A linear omnidirectional mobile robot frame moving drive mechanism

Abstract

The present invention discloses a linear omnidirectional mobile robot frame moving drive mechanism, comprising a table, a moving frame is placed above the table, an X-axis moving mechanism and a Y-axis moving mechanism are installed on the table; a Y-axis sliding through groove is formed on the table, and an X-axis sliding through groove is formed on the table; the Y-axis moving mechanism comprises a Y-axis linear motor driving component and a front trolley component, both of which are installed on the table, a fixed block of the Y-axis linear motor driving component is inserted into the Y-axis sliding through groove, a front trolley bearing bracket of the front trolley component is inserted into the Y-axis sliding through groove, and two transverse bars of the moving frame are installed on the fixed block and the front trolley bearing bracket; the moving frame is driven to move by the Y-axis linear motor driving component and the X-axis linear motor driving component, and the friction force is small and the moving precision is high.

Description

Technical field:

[0001] The invention relates to the technical field of textile machinery and equipment, and more specifically to a linear omnidirectional mobile robot frame moving drive mechanism. Background technology:

[0002] The main driving mechanism of a computer embroidery machine includes a main shaft and a moving frame. In addition to the rotation of the main shaft, the reciprocating linear motion characteristics of the moving frame also affect the embroidery quality.

[0003] At present, the driving method of the moving frame mainly adopts the method of rotating motor and synchronous belt transmission to drive the moving frame to reciprocate in the X and Y directions. Since the reciprocating motion of the moving frame is completed in a very short time, the acceleration of the reciprocating motion is very large. Therefore, the internal tension of the synchronous belt is large and changes greatly, which causes the synchronous belt to deform, affecting the embroidery accuracy, and there is also a large friction resistance;

[0004] Nowadays, the length of the moving frame is getting longer and longer, especially in the Y direction. The length is greater than 10m, and multiple synchronous belts need to be installed. Multiple synchronous belts are driven by the same shaft. The torsional deformation of the long shaft will cause the positioning accuracy of the moving frame in the Y direction to be poor, which will also affect the embroidery quality.

[0005] In addition, the moving frame is in direct contact with the table plate, and there is sliding friction between the two, which increases the driving resistance.

[0006] The above problems are mainly that the deformation causes poor embroidery quality and large friction resistance affects the production efficiency of embroidery. Therefore, to improve the embroidery quality and production efficiency of computer embroidery machines, it is necessary to reduce the deformation links and friction resistance in the driving mechanism. Summary of the invention:

[0007] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a linear omnidirectional mobile robot frame moving drive mechanism, which drives the frame moving through a Y-axis linear motor drive assembly and an X-axis linear motor drive assembly, has low friction and high moving accuracy.

[0008] The solution of the present invention to solve the technical problem is:

[0009] A linear omnidirectional mobile robot frame moving drive mechanism comprises a platform, a moving frame is placed above the platform, and an X-axis moving mechanism and a Y-axis moving mechanism are installed on the platform;

[0010] The table plate is formed with a Y-axis sliding groove;

[0011] The Y-axis moving mechanism comprises a Y-axis linear motor drive assembly and a front trolley assembly, both of which are mounted on the table, the fixed block of the Y-axis linear motor drive assembly is inserted into the Y-axis sliding groove, the front trolley bearing bracket of the front trolley assembly is inserted into the Y-axis sliding groove, and the two transverse bars of the moving frame are mounted on the fixed block and the front trolley bearing bracket;

[0012] The X-axis directional moving mechanism includes an X-axis linear motor drive assembly and a rear trolley assembly. A rear through groove is formed at the rear of the table, and a front through groove is formed at the front of the table. The X-axis linear motor drive assembly and the rear trolley assembly are both fixed on the table. The X-axis fixed block of the X-axis linear motor drive assembly is inserted into the front through groove, and the rear trolley plate of the rear trolley assembly is inserted into the rear through groove. Two longitudinal bars of the moving frame are installed on the X-axis fixed block and the rear trolley plate of the X-axis linear motor drive assembly.

[0013] The moving frame is composed of two mutually parallel transverse bars and two mutually parallel longitudinal bars. The longitudinal bars are perpendicular to the transverse bars, and connecting plates are fixed between the longitudinal bars and adjacent transverse bars.

