Truss robot feeding mechanism with axial positioning function

Abstract

The invention relates to a truss robot feeding mechanism with an axial positioning function. The truss robot feeding mechanism comprises a sliding table and a guide rail, and a driving mechanism for driving the guide rail to move longitudinally is arranged on the sliding table; and the limiting mechanism is used for limiting the movement of the guide rail, and the gravity of the guide rail is output through the limiting mechanism to serve as locking force for the driving mechanism. Through cooperation of the limiting mechanism, the guide rail can be limited, meanwhile, the driving mechanism can be locked, so that the stabilizing effect when the guide rail stops is fully guaranteed, and compared with the prior art, the large burden generated when the servo motor independently bears the guide rail is reduced; therefore, the servo motor is effectively protected.

Description

Technical Field

[0001] This invention relates to object transfer equipment in production assembly, specifically to a gantry robot loading mechanism with axial positioning. Background Technology

[0002] The loading mechanism of a gantry robot specifically refers to the Z-axis slide of the gantry and the motion mechanism integrated thereon. The Z-axis slide is one of the core functional components of a gantry robot system. It works in conjunction with vertical guide rails to achieve high-precision linear motion of the handling components (robotic arm) in the vertical direction (Z-axis), used for material handling and loading during product manufacturing and assembly. Currently, for handling large objects, a combination of gears and guide rails is generally used, which has a high load-bearing capacity, thus facilitating the lifting of large and heavy objects.

[0003] In the above, for the entire feeding mechanism, the gear driving process is powered by a servo motor. When the guide rail is suspended in the air, the limit is achieved by the motor's self-locking. When the load is too large, it will cause the motor to bear too much load. When the object stops falling, the motor brakes and locks suddenly. It needs to bear a large inertial force in an instant, which can easily reduce the life of the motor over time. Summary of the Invention

[0004] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0005] To address the technical problems reflected in the background section, the present invention provides the following technical solution: A gantry robot loading mechanism with axial positioning includes: The slide table and the guide rail are provided with a drive mechanism on the slide table to drive the guide rail to move longitudinally. A limiting mechanism restricts the movement of the guide rail, and the gravity of the guide rail is output as a locking force on the drive mechanism through the limiting mechanism.

[0006] As a preferred technical solution for a gantry robot loading mechanism with axial positioning, the driving mechanism includes a rotating shaft and a power element mounted on a slide. The rotating shaft is driven by a guide rail and obtains rotational force through the power element.

[0007] As a preferred technical solution for a loading mechanism of a gantry robot with axial positioning, the guide rail includes a rack, and there are at least two rotating shafts symmetrically distributed on both sides of the rack, which maintain tooth engagement with the rack.

[0008] As a preferred technical solution for a gantry robot loading mechanism with axial positioning, the two rotating shafts are driven together, and the power element provides rotational power to at least one of the rotating shafts.

[0009] As a preferred technical solution for a gantry robot loading mechanism with axial positioning, the gravity of the guide rail is output as an anti-force against at least one of the rotation axes through the limiting mechanism.

[0010] As a preferred technical solution for a loading mechanism of a gantry robot with axial positioning, the limiting mechanism includes a clamping part movably connected to the slide table, and a releasing part. During the contact process between the side of the rack and the end of the clamping part, the clamping part is squeezed by friction, and the clamping part is separated from the rack by the releasing part.

[0011] As a preferred technical solution for a gantry robot loading mechanism with axial positioning, a connecting seat is movably arranged on the slide, the clamping part is movably arranged on the connecting seat, and a force-receiving part that is driven and cooperates with the rotating shaft is rotatably arranged on the slide. The connecting seat cooperates with the slide to clamp the force-receiving part.

[0012] As a preferred technical solution for a gantry robot loading mechanism with axial positioning, the release component includes a magnetic suction part fixedly disposed on the slide table, which has multiple working ends and is close to multiple abutment parts.

[0013] As a preferred technical solution for a gantry robot loading mechanism with axial positioning, it further includes an elastic element acting on the clamping part, wherein the clamping part maintains contact with the rack through the elastic element.

[0014] As a preferred technical solution for a loading mechanism of a gantry robot with axial positioning, the clamping part includes a main body and a contact part. The main body is movably connected to the slide table, and the contact part is used to contact the rack and maintain a limited range of rotation on the main body.

[0015] The gantry robot loading mechanism with axial positioning provided by this invention has the following beneficial effects: 1. This invention, through the cooperation of a limiting mechanism, can limit the guide rail while also locking the drive mechanism, thereby ensuring the stability of the guide rail when it stops. Compared with the prior art, it reduces the large burden on the servo motor when the guide rail is solely supported, thus effectively protecting the servo motor.

[0016] 2. The present invention ensures the stability of the guide rail during driving by setting multiple rotating shafts. At the same time, the cooperation of multiple clamping parts fully transmits the gravity of the guide rail itself to multiple rotating shafts, thereby ensuring the stability of the guide rail when it is restricted and locked. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein: Figure 1 This is a perspective view of one embodiment of the present invention.

[0018] Figure 2 for Figure 1 Enlarged diagram of point A in the diagram.

