Multipurpose movable ground rail device capable of being spliced

Abstract

The utility model discloses a multi-purpose movable ground rail device capable of being spliced, which relates to the field of guide rail manufacturing and comprises a plurality of modular ground rail structures, a driving mechanism, a limiting mechanism and six guide rail sliding blocks, the modular ground rail structures can be spliced, and the driving mechanism is arranged on the guide rail sliding blocks. The six guide rail sliding blocks are all installed on the modular ground rail structure, the driving mechanism is installed on the guide rail sliding blocks, the limiting mechanism is installed on the modular ground rail structure and used for limiting the moving position of the driving mechanism, and a cable drag chain is installed on the side face of the modular ground rail structure. A plurality of modular ground rail structures are seamlessly spliced and freely adjusted in height, so that the modular ground rail structures are fastened into a whole, the problem that a movable ground rail is limited by the flatness of the ground on an installation site is effectively solved, and the safety and the reliability during load working are greatly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of guide rail manufacturing, and particularly relates to a multi-purpose splicable mobile ground rail device. Background Art

[0002] With the continuous development of the manufacturing industry, the application of robots has become more and more extensive; in the manufacturing industry, robots can perform automated production tasks such as assembly, welding, packaging, and handling, improving production efficiency while reducing costs.

[0003] Mobile ground rails play a crucial role in the movement of robots. It provides reliable ground support for the movement of robots, enabling robots to move stably during the working process.

[0004] However, most of the existing mobile ground rails can only be applied to one type of robot. At the same time, due to the limitation of the length of the mobile ground rail, the robot will have the defect that the arm span is not long enough due to the limited moving length during work, resulting in a single robot being unable to take into account multiple automated devices. Summary of the Utility Model

[0005] In view of the above technical problems, the utility model proposes a multi-purpose splicable mobile ground rail device, which includes a modular ground rail structure, a driving mechanism, a limiting mechanism, and guide rail sliders. There are multiple modular ground rail structures, and the multiple modular ground rail structures can be spliced. There are six guide rail sliders, and all six guide rail sliders are installed on the modular ground rail structure. The driving mechanism is installed on the guide rail slider, and the limiting mechanism is installed on the modular ground rail structure to limit the moving position of the driving mechanism. A cable drag chain is installed on the side of the modular ground rail structure. The modular ground rail structure includes a frame body. The left and right sides of the frame body are in a symmetric mirror image manner. A left end connecting plate is installed on the left side of the frame body, and a right end connecting plate is installed on the right side of the frame body. An upper linear guide rail is installed on the upper side of the frame body, and a lower linear guide rail and a helical rack are installed on the lower side of the frame body. The helical rack is installed in the same direction as the lower linear guide rail. Six guide rail sliders, three are installed on the upper linear guide rail, and the other three are installed on the lower linear guide rail.

[0006] Furthermore, the right end connecting plate of each frame body is connected to the left end connecting plate of the adjacent frame body, the left end connecting plate of each frame body is connected to the right end connecting plate of the adjacent frame body on the left side, and multiple frame body paving plates are evenly spaced and paved on each frame body.

[0007] Further, an adjustment base composed of a plurality of floor adjustment bolts and a plurality of floor plates is installed at the lower end of each of the frame bodies. The floor adjustment bolts and the floor plates correspond one by one. The floor plates are installed on the ground through chemical anchor bolts, and the frame bodies are kept in a horizontal state by adjusting the plurality of floor adjustment bolts.

[0008] Further, the driving mechanism includes a moving slide, a servo drive motor, a lubricating pump, a moving slide limit, and a motor mounting bracket. The moving slide is installed on six guide rail sliders. The motor mounting bracket, the lubricating pump, and the moving slide limit are all installed on the moving slide. The servo drive motor is installed on the motor mounting bracket. A planetary speed reducer is installed on the output shaft of the servo drive motor. The output shaft of the planetary speed reducer is connected to a servo drive helical gear through a flat key, and the servo drive helical gear is meshed and connected with a helical rack.

