A bidirectional high-speed guide rail slide for a robotic arm

Abstract

The present application relates to the technical field of guide rail slides, specifically a bidirectional high-speed guide rail slide for a robotic arm, including a slide rail, a displacement cylinder used in conjunction with a lead screw is provided inside the slide rail, a ball mechanism is provided at the upper end of the displacement cylinder, a robotic arm connecting plate for connecting the robotic arm is provided at the upper end of the ball mechanism, and the ball mechanism includes a central fixed block, and the outer side of the central fixed block is provided with side fixed blocks symmetrically distributed about the central fixed block, and the side fixed blocks on both sides are slidably connected to the inner side of the slide rail. The present application is provided with a ball mechanism, and during the assembly process, the slide structure can be installed and disassembled from any position of the slide rail, reducing the possibility that the slide cannot be quickly and smoothly disassembled from the slide rail due to deformation or jamming of the guide rail slide, shortening the time consumed for installation and disassembly of the guide rail slide, and reducing the maintenance cost of the guide rail slide.

Description

Technical Field

[0001] The present application relates to the technical field of guide rail slides, and in particular to a bidirectional high-speed guide rail slide for a robotic arm. Background Art

[0002] In a production work environment, materials are generally transported through guide rails. A bidirectional high-speed guide rail is a device that can provide high-speed, precise motion control in two directions. It is often used in applications that require high precision and fast response. Its core feature is the use of high-speed guide rails and drive systems to support bidirectional movement, so it can achieve efficient positioning and transportation in different directions.

[0003] The travel of the robot arm to transfer materials depends on the length of the guide rail. In order to meet the needs of long-distance material transfer, the robot arm and the slide need to be installed on a guide rail with a long travel. During the installation process, the slide needs to be inserted from the port at the end of the guide rail first, and then moved to the starting position of the slide to facilitate the smooth operation of the guide rail slide.

[0004] With regard to the above-mentioned related technologies, since the slide is easily damaged when working in a high-efficiency state for a long time, and the guide rail with a long stroke is easily deformed, when the guide rail slide is repaired or replaced, the slide needs to be moved to the port at the end of the guide rail for removal, and the repair and replacement takes a long time. Once the guide rail and the slide are deformed, the guide rail and the slide will become stuck, the difficulty of repair increases, the time consumed for repair increases, the cost consumed for repair increases, and the working efficiency of the robotic arm is reduced. Summary of the invention

[0005] In view of the above-mentioned shortcomings of the prior art, the present application provides a bidirectional high-speed guide rail slide for a robotic arm, comprising a slide rail, a displacement cylinder used in conjunction with a lead screw is provided inside the slide rail, a ball mechanism is provided at the upper end of the displacement cylinder, a robotic arm connecting plate for connecting the robotic arm is provided at the upper end of the ball mechanism, the ball mechanism comprises a central fixed block, side fixing blocks symmetrically distributed about the central fixed block are provided on the outer side of the central fixed block, the side fixing blocks on both sides are slidably connected to the inner side of the slide rail, and the outer side of the central fixed block and close to the A connecting rod assembly for connecting the side fixing blocks is provided at the position near the side fixing block, and a translation assembly is provided on the side of the side fixing block close to the middle fixing block, wherein the translation assembly includes a first rack fixed on one of the side fixing blocks, and a second rack parallel to the first rack is provided on the other side fixing block, a central gear is provided between the first rack and the second rack, side plates symmetrically distributed about the teeth of the first rack are provided on the side of the first rack, and side plates are also provided on the side of the second rack, and the central gear is located between the side plates.

[0006] Furthermore, a docking groove for inserting the first rack is provided on the outer side of the side fixing block on which the second rack is installed, and a docking groove for inserting the second rack is provided on the outer side of the side fixing block on which the first rack is installed.

[0007] Furthermore, the connecting rod assembly includes multiple middle connecting rods, which are evenly distributed along the length direction of the middle fixing block. Both ends of the middle connecting rods are provided with end connecting rods symmetrically distributed about the middle connecting rods. The ends of the middle connecting rods are inserted into the sliding grooves inside the end connecting rods. The middle connecting rods are slidably connected to the end connecting rods, one of the end connecting rods is connected to the middle fixing block, and the other end connecting rod is connected to the side fixing block.