[0019] Figure 3 For about Figure 1 A separate diagram showing the middle section of the structure.

[0020] Figure 4 For about Figure 3 Another perspective view.

[0021] Figure 5 for Figure 3 A front view of the middle section of the structure.

[0022] Figure 6 This is a schematic diagram of the transmission process between the rotating shaft and the rack in an embodiment of the present invention.

[0023] Figure 7 For about Figure 6 Another perspective view.

[0024] Figure 8 This is a schematic diagram illustrating the arrangement of the connector in an embodiment of the present invention.

[0025] Figure 9 For about Figure 8 Another perspective view.

[0026] Figure 10 This is a structural breakdown diagram of the clamping part described in an embodiment of the present invention.

[0027] Figure label: 100. Slide table; 101. Liner block; 102. Connecting seat; 103. Force-bearing part; 200. Guide rail; 201. Guide rod; 202. Rack; 203. Tower top; 204. Mounting seat; 300. Rubber sleeve; 400. Rotating shaft; 401. Servo motor; 500. Clamping part; 501. Main body; 502. Contact part; 600. Elastic metal strip; 700. Armature. Detailed Implementation

[0028] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0029] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0030] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0031] Secondly, the present invention is described in detail with reference to the schematic diagrams. When detailing the embodiments of the present invention, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged, not according to the usual scale. Furthermore, the schematic diagrams are merely examples and should not limit the scope of protection of the present invention. In addition, actual fabrication should include three-dimensional spatial dimensions of length, width, and depth.

[0032] Reference Figures 1-7 The present invention provides a gantry robot loading mechanism with axial positioning, including a Z-axis slide 100 (hereinafter referred to as slide 100) constituting the main body of the robot, and a guide rail 200 that is matched with the slide 100. The guide rail 200 is longitudinally slidable on the slide 100. The guide rail 200 includes multiple parallel guide rods 201 and a rack 202, which are fixedly connected at the top by a tower top 203 and at the bottom by a mounting base 204 (for connecting the robot arm), thus forming an integral structure. Regarding the slide table 100, a liner 101 is fixedly mounted on it. A connecting seat 102 is slidably mounted laterally on the liner 101, and a force-bearing part 103 is rotatably mounted on the liner 101, located between the liner 101 and the connecting seat 102. Figure 8 and Figure 9 As shown, a rubber sleeve 300 is also fitted onto the connecting seat 102. The rubber sleeve 300 forms a tight abutment with the connecting seat 102 and the bushing 101, so that under normal conditions, the connecting seat 102 slides to the state where it maintains the maximum distance from the bushing 101, and a small gap is maintained between the connecting seat 102 and the force-bearing part 103, such as... Figure 5As shown in the view, when the connecting seat 102 is subjected to force on the side of the liner 101, the connecting seat 102 and the force-bearing part 103 are pressed together, that is, the liner 101 and the connecting seat 102 together clamp the force-bearing part 103, so that the force-bearing part 103 cannot rotate. Furthermore, at least two rotating shafts 400 are rotatably mounted on the slide table 100. The middle part of the rotating shaft 400 is constructed with a gear-like structure, thereby forming a toothed engagement with the rack 202. Both rotating shafts 400 are in this manner, and the two rotating shafts 400 are also connected to each other through the gear-like structure. A power element, namely a servo motor 401, is fixedly mounted on the slide table 100. The power element is configured to be connected to one of the rotating shafts 400 in a transmission connection, thereby controlling the movement of the two rotating shafts 400 to realize the longitudinal movement of the entire guide rail 200 on the slide table 100. The force-receiving part 103 has a gear-like structure, as does the end of the rotating shaft 400, and the two are meshed together, so that the force-receiving part 103 and the rotating shaft 400 maintain a transmission engagement. Furthermore, a clamping part 500 is hinged to the connecting seat 102. The clamping part 500 is a horizontally extending block structure. When the end of the clamping part 500 swings downward into place, it will clamp against one side of the rack 202, and the length of the clamping part 500 itself is close to horizontal. This state is as follows: Figure 5 As shown in the perspective, at this time, the end of the clamping part 500 and the rack 202 maintain frictional force, so that the rack 202 cannot move downward. The greater the longitudinal load on the rack 202, the greater the frictional force, and the stronger the restriction effect on the rack 202. During the process of the clamping part 500 being subjected to force, it simultaneously forms a lateral clamping force on the connecting seat 102, so that the rotatable state of the force-bearing part 103 is locked, that is, the rotating shaft 400 cannot rotate. Thus, the longitudinal movement restriction of the rack 202 can also be achieved through the rotating shaft 400. In this process, through the cooperation of the clamping part 500, the weight of the entire guide rail 200 is transformed into the longitudinal restriction force of the clamping part 500 and the rotating shaft 400 on the rack 202. like Figure 3 As shown, an elastic element is connected to the clamping part 500. The elastic element is an elastic metal strip 600, the end of which abuts against the connecting seat 102. Through the elastic force applied by the elastic metal strip 600, the clamping part 500 always maintains its end under downward force in the normal state, that is, it keeps the entire system locked to the guide rail 200. A release component is also installed on the slide table 100, which is used to control the end of the clamping part 500 to swing upward, thereby separating the clamping part 500 from the rack 202, thereby releasing the longitudinal movement restriction of the guide rail 200. In summary, during the longitudinal movement of the guide rail 200, when the guide rail 200 moves up or down, the servo motor 401 and the release mechanism work synchronously, causing the clamping part 500 to separate from the guide rail 200. The servo motor 401 also drives the guide rail 200 to rise or fall synchronously. When the guide rail 200 needs to stop, the servo motor 401 and the release mechanism stop working synchronously, causing the clamping part 500 to immediately contact the rack 202 under the action of elasticity, thereby restoring the locking state of the guide rail 200. During the locking process, the longitudinal load of the guide rail 200 is borne by the friction provided by the rotating shaft 400 and the clamping part 500, thereby reducing the burden on the servo motor 401 and playing a protective role for the servo motor 401. Furthermore, in this application, the servo motor 401 can also be replaced by a conventional motor. The positioning process of the guide rail 200 on the slide table 100 can be achieved by configuring a grating structure on the guide rail 200. Through grating positioning, when the guide rail 200 moves to the target point, the motor and the release component stop working synchronously, realizing the immediate locking state of the guide rail 200.