[0009] Further, the motor mounting bracket is connected with an auxiliary wheel mounting bracket through bolts. A helical auxiliary wheel is installed on the auxiliary wheel mounting bracket. The helical auxiliary wheel rotates together with the servo drive helical gear and meshes with the helical rack. The helical auxiliary wheel shares the movement gravity, movement pressure, and movement vibration of the moving slide, so that the servo drive helical gear maintains balance and stability during operation.

[0010] Further, the lubricating pump transports lubricating oil to the meshing part of the helical gear and rack to form a thin lubricating oil film, so as to reduce the dry friction between the servo drive helical gear, the helical auxiliary wheel, and the helical rack, and reduce wear and power consumption.

[0011] Further, the cable drag chain is installed on the side of the frame body. The cable drag chain is connected with the moving slide through a guide rail slider. A robot is installed on the moving slide. The cables of the servo drive motor and the cables and pipelines of the robot are all stored in the cable drag chain. The cable drag chain makes curling and stretching movements along with the movement of the moving slide.

[0012] Further, the limiting mechanism includes a left end limiting block, a left end limit switch, a right end limiting block, and a right end limit switch. The left end limiting block and the left end limit switch are installed on both sides of the left end of the frame body. The right end limiting block and the right end limit switch are installed on both sides of the right end of the frame body.

[0013] Further, the limit switch signals of the left end limit switch and the right end limit switch are connected to the robot system. When the signals of the left end limit switch and the right end limit switch are triggered, the robot system alarms, and the robot and the servo drive motor stop operating. The left end limiting block and the right end limiting block are used for the safe movement limit positions of the moving slide activity range to ensure that the running track of the moving slide will not overshoot due to inertia and deviate from the track.

[0014] Furthermore, each of the frame bodies is welded into a "目"-shaped frame structure by a plurality of symmetrically distributed rectangular thick-walled steel pipes.

[0015] The beneficial effects of the utility model compared with the prior art are:

[0016] (1) The utility model achieves the goal of fastening the multiple modular floor rail structures into one by seamlessly splicing and freely adjusting their height, thereby effectively solving the limitation of the flatness of the ground on the installation site on the movable floor rail and greatly improving the safety and reliability of the load during operation.

[0017] (2) The mobile slide of the utility model can be used to install, for example, a handling robot, a welding robot, and a painting robot, so that the robot can move freely on the mobile ground rail device, effectively expanding the robot's rotation operating radius and extending the robot's application range; it has the characteristics of simple structure, stable performance, and satisfactory processing accuracy; at the same time, it improves production efficiency, reduces manufacturing costs, ensures the positioning accuracy of the robot's reciprocating motion, ensures the robot's production and processing stability, improves the processing yield rate, and has strong practicality.

[0018] (3) The utility model adopts multiple adjustment bases to flexibly adjust the height of the mobile floor rail device, so that the mobile floor rail device always maintains a horizontal state, ensuring that the seamlessly spliced linear guide rails and twill racks are connected smoothly without gaps, further improving the safety and reliability of the multi-purpose spliced mobile floor rail device when working under load.

[0019] (4) The utility model adopts a coaxial installation method of a linear guide and a twill rack; adopts a plurality of twill transmission gear rack meshing structures to improve the transmission load-bearing capacity; reasonably shares the movement gravity, movement pressure and movement vibration force of the mobile slide and the robot, so that the robot can maintain balance and stability during operation; at the same time, it ensures that the guide slider always remains on the guide track of the linear guide, which can reduce the impact force of the lateral force of the movement of the mobile slide on the linear guide and the guide slider, reduce wear, and avoid deviation and jitter of the mobile slide and the robot installed on the mobile slide during operation.

[0020] (5) The utility model adopts an automatic lubrication pump to deliver lubricating oil to the meshing position of the helical gear rack, thereby reducing wear and power consumption, reducing failures of the mobile ground rail device, and extending the service life of the mobile ground rail device.

[0021] (6) The utility model adopts the method of installing limit blocks and limit switches at both ends of the movable ground rail device. The limit switch signals at both ends of the movable ground rail device are connected to the robot system. When the limit switch signal is triggered, the robot system alarms, and the robot and the servo drive motor immediately stop operating; the limit blocks at both ends of the movable ground rail device are used as the safety movement limit positions of the movable slide's moving range, ensuring that the running track of the movable slide will not overshoot due to inertia and deviate from the track, improving the safety performance of the equipment. Description of the Drawings

[0022] Figure 1 It is the general assembly drawing of a multi-purpose spliceable movable ground rail device of the utility model.