[0008] Furthermore, a movable groove is provided on the outer side of the middle fixed block and close to the end connecting rod, and a movable groove is also provided on the outer side of the side fixed block and close to the end connecting rod. The end connecting rod inserted into the middle fixed block rotates in the movable groove provided on the middle fixed block, and the end connecting rod inserted into the side fixed block rotates in the movable groove provided on the side fixed block.

[0009] Furthermore, the ball bearing mechanism also includes a limiting plug plate located at one end of the side fixing block, and the outer side of the side fixing block is provided with a side limiting slot for the limiting plug plate to be inserted, and the limiting plug plate is inserted into the side limiting slot.

[0010] Furthermore, a center insert ring is provided on a side surface of the limit plug plate close to the middle fixed block and close to the center, and a center limit slot is provided on the outer wall of the middle fixed block and close to the center insert ring, and the center insert ring is inserted into the center limit slot.

[0011] Furthermore, a ball guide groove is provided inside the side fixing block, the ball guide groove is inclined, and an independent ball is provided inside the ball guide groove. The independent ball located at the edge of the side fixing block is higher than the independent ball located inside the side fixing block, and the setting of the ball guide groove does not interfere with the movable groove.

[0012] Furthermore, the middle fixed block is located between the robot arm connecting plate and the displacement cylinder, and the robot arm connecting plate, the middle fixed block and the displacement cylinder are fixedly connected by bolts.

[0013] Compared with the known prior art, the technical solution provided by this application has the following beneficial effects:

[0014] 1. The present application sets a ball mechanism, and through the position change of the middle fixing block and the side fixing block, the ball mechanism can be quickly and conveniently plugged into the inside of the slide rail, and the shape switching of the ball mechanism can be quickly completed to complete the assembly of the guide rail slide. During the assembly process, the slide structure can be installed and disassembled from any position of the slide rail, which reduces the possibility that the slide cannot be quickly disassembled from the slide rail due to deformation or jamming of the guide rail slide, shortens the time consumed for installation and disassembly of the guide rail slide, and reduces the maintenance cost of the guide rail slide;

[0015] 2. The present application provides a limit plate, a central limit slot is provided on the middle fixing block, and a side limit slot is provided on the side fixing block. After the middle fixing block abuts against the side fixing block, the limit plate is embedded into the side limit slot by bolts to fix the middle fixing block and the side fixing block, thereby improving the stability of the connection between the middle fixing block and the side fixing blocks on both sides, and thus improving the stability of the ball mechanism during operation;

[0016] 3. The present application sets a translation component between two side fixing blocks, fixes the first rack on one side fixing block, fixes the second rack on the other side fixing block, sets a center gear between the first rack and the second rack, and utilizes the meshing connection between the first rack, the second rack and the center gear to ensure the stability of the two side fixing blocks during the displacement process, realize the horizontal displacement of the side fixing blocks, improve the efficiency of independent ball docking, and improve the working efficiency of the ball mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the overall structure in an embodiment of the present application;

[0018] Figure 2 Schematic diagram of the installation position of the ball mechanism in the embodiment of the present application;

[0019] Figure 3 This is a schematic diagram of the installation position of the displacement cylinder in the embodiment of the present application;

[0020] Figure 4 This is a schematic diagram of the structure of the ball mechanism in the embodiment of the present application;

[0021] Figure 5 This is a schematic diagram of the structure of the middle fixed block in the embodiment of the present application;

[0022] Figure 6 This is a schematic diagram of the structure of the side fixing block in the embodiment of the present application;

[0023] Figure 7 This is a schematic diagram of the structure of the central gear in the embodiment of the present application;

[0024] Figure 8 This is a schematic diagram of the structure of the ball guide groove in the embodiment of the present application;

[0025] Fig. 9 This is a schematic diagram of the structure of the connecting rod assembly in the embodiment of the present application;

[0026] Fig.10 This is a schematic diagram of the structure of the side limit slot in the embodiment of the present application;

[0027] Fig.11 Schematic diagram of the structure of the limit plug plate in the embodiment of the present application.