[0014] A fixed baffle is installed on the longitudinal bar at the front of the moving frame, an X-axis pressure plate is fixed on the middle bottom surface of the fixed baffle, and the X-axis pressure plate is fixed on the X-axis fixed block of the X-axis linear motor drive assembly.

[0015] The rear trolley assembly includes a rear trolley guide rail, which is fixed on the bottom surface of the table plate, and the middle track of the rear trolley guide rail is directly below the rear through groove, and a rear trolley moving block is inserted on the middle track of the rear trolley guide rail, and a rear trolley plate is fixed on the top surface of the rear trolley moving block, and at least two support rods are fixed on the top surface of the rear trolley plate, and a rear tapered roller bearing is fixed on the support rods, and the rear tapered roller bearing is inserted into a corresponding guide groove formed on the bottom surface of the longitudinal strip at the rear of the moving frame, and a wear-resistant steel sheet is fixed on one side wall of the guide groove, and the outer side wall of the rear tapered roller bearing is in close contact with the corresponding wear-resistant steel sheet.

[0016] A rear limit rod is fixed to the rear of the rear trolley plate, a rear horizontal rod is fixed to the rear limit rod, a side guide block is fixed to the end of the rear horizontal rod, and the side guide block is inserted into a guide groove formed on the rear side wall of the longitudinal strip at the rear of the moving frame.

[0017] A connecting beam is provided between the fixed block of the Y-axis linear motor drive assembly and the front trolley bearing bracket of the front trolley assembly, one end of the connecting beam is fixed to the fixed block, and the other end of the connecting beam is fixed to the front trolley bearing bracket;

[0018] The front trolley assembly includes a front trolley guide rail, which is fixed on the bottom surface of the table plate, and the middle track of the front trolley guide rail is directly below the Y-axis sliding groove. A front trolley moving block is inserted on the middle track of the front trolley guide rail, and a front trolley bearing bracket is fixed on the top surface of the front trolley moving block. At least two support rods are fixed on the top surface of the front trolley bearing bracket, and a front tapered roller bearing is fixed on the support rod. The front tapered roller bearing is inserted into a corresponding front guide groove formed on the bottom surface of the front part of the transverse strip on the right side of the moving frame, and a front wear-resistant steel sheet is fixed on one side wall of the front guide groove, and the outer side wall of the front tapered roller bearing is in close contact with the corresponding front wear-resistant steel sheet.

[0019] A front limit rod is fixed on the top surface of the right side of the front trolley bearing bracket, a front horizontal rod is fixed on the front limit rod, a front guide block is fixed on the end of the front horizontal rod, and the front guide block is inserted into a guide groove formed on the right side wall of the transverse bar on the right side of the moving frame.

[0020] A frame eccentric block is fixed on the front wall surface of the longitudinal strip at the front of the moving frame, a guide bearing is fixed on the top surface of the frame eccentric block, and the guide bearing is inserted into a longitudinal guide groove formed on the bottom surface of the fixed stop strip.

[0021] Two Y-axis connecting rods are fixed on the top surface of the fixed block, and a Y-axis tapered roller bearing is fixed on the top end of the Y-axis connecting rod. The Y-axis tapered roller bearing is inserted into a corresponding lower guide groove formed on the bottom surface of the horizontal bar on the left side of the moving frame, and a lower wear-resistant steel sheet is fixed on one side wall of the lower guide groove, and the outer side wall of the Y-axis tapered roller bearing is in close contact with the corresponding lower wear-resistant steel sheet.