[0033] Furthermore, regarding the termination clause, such as Figure 2 , Figure 3 and Figure 5 As shown, it includes an armature 700 fixedly mounted on the slide table 100. The end of the armature 700 is sufficiently close to the top of the end of the clamping part 500. An excitation winding is provided on the armature 700. The clamping part 500 is an iron structure. When the guide rail 200 needs to move, the excitation winding is energized, which magnetizes the armature 700, so that the clamping part 500 keeps its end moving upward a small distance when it is attracted, thereby separating from the rack 202. Regarding the structure of the clamping part 500, such as Figure 10 As shown, it consists of a main body 501 and a contact part 502. The contact part 502 is slightly rotatable on the main body 501, and the two are detachably connected by a pin assembly. The contact part 502 has a plane for contacting the rack 202. This plane and the side of the rack 202 are both high-friction surfaces. Through the slight range of motion of the contact part 502 on the main body 501, the contact part 502 can maintain good contact with the rack 202 when it contacts the rack 202, thereby ensuring a good supply of friction. At the same time, through the detachable connection, the contact part 502 can be replaced after wear.

[0034] It should be understood that numerous specific implementation decisions can be made during the development of any practical implementation, such as in any engineering or design project. Such a development process can be complex and time-consuming, but for those skilled in the art who benefit from this disclosure, the development process will be a routine task in design, manufacturing, and production without requiring extensive experimentation.

[0035] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A loading mechanism for a gantry robot with axial positioning, characterized in that: include: The slide table and the guide rail are provided with a drive mechanism on the slide table to drive the guide rail to move longitudinally. A limiting mechanism restricts the movement of the guide rail, and the gravity of the guide rail is output as a locking force on the drive mechanism through the limiting mechanism.

2. The gantry robot loading mechanism with axial positioning according to claim 1, characterized in that: The drive mechanism includes a rotating shaft mounted on the slide and a power element. The rotating shaft is driven by the guide rail and obtains rotational force through the power element.

3. The gantry robot loading mechanism with axial positioning according to claim 2, characterized in that: The guide rail includes a rack, and there are at least two rotating shafts symmetrically distributed on both sides of the rack, which maintain tooth engagement with the rack.

4. The gantry robot loading mechanism with axial positioning according to claim 3, characterized in that: The two rotating shafts are driven together, and the power element provides rotational power to at least one of the rotating shafts.

5. The gantry robot loading mechanism with axial positioning according to claim 4, characterized in that: The gravity of the guide rail is output as an abutment force against at least one of the rotating axes through the limiting mechanism.

6. The gantry robot loading mechanism with axial positioning according to claim 5, characterized in that: The limiting mechanism includes a clamping part movably connected to the slide table, and a releasing part. During the contact process between the side of the rack and the end of the clamping part, the clamping part is squeezed by friction, and the clamping part is separated from the rack by the releasing part.

7. The gantry robot loading mechanism with axial positioning according to claim 6, characterized in that: A connecting seat is movably disposed on the slide, and the abutting part is movably disposed on the connecting seat. A force-receiving part that is driven and cooperates with the rotating shaft is rotatably disposed on the slide, and the connecting seat cooperates with the slide to clamp the force-receiving part.

8. The gantry robot loading mechanism with axial positioning according to claim 6, characterized in that: The release component includes a magnetic suction part fixedly disposed on the slide table, which has multiple working ends and is close to the multiple abutment parts.

9. The gantry robot loading mechanism with axial positioning according to claim 6, characterized in that: It also includes an elastic element that acts on the abutting part, the abutting part being kept in contact with the rack through the elastic element.

10. The gantry robot loading mechanism with axial positioning according to claim 6, characterized in that: The clamping part includes a main body and a contact part. The main body is movably connected to the slide, and the contact part is used to contact the rack and maintain a limited range of rotation on the main body.

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