[0028] In the figure: 1. slide rail; 2. robot arm connecting plate; 3. displacement cylinder; 4. ball bearing mechanism; 41. middle fixing block; 411. center limit slot; 42. side fixing block; 421. movable slot; 422. docking slot; 423. side limit slot; 424. ball bearing guide groove; 43. connecting rod assembly; 431. middle connecting rod; 432. end connecting rod; 44. independent ball bearing; 45. first rack; 46. second rack; 47. center gear; 471. side plate; 48. limit plug plate; 481. center plug ring. DETAILED DESCRIPTION

[0029] In order to better understand the above technical solution, Figure 1-11 And specific implementation methods are used to describe the above technical solutions in detail.

[0030] refer to Figure 1 and Figure 2 The present application discloses a bidirectional high-speed guide rail slide for a robot arm, comprising a slide rail 1, a robot arm connecting plate 2, a displacement cylinder 3 and a ball mechanism 4. The ball mechanism 4 is installed between the displacement cylinder 3 and the robot arm connecting plate 2. The robot arm connecting plate 2 is used to connect the robot arm to clamp the material. The displacement cylinder 3 is sleeved on the lead screw inside the slide rail 1, and the displacement cylinder 3 is threadedly connected to the lead screw to realize the displacement of the robot arm connecting plate 2.

[0031] When assembling the guide rail slide, first sleeve the displacement cylinder 3 onto the motor lead screw inside the slide rail 1, use the rotation of the motor lead screw to drive the displacement of the displacement cylinder 3, then install the ball mechanism 4 on the inner side of the slide rail 1 and close to the displacement cylinder 3, and finally install the mechanical arm connecting plate 2 on the upper end of the slide rail 1 and close to the ball mechanism 4, and finally use the fastening bolts to fix the mechanical arm connecting plate 2 on the upper end of the displacement cylinder 3. In the process of fixing the mechanical arm connecting plate 2, fix the ball mechanism 4. When the displacement cylinder 3 is displaced, the displacement of the mechanical arm connecting plate 2 is driven, and the mechanical arm is able to carry materials.

[0032] refer to Figures 2 to 9The ball mechanism 4 includes a middle fixed block 41, a side fixed block 42, a ball guide groove 424, a connecting rod assembly 43, an independent ball 44, a first rack 45, a second rack 46, a central gear 47 and a side plate 471. The middle fixed block 41 is installed inside the slide rail 1 and close to the displacement cylinder 3. The side fixed block 42 is installed inside the slide rail 1 and close to the middle fixed block 41, and the two side fixed blocks 42 are symmetrically distributed about the middle fixed block 41. The ball guide groove 424 is opened inside the side fixed block 42 and close to the edge, and a plurality of independent balls 44 are filled inside the ball guide groove 424. The ball guide groove 424 is tilted inward inside the side fixed block 42, and the height of the independent ball 44 located at the edge of the side fixed block 42 is higher than the height of the independent ball 44 located inside the side fixed block 42. The first rack 45, the second rack 46, the central gear 47 and the side plate 471 constitute a translation assembly, and the translation assembly is installed between the two side fixing blocks 42. The translation assembly is located on both sides of the middle fixing block 41, and multiple groups of translation assemblies are symmetrically distributed about the middle fixing block 41. The first rack 45 is fixedly installed on the outer side wall of one of the side fixing blocks 42, and the first rack 45 is fixedly installed on the side surface of the side fixing block 42 facing the middle fixing block 41. The side plates 471 are fixedly installed on both sides of the first rack 45, and the two side plates 471 are symmetrically distributed about the first rack 45. The second rack 46 is fixedly installed on the outer side wall of the other side fixing block 42, and the second rack 46 is fixedly installed on the side surface of the side fixing block 42 facing the middle fixing block 41. Two side plates 471 are also fixedly installed on both sides of the second rack 46, and the two side plates 471 are symmetrically distributed about the second rack 46. The central gear 47 is installed between the first rack 45 and the second rack 46. The central gear 47 is meshed with the first rack 45 and the central gear 47 is meshed with the second rack 46. The central gear 47 is located between the side plates 471 on both sides.

