Movement mechanism, welding robot and gantry flip-chip welding robot

Abstract

The utility model relates to the technical field of welding robots, and discloses a movement mechanism, a welding robot and a gantry flip-chip welding robot. Comprising a rack, a transmission assembly and a moving mechanism. The rack is fixed to the portal frame, and straight teeth on the two sides are formed on the rack. The transmission assembly is meshed with straight teeth on the two sides of the rack. The moving mechanism is connected with the transmission assembly, and the moving mechanism can rotate relative to the rack through the transmission assembly so as to drive the moving mechanism to move relative to the portal frame. By arranging the racks on the two sides and matching the transmission assembly with the racks on the two sides, the two sides of the transmission assembly are synchronously matched with the racks to drive the moving mechanism to move relative to the cross beam, so that the movement stability of the movement mechanism is improved, the eccentric wear condition between a gear and the racks is reduced, and the service life of the transmission assembly is prolonged; the situation that the machining precision of the inverted robot is affected by abrasion of the gear and the rack can be reduced.

Description

Technical Field

[0001] This utility model relates to the field of welding robot technology, and in particular to a motion mechanism, a welding robot, and a gantry inverted welding robot. Background Technology

[0002] A gantry welding robot is a highly efficient, high-precision, and highly stable welding device. It employs a gantry frame structure, providing a large working space and strong rigidity. It typically consists of the robot body, control cabinet, welding power supply, welding torch, and track, enabling various automated welding operations such as linear welding, circular arc welding, and oscillating welding.

[0003] CN217618611U discloses a gantry welding system, including a gantry frame, a lateral movement mechanism, a welding robot, and a controller. The gantry frame is mounted on the ground. The lateral movement mechanism includes a drive motor, a reducer, a drive wheel, a moving base, a moving crossbeam, and a rack. The moving base is mounted on two guide rails on the crossbeam of the gantry frame. The rack is mounted on the crossbeam and located between the two guide rails. The reducer is mounted on the moving base. The drive wheel is located at the power output end of the reducer and meshes with the rack. The drive motor drives the reducer to rotate, thus moving the moving base on the guide rails. The welding robot reciprocates, with one end of the moving crossbeam fixedly connected to the moving base. The welding robot includes an automated robotic arm, a welding machine, a wire feeding mechanism, a welding torch, and a welding wire spool. The welding machine is located at the upper rear end of the moving crossbeam and above the moving base. A support seat for placing the welding wire spool is provided on one side of the moving base. The fixed end of the automated robotic arm is fixedly located at the lower front end of the moving crossbeam. The wire feeding mechanism is located on the automated robotic arm. The welding torch is located on the free side of the automated robotic arm. The controller is used to control the operation of the drive motor, the wire feeding mechanism, and the automated robotic arm.

[0004] In existing technologies, the crossbeam of a gantry welding robot is engaged by gears and racks. However, since only one-sided racks are used, and the robot is mounted upside down on the crossbeam, uneven wear between the gears and racks is likely to occur. Long-term one-sided engagement can easily lead to wear on the gears and racks. The worn racks and gears can cause jamming during lateral movement, ultimately affecting the welding accuracy. Utility Model Content

[0005] Long-term production practice has revealed that the crossbeam of a gantry welding robot uses a gear and rack mechanism. However, because only a single-sided rack is used, and the robot is mounted upside down on the crossbeam, uneven wear between the gear and rack is likely to occur. Prolonged single-sided engagement can lead to wear on both the gear and rack, causing jamming during lateral movement and ultimately affecting welding accuracy. Furthermore, the stability of single-sided engagement is poor. This application addresses the key technical problem facing the industry: how to solve the stability of the crossbeam on the gantry.

[0006] In view of this, the present invention aims to provide a motion mechanism, including: a rack, a transmission assembly, and a moving mechanism; the rack is fixed to a gantry frame, and the rack has straight teeth on both sides; the transmission assembly meshes with the straight teeth on both sides of the rack; the moving mechanism is connected to the transmission assembly, and the moving mechanism can rotate relative to the rack through the transmission assembly to drive the moving mechanism to move relative to the gantry frame.

[0007] In one embodiment, the transmission assembly includes two gear assemblies, which abut against the two straight teeth on both sides of the rack; the moving mechanism includes a moving platform and a driving member, the moving platform being slidably connected to the gantry frame; the driving member is fixed to the moving platform, and the driving member is used to drive the two gear assemblies to rotate synchronously in opposite directions, so as to drive the moving platform to move relative to the gantry frame.