[0022] The outstanding effects of the present invention are:

[0023] Compared with the prior art, it drives the frame to move through the Y-axis linear motor drive assembly and the X-axis linear motor drive assembly, and has small friction and high movement accuracy. Description of the drawings:

[0024] Figure 1 It is a partial structural schematic diagram of the present invention;

[0025] Figure 2 yes Figure 1 A partial enlarged view of

[0026] Figure 3 It is a partial structural schematic diagram of the Y-axis moving mechanism of the present invention;

[0027] Figure 4 yes Figure 3 A partial enlarged view of

[0028] Figure 5 yes Figure 3 a partial enlarged view of another part;

[0029] Figure 6 It is a schematic diagram of the local structure of the Y-axis linear motor drive assembly;

[0030] Figure 7 yes Figure 6 A partial enlarged view of

[0031] Figure 8 It is a partial structural diagram of the front trolley assembly;

[0032] Fig. 9 It is a schematic diagram of the local structure of the X-axis linear motor drive assembly;

[0033] Fig.10 It is a schematic diagram of the local structure at the rear trolley assembly;

[0034] Fig.11 It is a partial structural diagram of the Y-axis linear motor drive assembly. Specific implementation method:

[0035] For example, see Figures 1 to 11 As shown, a linear omnidirectional mobile robot frame moving drive mechanism includes a platform 10, a moving frame 100 is placed above the platform 10, and an X-axis moving mechanism 20 and a Y-axis moving mechanism 30 are installed on the platform 10;

[0036] The table 10 is formed with a Y-axis sliding groove 11;

[0037] The Y-axis moving mechanism 30 includes a Y-axis linear motor drive assembly 31 and a front trolley assembly 32, both of which are mounted on the table 10, a fixed block 311 of the Y-axis linear motor drive assembly 31 is inserted into the Y-axis sliding groove 11, a front trolley bearing bracket 321 of the front trolley assembly 32 is inserted into the Y-axis sliding groove 11, and two transverse bars of the moving frame 100 are mounted on the fixed block 311 and the front trolley bearing bracket 321;

[0038] The X-axis moving mechanism 20 includes an X-axis linear motor drive assembly 21 and a rear trolley assembly 22. A rear through groove 13 is formed at the rear of the table 10, and a front through groove 14 is formed at the front of the table 10. The X-axis linear motor drive assembly 21 and the rear trolley assembly 22 are both fixed on the table 10. The X-axis fixed block 211 of the X-axis linear motor drive assembly 21 is inserted into the front through groove 14, and the rear trolley plate 221 of the rear trolley assembly 22 is inserted into the rear through groove 13. The two longitudinal bars of the moving frame 100 are installed on the X-axis fixed block 211 and the rear trolley plate 221 of the X-axis linear motor drive assembly 21.

[0039] Furthermore, the moving frame 100 is composed of two mutually parallel transverse bars and two mutually parallel longitudinal bars. The longitudinal bars are perpendicular to the transverse bars, and a connecting plate 101 is fixed between the longitudinal bars and adjacent transverse bars.

[0040] Furthermore, a fixed baffle 40 is installed on the front longitudinal bar of the moving frame 100 , an X-axis pressure plate 410 is fixed to the middle bottom surface of the fixed baffle 40 , and the X-axis pressure plate 410 is fixed on the X-axis fixed block 211 of the X-axis linear motor drive assembly 31 .

[0041] Furthermore, the rear trolley assembly 22 includes a rear trolley guide rail 222, which is fixed on the bottom surface of the platform 10, and the middle track of the rear trolley guide rail 222 is directly below the rear through groove 13. A rear trolley moving block 223 is inserted on the middle track of the rear trolley guide rail 222, and a rear trolley plate 221 is fixed on the top surface of the rear trolley moving block 223. At least two support rods are fixed on the top surface of the rear trolley plate 221, and a rear tapered roller bearing 224 is fixed on the support rod. The rear tapered roller bearing 224 is inserted in the rear of the moving frame 100. The bottom surface of the longitudinal strip is formed with a corresponding guide groove 102, and a wear-resistant steel sheet 103 is fixed on one side wall of the guide groove 102 (the wear-resistant steel sheet 103 is fixed by fixing the strip block to the bottom raised portion of the longitudinal strip at the rear of the moving frame 100 by bolts, and the two guide grooves 102 are located on both sides of the bottom raised portion, and the two wear-resistant steel sheets 103 are tightly attached to both sides of the bottom raised portion and clamped between the strip block and the top surface of the guide groove 102 to achieve clamping and fixing), and the outer side wall of the rear tapered roller bearing 224 is tightly attached to the corresponding wear-resistant steel sheet 103.