[0023] Figure 2 It is the structural drawing of a multi-purpose spliceable movable ground rail device of the utility model.

[0024] Figure 3 It is the partial structure of a multi-purpose spliceable movable ground rail device of the utility model Figure 1 .

[0025] Figure 4 It is the partial structure of a multi-purpose spliceable movable ground rail device of the utility model Figure 2 .

[0026] Figure 5 It is the splicing schematic diagram of the modular ground rail frame of a multi-purpose spliceable movable ground rail device of the utility model.

[0027] Figure 6 It is the structural drawing of the modular ground rail frame of a multi-purpose spliceable movable ground rail device of the utility model.

[0028] Figure 7 It is the partial structure of a multi-purpose spliceable movable ground rail device of the utility model Figure 3 .

[0029] Figure 8 It is the partial structural drawing of the driving mechanism of a multi-purpose spliceable movable ground rail device of the utility model.

[0030] Reference Numerals in the Drawings: 1 - Frame body; 2 - Anchor adjustment bolt; 3 - Anchor plate; 4 - Cable drag chain; 5 - Lower linear guide rail; 6 - Upper linear guide rail; 7 - Frame body floor; 8 - Movable slide; 9 - Servo drive motor; 10 - Lubrication pump; 11 - Guide rail slider; 12 - Left end limit block; 13 - Left end limit switch; 14 - Right end limit block; 15 - Right end limit switch; 16 - Movable slide limit; 17 - Helical rack; 18 - Auxiliary wheel mounting bracket; 19 - Motor mounting bracket; 20 - Rectangular thick-walled steel pipe; 21 - Left end connecting plate; 22 - Right end connecting plate; 23 - Planetary reducer; 24 - Servo drive helical gear; 25 - Helical auxiliary wheel; 26 - Robot. Detailed implementation mode

[0031] The following describes the present utility model in further detail with reference to specific embodiments. The schematic embodiments and descriptions of this utility model are used to explain the present utility model, but do not limit the present utility model.

[0032] Embodiment: As Figures 1-8 shown, a multi-purpose splicable mobile ground rail device includes a modular ground rail structure, a driving mechanism, a limiting mechanism, and a guide rail slider 11. There are multiple modular ground rail structures, and the multiple modular ground rail structures can be spliced. There are six guide rail sliders 11, and all six guide rail sliders 11 are installed on the modular ground rail structure. The driving mechanism is installed on the guide rail slider 11, and the limiting mechanism is installed on the modular ground rail structure to limit the moving position of the driving mechanism. A cable drag chain 4 is installed on the side of the modular ground rail structure; the modular ground rail structure includes a frame body 1. The left and right sides of the frame body 1 adopt a symmetric mirror image method. A left end connecting plate 21 is installed on the left side of the frame body 1, and a right end connecting plate 22 is installed on the right side of the frame body 1. An upper linear guide rail 6 is installed on the upper side of the frame body 1, and a lower linear guide rail 5 and a helical rack 17 are installed on the lower side of the frame body 1. The helical rack 17 is installed in the same direction as the lower linear guide rail 5; among the six guide rail sliders 11, three are installed on the upper linear guide rail 6, and the other three are installed on the lower linear guide rail 5.

[0033] The right end connecting plate 22 of each frame body 1 is connected to the left end connecting plate 21 of the adjacent frame body 1, and the left end connecting plate 21 of each frame body 1 is connected to the right end connecting plate 22 of the adjacent frame body 1 on the left. Multiple frame body floor plates 7 are evenly spaced and paved on each frame body 1 to increase the structural stability and mechanical aesthetic effect.