[0033] The connecting rod assembly 43 is installed between the middle fixing block 41 and the side fixing block 42. The connecting rod assembly 43 includes a middle connecting rod 431 and an end connecting rod 432. A movable groove 421 is provided on the outer wall of the middle fixing block 41 and close to the side fixing block 42, and a movable groove 421 is also provided on the outer wall of the side fixing block 42 and close to the middle fixing block 41. The end connecting rods 432 are sleeved at both ends of the middle connecting rod 431, and the two end connecting rods 432 are symmetrically distributed about the middle connecting rod 431. A sliding groove for the middle connecting rod 431 to be inserted is provided inside the end connecting rod 432, and the middle connecting rod 431 slides in the sliding groove provided inside the end connecting rod 432. One of the end connecting rods 432 is inserted into the movable groove 421 provided on the middle fixing block 41, and the end connecting rod 432 rotates inside the movable groove 421. Another end connecting rod 432 is inserted into the movable groove 421 provided on the side fixing block 42, and the end connecting rod 432 rotates inside the movable groove 421. The rotation angle range of the end connecting rod 432 is 0° to 90°.

[0034] The ball mechanism 4 works in two stages:

[0035] Stage 1, before the ball mechanism 4 is inserted into the inside of the slide rail 1. The first rack 45 and the second rack 46 are inserted into the corresponding docking groove 422, the distance between the two side fixing blocks 42 is shortened, the middle fixing block 41 is located at the upper end of the side fixing block 42, and the middle connecting rod 431 is in a vertical state. At this stage, the ball mechanism 4 can be directly inserted into the inside of the slide rail 1 from the notch opened at the upper end of the slide rail 1, the insertion point is not restricted, and the independent ball 44 does not abut against the inner wall of the slide rail 1;

[0036] In the second stage, after the ball mechanism 4 is inserted into the inside of the slide rail 1 and the engagement is completed, the first rack 45 and the second rack 46 are separated from the corresponding docking groove 422, the distance between the two side fixing blocks 42 increases, the middle fixing block 41 is located between the two side fixing blocks 42, the middle connecting rod 431 is in a horizontal state, and the independent ball 44 abuts against the inner wall of the slide rail 1.

[0037] The ball mechanism 4 in the state of stage 1 is inserted into the interior of the slide rail 1 and close to the position of the displacement cylinder 3. After the ball mechanism 4 is placed, the middle fixed block 41 is pressed downward to make the middle fixed block 41 move downward and squeeze the two side fixed blocks 42 on both sides of the middle fixed block 41. During the downward displacement of the middle fixed block 41, the two side fixed blocks 42 simultaneously move away from the middle fixed block 41. During the displacement of the side fixed blocks 42, the central gear 47 rotates between the first rack 45 and the second rack 46, so that the first rack 45 and the second rack 46 are disengaged from the plug-in state with the docking groove 422. After the middle fixed block 41 is completely inserted between the two side fixed blocks 42, the independent ball 44 located inside the ball guide groove 424 and at the edge of the side fixed block 42 abuts against the inner side wall of the slide rail 1. Thus, the ball mechanism 4 switches from the state of stage 1 to the state of stage 2. Then, the mechanical arm connecting rod is installed on the upper end of the middle fixing block 41, and the fastening bolts are used to penetrate the mechanical arm connecting plate 2 and the middle fixing block 41, so that the bolts penetrating the middle fixing block 41 are threadedly connected with the displacement cylinder 3, and the mechanical arm connecting plate 2, the displacement cylinder 3 and the middle fixing block 41 are fixedly installed, and the middle fixing block 41 is fixedly installed between the two side fixing blocks 42. Through the installation method from stage 1 to stage 2, the ball mechanism 4 can be installed at any position of the slide rail 1, replacing the installation method of inserting the end of one end of the slide rail 1 and then sliding it to the other end.

[0038] Similarly, when disassembling the ball mechanism 4, it is only necessary to remove the fastening bolts on the mechanical arm connecting plate 2 and then pull out the middle fixing block 41. During the process of pulling out the middle fixing block 41, the connecting rod assembly 43 drives the side fixing blocks 42 to move, so that the side fixing blocks 42 move horizontally toward the position of the middle fixing block 41, and then the first rack 45 and the second rack 46 are plugged into the corresponding plug-in slots again, and the middle fixing block 41 is again located at the upper end of the two side fixing blocks 42, so that the ball mechanism 4 can be directly pulled out from any position of the slide rail 1.