[0042] Furthermore, a rear limit rod 225 is fixed to the rear of the rear trolley plate 221, a rear horizontal rod 226 is fixed to the rear limit rod 225, a side guide block 227 is fixed to the end of the rear horizontal rod 226, and the side guide block 227 is inserted into a guide groove formed on the rear side wall of the longitudinal strip at the rear of the moving frame 100.

[0043] Furthermore, a connecting beam 322 is provided between the fixing block 311 of the Y-axis linear motor driving assembly 31 and the front trolley bearing bracket 321 of the front trolley assembly 32, one end of the connecting beam 322 is fixed to the fixing block 311, and the other end of the connecting beam 322 is fixed to the front trolley bearing bracket 321;

[0044] The front trolley assembly 32 includes a front trolley guide rail 323, which is fixed on the bottom surface of the table 10, and the middle track of the front trolley guide rail 323 is directly below the Y-axis sliding groove 11. A front trolley moving block 324 is inserted into the middle track of the front trolley guide rail 323, and a front trolley bearing bracket 321 is fixed to the top surface of the front trolley bearing bracket 321. At least two support rods are fixed on the support rods. A front tapered roller bearing 325 is provided, and the front tapered roller bearing 325 is inserted into a corresponding front guide groove 104 formed on the bottom surface of the front part of the transverse strip on the right side of the moving frame 100. A front wear-resistant steel sheet 105 is fixed on one side wall of the front guide groove 104 (the connection method of the front wear-resistant steel sheet 105 is the same as that of the wear-resistant steel sheet 103, which will not be described in detail), and the outer side wall of the front tapered roller bearing 325 is in close contact with the corresponding front wear-resistant steel sheet 105.

[0045] Furthermore, a front limit rod 326 is fixed to the top surface of the right side of the front trolley bearing bracket 321, a front horizontal rod 327 is fixed to the front limit rod 326, a front guide block 328 is fixed to the end of the front horizontal rod 327, and the front guide block 328 is inserted into a guide groove formed on the right side wall of the transverse bar on the right side of the moving frame 100.

[0046] Furthermore, a frame eccentric block 41 is fixed on the front wall surface of the longitudinal bar at the front of the moving frame 100, a guide bearing 42 is fixed on the vertical rod fixed on the top surface of the frame eccentric block 41, and the guide bearing 42 is inserted into the longitudinal guide groove formed on the bottom surface of the fixed baffle bar 40.

[0047] Furthermore, two Y-axis connecting rods 312 are fixed to the top surface of the fixed block 311, and a Y-axis tapered roller bearing 313 is fixed to the top of the Y-axis connecting rod 312. The Y-axis tapered roller bearing 313 is inserted into the corresponding lower guide groove 106 formed on the bottom surface of the horizontal bar on the left side of the moving frame 100, and a lower wear-resistant steel sheet 107 is fixed on one side wall of the lower guide groove 106 (the connection method of the lower wear-resistant steel sheet 107 is the same as the connection method of the wear-resistant steel sheet 103, which will not be described in detail), and the outer side wall of the Y-axis tapered roller bearing 313 is in close contact with the corresponding lower wear-resistant steel sheet 107.

[0048] The structures of the linear motors in the X-axis linear motor drive assembly 21 and the Y-axis linear motor drive assembly 31 in this embodiment are the same, so some structures at the linear motor of the X-axis linear motor drive assembly 21 are not shown in the drawings. They both include a guard plate 1, an anti-collision device 2, a slide rail 3, a stator 4, a grating scale 5, a base 6, a slider 7, and a drag chain 8. The drag chain 8 is fixed to the slider 7 through a connecting part, wherein a fixed block 311 is fixed on the slider 7 of the linear motor of the Y-axis linear motor drive assembly 31; and an X-axis fixed block 211 is fixed on the slider 7 of the linear motor of the X-axis linear motor drive assembly 21.

[0049] In this embodiment, a linear motor is used to directly drive the moving frame 100 of the computer embroidery machine. The basic structure and working principle of the linear motor are similar to those of the rotary motor, just like a rotary motor is expanded along the outer circumference; its transmission method directly converts electrical energy into linear motion mechanical energy, and no other motion conversion mechanism is required. The linear motor is a product that can be directly purchased on the market and will not be described in detail.