[0034] In this way, the length of the spliced mobile ground rail can meet the requirements for the length of the mobile ground rail at different installation sites; multiple adjustment bases can flexibly adjust the height of the mobile ground rail device, always keeping the mobile ground rail device in a horizontal state, ensuring smooth connection without gaps between the lower linear guide rail 5, the upper linear guide rail 6, and the helical rack 17 after seamless splicing; effectively solving the limitation of the flatness of the installation site ground on the mobile ground rail device, and greatly improving the safety and reliability of the multi-purpose splicable mobile ground rail device during load operation.

[0035] Each frame body 1 is welded into a "mesh" - shaped frame structure by multiple symmetrically distributed rectangular thick - wall steel pipes 20; an adjustment base composed of multiple anchor adjustment bolts 2 and multiple anchor plates 3 is installed at the lower end of each frame body 1. The anchor adjustment bolts 2 and the anchor plates 3 correspond one - to - one. The anchor plates 3 are installed on the ground through chemical anchor bolts, and the frame body 1 is kept in a horizontal state by adjusting multiple anchor adjustment bolts 2, which is used to strengthen the bi - directional or multi - directional lateral force resistance of the frame body 1.

[0036] The driving mechanism includes a moving slide table 8, a servo drive motor 9, a lubricating pump 10, a moving slide table limit 16 and a motor mounting bracket 19. The moving slide table 8 is mounted on six guide rail sliders 11. The motor mounting bracket 19, the lubricating pump 10 and the moving slide table limit 16 are all mounted on the moving slide table 8. The servo drive motor 9 is mounted on the motor mounting bracket 19. A planetary reducer 23 is mounted on the output shaft of the servo drive motor 9. The output shaft of the planetary reducer 23 is connected to a servo drive helical tooth 24 by a flat key. The servo drive helical tooth 24 is meshed and connected with a helical rack 17.

[0037] The motor mounting bracket 19 is bolted to an auxiliary wheel mounting bracket 18. A helical auxiliary wheel 25 is mounted on the auxiliary wheel mounting bracket 18. The helical auxiliary wheel 25 rotates together with the servo drive helical tooth 24 and meshes with the helical rack 17.

[0038] Since the helical auxiliary wheel 25 rotates passively following the servo drive helical tooth 24 and meshes with the helical rack 17, the helical auxiliary wheel 25 can share the moving gravity, moving pressure and moving vibration of the moving slide table 8, so that the servo drive helical tooth 24 remains balanced and stable during operation. At the same time, it can ensure that the guide rail sliders 11 mounted under the moving slide table 8 always remain on the guiding tracks of the lower linear guide 5 and the upper linear guide 6, and can reduce the impact force of the moving side force of the moving slide table 8 on the lower linear guide 5, the upper linear guide 6 and the guide rail sliders 11, thereby causing wear and damage to the lower linear guide 5, the upper linear guide 6 and the guide rail sliders 11. It avoids the situation of deviation and jitter of the moving slide table 8 and the robot 26 mounted on the moving slide table 8 during operation.

[0039] Both the helical auxiliary wheel 25 and the servo drive helical tooth 24 are helical cylindrical gears. The helical cylindrical gear can use the method of reducing the center distance to improve the load-bearing capacity of the transmission. The helix angle of the helical gear refers to the helix angle on the pitch cylinder surface. The helix angle is a unique feature of helical gears and does not exist in spur gears, i.e., straight-tooth gears. The larger the helix angle, the larger the contact ratio, which is more beneficial to smooth movement and noise reduction. The transmission efficiency of the helical cylindrical gear is very high and can be used in high-speed operation states.

[0040] The transmission of the helical auxiliary wheel 25 meshing with the servo drive helical tooth 24 and the helical rack 17 is a novel transmission device. The helical rack 17 is small in volume, light in weight and has good economy, and has a higher transmission efficiency than that of spur cylindrical gears.

[0041] The lubricating pump 10 delivers lubricating oil to the meshing part of the helical gear and rack, forming a thin lubricating oil film to reduce the dry friction between the servo-driven helical gear 24, the helical auxiliary wheel 25 and the helical rack 17, and reduce wear and power consumption; even when the servo-driven helical gear 24 and the helical auxiliary wheel 25 stop moving, there is still an oil film attached to the surface of the servo-driven helical gear 24 and the helical auxiliary wheel 25 to achieve a protective effect; when starting frequently, the protection of the oil film can extend the service life of the servo-driven helical gear 24, the helical auxiliary wheel 25 and the helical rack 17 and reduce the maintenance cost; this automatic maintenance work is more convenient than the previous manual lubrication method; the use of the lubricating pump 10 can reduce the faults of the moving track device and extend the service life of the moving track device.