[0039] refer to Figure 5 , Fig.10 and Fig.11The ball mechanism 4 further includes a limiting plug plate 48 and a center plug ring 481. The limiting plug plate 48 is mounted on the outer wall of the side fixing block 42. A side limiting slot 423 is provided on the outer wall of the side fixing block 42 near the center. The limiting plug plate 48 can be inserted into the inside of the side limiting slot 423. The shape of the side limiting slot 423 matches the shape of the limiting plug plate 48. The center plug ring 481 is fixedly mounted at the center position of one side surface of the limiting plug plate 48. A center limiting slot 411 is provided on the outer wall of the middle fixing block 41 near the center plug ring 481. The center plug ring 481 can be inserted into the center limiting slot 411 provided on the outer wall of the middle fixing block 41. When and only when the middle fixing block 41 is inserted between the two side fixing blocks 42, the limiting plug plate 48 can be exactly engaged with the two side limiting slots 423 on the two side fixing blocks 42 at the same time. The limiting plug plate 48 is fixed on the side fixing block 42 and the middle fixing block 41 by means of bolts.

[0040] When the ball mechanism 4 is in the state of stage 2, the center limit slot 411 is located between the two side limit slots 423, and the two side limit slots 423 are symmetrically distributed about the center limit slot 411. The limit plate 48 is directly inserted into the inside of the side limit slot 423, and the center insert ring 481 located at the center of the limit plate 48 is inserted into the inside of the center limit slot 411. The two ends of the limit plate 48 are respectively inserted into the two side limit slots 423 on both sides, and finally the limit plate 48 is fixed to the side fixing block 42 by bolts to complete the fixed installation of the limit plate 48. The limit plate 48 can limit the lateral displacement of the side fixing block 42, and improve the stability of the connection between the middle fixing block 41 and the side fixing block 42.

[0041] The working principle of the embodiment of this application:

[0042] During installation, first pull the middle fixing block 41 to rotate the middle connecting rod 431 and the end connecting rod 432, so that the middle fixing block 41 is located at the upper end of the side fixing block 42, and the distance between the two side fixing blocks 42 is shortened. The first rack 45 and the second rack 46 are inserted into the corresponding docking groove 422, and then the ball mechanism 4 in this state is inserted into the slide rail 1 from any position of the upper end notch of the slide rail 1, so that the side fixing block 42 is located at the upper end of the displacement cylinder 3, and then the middle fixing block 41 is pressed downward to squeeze the two side fixing blocks 42. The middle fixing block 41 continues to move downward, causing the two side fixing blocks 42 to move to both sides. During the displacement of the side fixing blocks 42, the first rack 45 and the second rack 46 are disengaged from the docking groove 422, and the end connecting rod 432 rotates, so that the middle fixing block 41 can be inserted into the space between the two side fixing blocks 42, and the two side fixing blocks 42 on both sides are abutted, so that the independent ball 44 abuts against the inner wall of the slide rail 1, and then the limiting plug plate 48 is inserted into the side limiting slot 423, so that the center plug ring 481 is inserted into the center limiting slot 411, and the limiting plug plate 48 is fixed by bolts, so that the middle fixing block 41 is fixedly connected with the side fixing blocks 42, and finally the mechanical arm connecting plate 2 is placed on the upper end of the middle fixing block 41, and the mechanical arm connecting plate 2, the middle fixing block 41 and the displacement cylinder 3 are fixed by bolts to complete the installation of the ball mechanism 4, and then complete the assembly of the guide rail slide;

[0043] During disassembly, first remove the bolts on the robot arm connecting plate 2, then remove the bolts on the limit plug plate 48, and finally pull the middle fixing block 41 to move the middle fixing block 41 upward, and drive the side fixing blocks 42 to move closer to each other through the end connecting rod 432 and the middle connecting rod 431, thereby reducing the spacing between the side fixing blocks 42, so that the ball mechanism 4 can be pulled out from any position of the slide rail 1, and the disassembly of the ball mechanism 4 is completed.