[0050] In this embodiment, the X-axis fixed block 211 of the linear motor of the X-axis linear motor driving assembly 21 is operated to realize the forward and backward movement of the fixed baffle 40 (i.e., movement in the X direction), thereby driving the moving frame 100 to move forward and backward. When moving, the moving frame 100 moves along the front tapered roller bearing 325 and the Y-axis tapered roller bearing 313, and the Y-axis tapered roller bearing 313 is moved to the left or right (Y reverse movement) by the fixed block 311 of the linear motor in the Y-axis linear motor driving assembly 31, thereby realizing the left and right movement of the moving frame 100, and its movement accuracy is high and the effect is good.

[0051] The design of this embodiment not only simplifies the structure but also makes installation more convenient while meeting the support requirements, thereby better enabling the moving frame to perform all-round movement.

[0052] In this embodiment, it is fixed on the profile, and the base 6 of the linear motor in the X-axis linear motor drive assembly 21 and the Y-axis linear motor drive assembly 31 is fixed on the bottom surface of the table 10. Compared with the rotary servo motor system, the linear motor has a more complicated wiring than the rotary servo motor because its propulsion power is on the moving parts. Many cables need to be connected through the drag chain 8. At the same time, in order to avoid damage to the linear motor caused by accidental collision accidents, anti-collision devices 2 are added at both ends of the linear motor as buffer devices. The installation position of the grating ruler 5 is close to the side of the linear motor, which can reduce errors and obtain the best feedback control effect.

[0053] Finally, the above implementation modes are only used to illustrate the present invention, and are not intended to limit the present invention. Ordinary technicians in the relevant technical field may make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, all equivalent technical solutions also belong to the scope of the present invention. The scope of patent protection of the present invention should be defined by the claims.

Claims

1. A linear omnidirectional mobile robot frame moving drive mechanism, comprising a platform (10), wherein: a moving frame (100) is placed above the platform (10), and an X-axis moving mechanism (20) and a Y-axis moving mechanism (30) are installed on the platform (10); The table plate (10) is formed with a Y-axis sliding groove (11); The Y-axis moving mechanism (30) comprises a Y-axis linear motor drive assembly (31) and a front trolley assembly (32); the Y-axis linear motor drive assembly (31) and the front trolley assembly (32) are both mounted on the table (10); a fixed block (311) of the Y-axis linear motor drive assembly (31) is inserted into the Y-axis sliding groove (11); a front trolley bearing bracket (321) of the front trolley assembly (32) is inserted into the Y-axis sliding groove (11); and two transverse bars of the moving frame (100) are mounted on the fixed block (311) and the front trolley bearing bracket (321); The X-axis moving mechanism (20) comprises an X-axis linear motor drive assembly (21) and a rear trolley assembly (22); a rear through slot (13) is formed at the rear of the table (10); a front through slot (14) is formed at the front of the table (10); the X-axis linear motor drive assembly (21) and the rear trolley assembly (22) are both fixed on the table (10); an X-axis fixed block (211) of the X-axis linear motor drive assembly (21) is inserted into the front through slot (14); a rear trolley plate (221) of the rear trolley assembly (22) is inserted into the rear through slot (13); and two longitudinal bars of the moving frame (100) are mounted on the X-axis fixed block (211) and the rear trolley plate (221) of the X-axis linear motor drive assembly (21); The moving frame (100) is composed of two mutually parallel transverse bars and two mutually parallel longitudinal bars, the longitudinal bars and the transverse bars are perpendicular to each other, and a connecting plate (101) is fixed between the longitudinal bars and adjacent transverse bars; A fixed stop bar (40) is installed on the longitudinal bar at the front of the moving frame (100), an X-axis pressing plate (410) is fixed to the middle bottom surface of the fixed stop bar (40), and the X-axis pressing plate (410) is fixed on the X-axis fixed block (211) of the X-axis linear motor drive assembly (21); A connecting beam (322) is provided between the fixing block (311) of the Y-axis linear motor drive assembly (31) and the front trolley bearing bracket (321) of the front trolley assembly (32), one end of the connecting beam (322) is fixed to the fixing block (311), and the other end of the connecting beam (322) is fixed to the front trolley bearing bracket (321); The front trolley assembly (32) comprises a front trolley guide rail (323), the front trolley guide rail (323) is fixed on the bottom surface of the table (10), the middle track of the front trolley guide rail (323) is located directly below the Y-axis sliding groove (11), a front trolley moving block (324) is inserted into the middle track of the front trolley guide rail (323), a front trolley bearing bracket (321) is fixed to the top surface of the front trolley moving block (324), and the front trolley bearing bracket (321) is fixed to the top surface of the front trolley bearing bracket (321). 1) is fixed with at least two support rods on the top surface, and a front tapered roller bearing (325) is fixed on the support rods. The front tapered roller bearing (325) is inserted into a corresponding front guide groove (104) formed on the bottom surface of the front part of the transverse strip on the right side of the moving frame (100). A front wear-resistant steel sheet (105) is fixed on one side wall of the front guide groove (104), and an outer side wall of the front tapered roller bearing (325) is in close contact with the corresponding front wear-resistant steel sheet (105).

