for providing driving force;

the transmission mechanism 4 comprises a rack 41 arranged along the axial direction of the transmission linear guide rail 1 and a gear 42 arranged at the driving end of the driving piece 3, and the rack 41 is meshed with the gear 42 for transmission;

the cable protection drag chain mechanism 5 is arranged on one side of the transmission linear guide rail 1;

the limiting mechanism 6 is fixedly arranged at one end of the X-axis sliding table 2;

and the automatic oiling mechanism 7 is arranged at the top of the X-axis sliding table 2 and is used for lubricating the follow-up transmission mechanism 4.

The horizontal side and the outer side of the vertical surface of the transmission linear guide rail 1 are provided with walking guide rails 11.

X axle slip table 2 is L shape cross-sectional design, including its body, along a plurality of slides 21 of its horizontal side bottom surface setting and along a plurality of slides 21 of its vertical side inner wall setting, slide 21 and transmission linear guide 1 sliding connection.

The driving member 3 is a servo motor.

The cable protection drag chain mechanism 5 comprises an X-axis drag chain walking groove 51 arranged on one side of the transmission linear guide rail 1 and a cable drag chain 52 following the X-axis sliding table 2.

The automatic oiling mechanism 7 comprises an oiling machine 71 arranged on the X-axis sliding table 2 and further comprises a through hole arranged on the body of the X-axis sliding table 2, an oiling pipe penetrates downwards and is arranged in the through hole, and the bottom of the oiling pipe lubricates the transmission mechanism 4 through a lubricating felt 74.

The lubricating felt 74 has a profile which engages with the rack 41 to enable rolling lubrication when the X-axis slide table 2 is moved.

Still including setting up in the power slip table 8 of 2 perpendicular planes of X axle slip table, the axial length of power slip table 8 is less than the axial length of X axle slip table 2.

The utility model discloses a theory of operation:

the utility model relates to an X-axis walking mechanism for a truss robot, which is used for linear movement in the X-axis direction in a three-axis guide rail system, and the working principle of the mechanism is that the mechanism is controlled to move by a control cabinet with a PLC programming control end; the driving piece 3-the servo motor rotates to drive the gear 42 to rotate, and the rack 41 is arranged on the inner side of the transmission linear guide rail 1 and is used for being meshed with the gear 42, so that the axial reciprocating linear movement of the X-axis sliding table 2 is realized; the traveling guide rails 11 are arranged on the vertical side and the horizontal side of the transmission linear guide rail 1, and the 4 sliding seats 21 below the X-axis sliding table 2 are used for sliding guidance on the traveling guide rails 11, so that the moving guidance stability of the X-axis sliding table 2 is ensured; the vertical side and the horizontal side of the transmission linear guide rail 1 are provided with guide structures of the sliding seat 21 matched with the walking guide rail 11, and good guide adhesion can be obtained on two vertical surfaces;

particularly, the top of the X-axis sliding table 2 is provided with an automatic oiling mechanism 7 to ensure good maintenance and lubrication of mechanical structural components of the whole machine, so that the service life of the whole machine equipment can be greatly prolonged; the automatic oiling mechanism 7 has the action mechanism that: the oil storage and the oil discharge are carried out by an oil filling machine 71 arranged at the top of the X-axis sliding table 2, a through hole is formed in the surface of the X-axis sliding table 2 in a penetrating mode and faces towards the rack 41, an oil filling pipe is fixed in the through hole, the oil outlet end of the oil filling machine 71 is in butt joint with the oil filling pipe through external accessories such as a guide pipe and a hose, a transmission shaft 73 is arranged at the bottom of the oil filling pipe, a gear 42-shaped felt 74 is arranged through the transmission shaft 73 in a transmission mode, the felt 74 is used for meshing with the rack 41, and due to the fact that the outline of the felt 74 is in a toothed shape, in the moving process of the X-axis sliding table 2, the felt 74 is synchronously meshed with the rack 41; the oil in the oiling machine 71 is periodically fed to the felt 74, so that the rack 41 is periodically lubricated and maintained, and further, the transmission member and the wear-resistant member meshed with the rack 41 can be lubricated and maintained; further making the X-axis linear guide movement more stable.

The above description is only to be construed as illustrative and not restrictive, and the scope of the invention is defined by the appended claims, and any modifications may be made within the scope of the invention.

Claims

1. The utility model provides a X axle running gear for truss robot which characterized in that: including transmission linear guide (1) along the setting of X axle, still include:

the X-axis sliding table (2) is arranged on the transmission linear guide rail (1) in a sliding manner, is used for bearing other parts and moves linearly along the X-axis direction;

the driving piece (3) is fixedly arranged at the top of the X-axis sliding table (2), and the driving end of the driving piece downwards penetrates through the X-axis sliding table (2) and is used for providing driving force;

the transmission mechanism (4) comprises a rack (41) arranged along the axial direction of the transmission linear guide rail (1) and a gear (42) arranged at the driving end of the driving piece (3), and the rack (41) is meshed with the gear (42) to perform transmission;

the cable protection drag chain mechanism (5) is arranged on one side of the transmission linear guide rail (1);

the limiting mechanism (6) is fixedly arranged at one end of the X-axis sliding table (2);

and the automatic oiling mechanism (7) is arranged at the top of the X-axis sliding table (2) and is used for lubricating the follow-up transmission mechanism (4).

2. An X-axis walking mechanism for a truss robot as claimed in claim 1, wherein: and walking guide rails (11) are arranged on the horizontal side and the outer side of the vertical surface of the transmission linear guide rail (1).

3. An X-axis traveling mechanism for a truss robot as claimed in claim 1, wherein: x axle slip table (2) are L shape cross-sectional design, including its body, along a plurality of slide (21) of its horizontal side bottom surface setting and along a plurality of slide (21) of its vertical side inner wall setting, slide (21) and transmission linear guide (1) sliding connection.

4. An X-axis walking mechanism for a truss robot as claimed in claim 1, wherein: the driving piece (3) is a servo motor.

5. An X-axis traveling mechanism for a truss robot as claimed in claim 1, wherein: the cable protection drag chain mechanism (5) comprises an X-axis drag chain walking groove (51) arranged on one side of the transmission linear guide rail (1) and a cable drag chain (52) which follows the X-axis sliding table (2).

6. An X-axis traveling mechanism for a truss robot as claimed in claim 1, wherein: automatic oiling mechanism (7) are including setting up oiling machine (71) on X axle slip table (2), still including seting up the through-hole on X axle slip table (2) body, and the through-hole runs through downwards and is provided with the oiling pipe, and the bottom of oiling pipe is lubricated drive mechanism (4) through setting up lubricated felt (74).

7. An X-axis walking mechanism for a truss robot as claimed in claim 6, wherein: the outline of the lubricating felt (74) is meshed with the rack (41) so as to carry out rolling lubrication when the X-axis sliding table (2) moves.

8. An X-axis traveling mechanism for a truss robot as claimed in claim 1, wherein: the X-axis sliding table is characterized by further comprising a power sliding table (8) arranged on the vertical surface of the X-axis sliding table (2), and the axial length of the power sliding table (8) is smaller than that of the X-axis sliding table (2).