[0044] Although the embodiments of the present application have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A bidirectional high-speed guide rail slide for a robotic arm, comprising a slide rail (1), characterized in that: The interior of the slide rail (1) is provided with a displacement cylinder (3) for use with a lead screw, the upper end of the displacement cylinder (3) is provided with a ball mechanism (4), the upper end of the ball mechanism (4) is provided with a robot arm connecting plate (2) for connecting a robot arm, the ball mechanism (4) comprises a central fixed block (41), the outer side of the central fixed block (41) is provided with side fixed blocks (42) symmetrically distributed with respect to the central fixed block (41), the side fixed blocks (42) on both sides are slidably connected to the inner side of the slide rail (1), the outer side of the central fixed block (41) and close to the side fixed blocks (42) are provided with a connecting rod assembly (43) for connecting the side fixed blocks (42), and the side fixed blocks (42) close to the central fixed block (41) are provided with a translation assembly; The translation assembly comprises a first rack (45) fixed on one of the side fixing blocks (42); a second rack (46) parallel to the first rack (45) is provided on the other side fixing block (42); a central gear (47) is provided between the first rack (45) and the second rack (46); a side plate (471) symmetrically distributed with respect to the teeth of the first rack (45) is provided on the side of the first rack (45); a side plate (471) is also provided on the side of the second rack (46); and the central gear (47) is located between the side plates (471); The connecting rod assembly (43) comprises a plurality of middle connecting rods (431), the plurality of middle connecting rods (431) being evenly distributed along the length direction of the middle fixing block (41), the two ends of the middle connecting rods (431) being sleeved with end connecting rods (432) symmetrically distributed about the middle connecting rods (431), the ends of the middle connecting rods (431) being inserted into sliding grooves inside the end connecting rods (432), the middle connecting rods (431) being slidably connected to the end connecting rods (432), one of the end connecting rods (432) being connected to the middle fixing block (41), and the other end connecting rod (432) being connected to the middle fixing block (41). ) is connected to the side fixing block (42); a movable groove (421) is provided on the outer side of the middle fixing block (41) and close to the end connecting rod (432); a movable groove (421) is also provided on the outer side of the side fixing block (42) and close to the end connecting rod (432); the end connecting rod (432) inserted into the middle fixing block (41) rotates in the movable groove (421) provided on the middle fixing block (41); and the end connecting rod (432) inserted into the side fixing block (42) rotates in the movable groove (421) provided on the side fixing block (42).

2. A bidirectional high-speed guide rail slide for a robot arm according to claim 1, characterized in that: The outer side of the side fixing block (42) on which the second rack (46) is mounted is provided with a docking groove (422) for the first rack (45) to be inserted into, and the outer side of the side fixing block (42) on which the first rack (45) is mounted is provided with a docking groove (422) for the second rack (46) to be inserted into.

3. A bidirectional high-speed guide rail slide for a robot arm according to claim 2, characterized in that: The ball bearing mechanism (4) further comprises a limit plug plate (48) located at one end of the side fixing block (42); a side limit slot (423) for the limit plug plate (48) to be inserted is provided on the outer side of the side fixing block (42); and the limit plug plate (48) is inserted into the side limit slot (423).

4. A bidirectional high-speed guide rail slide for a robot arm according to claim 3, characterized in that: A center insert ring (481) is provided on a side surface of the limit insert plate (48) close to the center of the middle fixing block (41), and a center limit slot (411) is provided on an outer wall of the middle fixing block (41) close to the center insert ring (481). The center insert ring (481) is inserted into the center limit slot (411).

5. The bidirectional high-speed guide rail slide for a robot arm according to claim 1, characterized in that: A ball guide groove (424) is provided inside the side fixing block (42), the ball guide groove (424) is arranged obliquely, an independent ball (44) is provided inside the ball guide groove (424), the independent ball (44) located at the edge of the side fixing block (42) is higher than the independent ball (44) located inside the side fixing block (42), and the setting of the ball guide groove (424) and the movable groove (421) do not interfere with each other.

6. A bidirectional high-speed guide rail slide for a robot arm according to claim 1, characterized in that: The middle fixing block (41) is located between the mechanical arm connection plate (2) and the displacement cylinder (3); the mechanical arm connection plate (2), the middle fixing block (41) and the displacement cylinder (3) are fixedly connected by bolts.

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