[0008] In one embodiment, one of the gear assemblies includes a first gear and a second gear, the first gear being coaxially connected to the second gear, and the second gear meshing with one side of a rack; another gear assembly includes a third gear and a fourth gear, the third gear being coaxially arranged to the fourth gear, and the fourth gear meshing with the other side of a rack; the first gear meshes with the third gear, and either the first gear or the third gear is connected to the drive member.

[0009] In one embodiment, the diameter of the first gear is greater than the diameter of the second gear; the diameter of the third gear is greater than the diameter of the fourth gear; the diameter of the first gear is equal to the diameter of the second gear; and the diameter of the third gear is equal to the diameter of the fourth gear.

[0010] In one embodiment, the mobile platform is also rotatably connected to an auxiliary gear, which includes at least two gears, each of which meshes with both sides of the rack.

[0011] In one embodiment, the mobile platform is provided with a mounting plate; the mounting plate is used for connecting the drive component and the gear assembly; the mounting plate is detachably connected to the mobile platform.

[0012] In one embodiment, the mobile platform is further connected to two rollers on the side facing the gantry; the rollers are used to abut against the gantry.

[0013] In one embodiment, contact sensors are connected to both ends of the gantry; the moving mechanism is connected to a controller; the contact sensors are electrically connected to the controller, and the controller is electrically connected to the drive component; when the contact sensors detect that the moving platform has moved to the first or second end of the gantry, the controller can control the drive component to stop driving the transmission assembly.

[0014] In one embodiment, the welding robot includes the aforementioned motion mechanism.

[0015] In one embodiment, the gantry inverted welding robot includes the aforementioned motion mechanism.

[0016] This utility model discloses a motion mechanism, a welding robot, and a gantry inverted welding robot; it includes a rack, a transmission assembly, and a moving mechanism; the rack is fixed to the gantry frame and has straight teeth on both sides; the transmission assembly meshes with the straight teeth on both sides of the rack; the moving mechanism is connected to the transmission assembly, and can rotate relative to the rack through the transmission assembly to drive the moving mechanism to move relative to the gantry frame; this application improves the stability of the motion mechanism by setting a rack on both sides and cooperating with the rack on both sides through the transmission assembly, and driving the transmission assembly through the moving mechanism, so that the two sides of the transmission assembly simultaneously engage with the rack to drive the moving mechanism to move relative to the crossbeam, thereby improving the stability of the motion mechanism, reducing the uneven wear between the gears and racks, and increasing the service life of the transmission assembly; it can also reduce the occurrence of the machining accuracy of the inverted robot being affected by the wear of the gears and racks.

[0017] Other features and advantages of this invention will be described in detail in the following detailed description section. Attached Figure Description

[0018] The accompanying drawings, which form part of this utility model, are used to provide a further understanding of the utility model. The illustrative embodiments of the utility model and their descriptions are used to explain the utility model and do not constitute an undue limitation of the utility model. In the drawings:

[0019] Figure 1 This is a schematic diagram of a gantry frame for a motion mechanism according to one embodiment of the present invention;

[0020] Figure 2 This is a schematic diagram of the motion mechanism according to one embodiment of the present invention;

[0021] Figure 3 This is a schematic diagram of the gear assembly of the motion mechanism according to one embodiment of the present invention;

[0022] Figure 4 This is a schematic diagram of the moving platform of the motion mechanism according to one embodiment of the present invention;

[0023] Figure 5 This is a schematic diagram of the rack of the motion mechanism according to one embodiment of the present invention.

[0024] Explanation of reference numerals in the attached figures:

[0025] 1. Rack; 2. Transmission assembly; 21. Gear assembly; 211. First gear; 212. Second gear; 213. Third gear; 214. Fourth gear; 215. Auxiliary gear; 3. Moving mechanism; 31. Moving platform; 32. Driving component; 311. Mounting plate; 312. Roller; 33. Slider; 4. Gantry frame; 41. Crossbeam. Detailed Implementation

[0026] The specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of this utility model.

[0027] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0028] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of the utility model described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices. "Fixed" or "fixed connection" generally refers to common mechanical connection methods, such as threaded connections, welding, or bonding.

[0029] Long-term production practice has revealed that the crossbeam 41 of the gantry welding robot engages with the rack 1 via gears. However, because only one side of the rack 1 is used, and the robot is mounted upside down on the crossbeam 41, uneven wear between the gears and rack 1 is likely to occur. Prolonged one-sided engagement can lead to wear on both the gears and rack 1, causing jamming during lateral movement and ultimately affecting welding accuracy. Furthermore, the stability of the one-sided engagement is poor. This application addresses the key technical problem facing the industry: how to solve the stability of the crossbeam 41 on the gantry 4.