2. The linear omnidirectional mobile robot frame moving drive mechanism according to claim 1, characterized in that: The rear trolley assembly (22) comprises a rear trolley guide rail (222), the rear trolley guide rail (222) being fixed on the bottom surface of the platform (10), the middle track of the rear trolley guide rail (222) being located directly below the rear through slot (13), a rear trolley moving block (223) being inserted and sleeved on the middle track of the rear trolley guide rail (222), a rear trolley plate (221) being fixed on the top surface of the rear trolley moving block (223), and the rear trolley plate (221) being fixed on the top surface of the rear trolley plate (221). ) is fixed to the top surface of at least two support rods, a rear tapered roller bearing (224) is fixed to the support rods, the rear tapered roller bearing (224) is inserted into a corresponding guide groove (102) formed on the bottom surface of the longitudinal strip at the rear of the moving frame (100), a wear-resistant steel sheet (103) is fixed to a side wall of the guide groove (102), and the outer side wall of the rear tapered roller bearing (224) is in close contact with the corresponding wear-resistant steel sheet (103).

3. The linear omnidirectional mobile robot frame moving drive mechanism according to claim 2, characterized in that: A rear limit rod (225) is fixed to the rear of the rear trolley plate (221), a rear horizontal rod (226) is fixed to the rear limit rod (225), a side guide block (227) is fixed to the end of the rear horizontal rod (226), and the side guide block (227) is inserted into a guide groove formed on the rear side wall of the longitudinal strip at the rear of the moving frame (100).

4. The linear omnidirectional mobile robot frame moving drive mechanism according to claim 1, characterized in that: A front limiting rod (326) is fixed to the top surface of the right side of the front trolley bearing bracket (321), a front horizontal rod (327) is fixed to the front limiting rod (326), a front guide block (328) is fixed to the end of the front horizontal rod (327), and the front guide block (328) is inserted into a guide groove formed on the right side wall of the transverse bar on the right side of the moving frame (100).

5. The linear omnidirectional mobile robot frame moving drive mechanism according to claim 1, characterized in that: A frame eccentric block (41) is fixed on the front wall surface of the longitudinal strip at the front of the moving frame (100), a guide bearing (42) is fixed on the top surface of the frame eccentric block (41), and the guide bearing (42) is inserted into a longitudinal guide groove formed on the bottom surface of the fixed stop bar (40).

6. The linear omnidirectional mobile robot frame moving drive mechanism according to claim 1, characterized in that: Two Y-axis connecting rods (312) are fixed to the top surface of the fixed block (311), and a Y-axis tapered roller bearing (313) is fixed to the top of the Y-axis connecting rod (312). The Y-axis tapered roller bearing (313) is inserted into a corresponding lower guide groove (106) formed on the bottom surface of the horizontal strip on the left side of the moving frame (100), and a lower wear-resistant steel sheet (107) is fixed to a side wall of the lower guide groove (106), and the outer side wall of the Y-axis tapered roller bearing (313) is in close contact with the corresponding lower wear-resistant steel sheet (107).

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