[0042] The cable drag chain 4 is installed on the side of the frame body 1. The cable drag chain 4 is connected to the moving slide 8 through the guide rail slider 11. A robot 26 is installed on the moving slide 8. The cables of the servo drive motor 9, the cables and pipelines of the robot 26 are all stored in the cable drag chain 4. The cable drag chain 4 curls and unfolds with the movement of the moving slide 8 to prevent excessive wear of the cables and pipelines and extend the service life of the cables and pipelines.

[0043] Robots such as handling robots, welding robots, and painting robots can be installed on the moving slide 8, enabling the robot to move freely on the multi-purpose spliceable moving track device laid on the ground, effectively expanding the rotation operation radius of the robot and expanding the scope of use of the robot. It has the characteristics of simple structure, stable performance, and meeting the processing accuracy; at the same time, it improves production efficiency, reduces manufacturing costs, ensures the positioning accuracy of the robot's reciprocating movement, ensures the stability of the robot's production and processing, improves the processing yield, and has strong practicability.

[0044] The limiting mechanism includes a left end limiting block 12, a left end limit switch 13, a right end limiting block 14, and a right end limit switch 15. The left end limiting block 12 and the left end limit switch 13 are installed on both sides of the left end of the frame body 1, and the right end limiting block 14 and the right end limit switch 15 are installed on both sides of the right end of the frame body 1.

[0045] The limit switch signals of the left end limit switch 13 and the right end limit switch 15 are connected to the robot system. When the signals of the left end limit switch 13 and the right end limit switch 15 are triggered, the robot system alarms, and the robot 26 and the servo drive motor 9 stop operating. The left end limiting block 12 and the right end limiting block 14 are used for the safety movement limit positions of the moving range of the moving slide 8 to ensure that the running track of the moving slide 8 will not overshoot due to inertia and deviate from the track.

[0046] For the above-mentioned technical solutions, there are alternative solutions. For example, using other forms of rectangular steel pipe frame structures to replace the frame body 1; using other forms of anchor bolts and anchor support plates to replace the anchor adjustment bolts 2 and the anchor plates 3; using other forms of cable carriers to replace the cable carrier 4; using other forms of slide rail sliders to replace the lower linear guide rail 5, the upper linear guide rail 6, and the guide rail slider 11; using other forms of motors to replace the servo drive motor 9; using other forms of lubrication devices to replace the lubrication pump 10; using other forms of gear structures to replace the servo drive helical teeth 24 and the helical auxiliary wheel 25; using other forms of rack structures to replace the helical rack 17, etc. are all within the protection scope of the present utility model.

Claims

1. A multi-purpose spliceable mobile ground rail device, characterized in that, It includes a modular ground rail structure, a driving mechanism, a limiting mechanism, and guide rail sliders (11). There are multiple modular ground rail structures, and the multiple modular ground rail structures can be spliced. There are six guide rail sliders (11), and all six guide rail sliders (11) are installed on the modular ground rail structure. The driving mechanism is installed on the guide rail sliders (11), and the limiting mechanism is installed on the modular ground rail structure to limit the moving position of the driving mechanism. A cable drag chain (4) is installed on the side of the modular ground rail structure; the modular ground rail structure includes a frame body (1). A left end connecting plate (21) is installed on the left side of the frame body (1), a right end connecting plate (22) is installed on the right side of the frame body (1), an upper linear guide rail (6) is installed on the upper side of the frame body (1), a lower linear guide rail (5) and a helical rack (17) are installed on the lower side of the frame body (1), and the helical rack (17) is installed in the same direction as the lower linear guide rail (5); six guide rail sliders (11), three are installed on the upper linear guide rail (6), and the other three are installed on the lower linear guide rail (5).

2. The multi-purpose spliceable mobile ground rail device according to claim 1, characterized in that, The right end connecting plate (22) of each frame body (1) is connected to the left end connecting plate (21) of the adjacent frame body (1), and the left end connecting plate (21) of each frame body (1) is connected to the right end connecting plate (22) of the adjacent frame body (1) on the left. Multiple frame body laying plates (7) are evenly spaced and laid on each frame body (1).

3. The multi-purpose spliceable mobile floor track device according to claim 2, characterized in that, An adjustment base composed of multiple anchor adjustment bolts (2) and multiple anchor plates (3) is installed at the lower end of each frame body (1). The anchor adjustment bolts (2) and the anchor plates (3) correspond one by one. The anchor plates (3) are installed on the ground through chemical anchor bolts, and the frame body (1) is kept in a horizontal state by adjusting multiple anchor adjustment bolts (2).

4. A multi-purpose spliceable mobile ground rail device according to claim 3, characterized in that, The driving mechanism includes a moving slide (8), a servo drive motor (9), a lubricating pump (10), a moving slide limit (16), and a motor mounting bracket (19). The moving slide (8) is installed on six guide rail sliders (11). The motor mounting bracket (19), the lubricating pump (10), and the moving slide limit (16) are all installed on the moving slide (8). The servo drive motor (9) is installed on the motor mounting bracket (19). A planetary reducer (23) is installed on the output shaft of the servo drive motor (9). The output shaft of the planetary reducer (23) is connected to a servo drive helical gear (24) through a flat key, and the servo drive helical gear (24) is meshed and connected to the helical rack (17).

5. The multi-purpose spliceable mobile ground rail device according to claim 4, characterized in that, The motor mounting bracket (19) is bolt-connected to an auxiliary wheel mounting bracket (18). A helical auxiliary wheel (25) is installed on the auxiliary wheel mounting bracket (18). The helical auxiliary wheel (25) rotates together with the servo drive helical gear (24) and meshes with the helical rack (17). The helical auxiliary wheel (25) shares the moving gravity, moving pressure, and moving vibration of the moving slide (8) to keep the servo drive helical gear (24) balanced and stable during operation.

6. A multi-purpose spliceable mobile ground rail device as claimed in claim 5, characterized in that, The lubricating pump (10) delivers lubricating oil to the meshing part of the helical gear and rack, forming a thin lubricating oil film to reduce the dry friction between the servo-driven helical teeth (24), helical auxiliary wheels (25) and helical rack (17), and reduce wear and power consumption.

7. The multi-purpose spliceable mobile floor track device according to claim 6, wherein, The cable drag chain (4) is installed on the side of the frame body (1). The cable drag chain (4) is connected to the moving slide (8) through a guide rail slider (11). A robot (26) is installed on the moving slide (8). The cables of the servo drive motor (9) and the cables and pipelines of the robot (26) are all stored in the cable drag chain (4). The cable drag chain (4) makes curling and stretching movements along with the movement of the moving slide (8).

8. A multi-purpose spliceable mobile ground rail device according to claim 7, characterized in that, The limit mechanism includes a left end limit block (12), a left end limit switch (13), a right end limit block (14) and a right end limit switch (15). The left end limit block (12) and the left end limit switch (13) are installed on both sides of the left end of the frame body (1), and the right end limit block (14) and the right end limit switch (15) are installed on both sides of the right end of the frame body (1).

9. A multi-purpose spliceable mobile ground rail device according to claim 8, characterized in that, The limit switch signals of the left end limit switch (13) and the right end limit switch (15) are connected to the robot system. When the signals of the left end limit switch (13) and the right end limit switch (15) are triggered, the robot system alarms, and the robot (26) and the servo drive motor (9) stop operating. The left end limit block (12) and the right end limit block (14) are used for the safety movement limit positions of the moving range of the moving slide (8) to ensure that the running track of the moving slide (8) will not overshoot due to inertia and deviate from the track.

10. A multi-purpose spliceable mobile ground rail device as described in claim 9, characterized in that, Each frame body (1) is welded into an "eye"-shaped frame structure by multiple symmetrically distributed rectangular thick-walled steel pipes (20).

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