[0030] Figure 1 This is a schematic diagram of the gantry frame 4 of the motion mechanism according to one embodiment of the present invention; Figure 2 This is a schematic diagram of the motion mechanism according to one embodiment of the present invention; please refer to it. Figure 1 and Figure 2 ;

[0031] In view of this, the present invention aims to provide a motion mechanism, comprising: a rack 1, a transmission assembly 2, and a moving mechanism 3; the rack 1 is fixed to the gantry frame 4, and the rack 1 has straight teeth on both sides; the transmission assembly 2 meshes with the straight teeth on both sides of the rack 1; the moving mechanism 3 is connected to the transmission assembly 2, and the moving mechanism 3 can rotate relative to the rack 1 through the transmission assembly 2, thereby driving the moving mechanism 3 to move relative to the gantry frame 4.

[0032] This utility model discloses a motion mechanism, a welding robot, and a gantry inverted welding robot. This application utilizes a double-sided rack 1, with a transmission component 2 cooperating with the rack 1. The moving mechanism 3 drives the transmission component 2, causing both sides of the transmission component 2 to synchronously engage with the rack 1, thereby driving the movement of the moving mechanism 3 relative to the crossbeam 41. This improves the stability of the motion mechanism, reduces uneven wear between the gears and rack 1, and extends the service life of the transmission component 2. It also reduces the impact of wear on the gears and rack 1 on the machining accuracy of the inverted welding robot.

[0033] In this embodiment of the invention, a motion mechanism is provided for use in a gantry inverted welding robot, comprising: a rack 1, a transmission assembly 2, and a moving mechanism 3; wherein, the rack 1 is fixed to the gantry frame 4 and is used to drive and guide the motion mechanism. The rack 1 is located in the middle of the upper end of the gantry frame 4. The motion mechanism is used to connect to the crossbeam 41 of the gantry welding robot, and the welding robot is connected to the crossbeam 41. The movement of the motion mechanism relative to the gantry frame 4 drives the movement of the crossbeam 41 relative to the gantry frame 4. The rack 1 is a double-sided rack 1, that is, the rack 1 has straight teeth on both sides; the transmission assembly 2 includes at least gears, which mesh with the straight teeth on both sides of the rack 1; the moving mechanism 3 is connected to the transmission assembly 2, and the moving mechanism 3 can rotate relative to the rack 1 through the transmission assembly 2, thereby driving the moving mechanism 3 to move relative to the gantry frame 4. The drive member 32 in the moving mechanism 3 drives the gears on both sides to rotate in the same direction at the same speed, thereby driving the moving mechanism 3 to move relative to the gantry frame 4. By using a dual-sided design, the stability of the motion mechanism can be improved, and the uneven wear between the gear and rack 1 can be reduced.

[0034] Figure 3 This is a schematic diagram of the gear assembly 21 of the motion mechanism according to one embodiment of the present invention. Figure 4 This is a schematic diagram of the moving platform 31 of the motion mechanism according to one embodiment of the present utility model. Figure 5 This is a schematic diagram of the rack 1 of the motion mechanism according to one embodiment of the present invention. Please refer to it. Figure 3 , Figure 4 and Figure 5 ;

[0035] In one embodiment, the transmission assembly 2 includes two gear assemblies 21, which abut against the two straight teeth on both sides of the rack 1 respectively; the moving mechanism 3 includes a moving platform 31 and a driving member 32, the moving platform 31 being slidably connected to the gantry frame 4; the driving member 32 is fixed to the moving platform 31, and the driving member 32 is used to drive the two gear assemblies 21 to rotate synchronously in opposite directions, so as to drive the moving platform 31 to move relative to the gantry frame 4.

[0036] In this embodiment of the invention, the transmission assembly 2 includes at least two gear assemblies 21 respectively disposed on both sides of the rack 1 to engage with both sides of the rack 1. The moving mechanism 3 includes a moving platform 31 and a driving component 32. The moving platform 31 is the part of the moving mechanism that abuts against the main body of the gantry frame 4; specifically, the moving platform 31 abuts against the track of the gantry frame 4. Therefore, the moving platform 31 is slidably connected to the gantry frame 4; specifically, it is slidably connected to the gantry frame 4 via a slider 33. The driving component 32 can be a drive motor, which is fixed to the moving platform 31. The driving component 32 drives the two gear assemblies 21 to rotate synchronously in opposite directions, thereby causing the moving platform 31 to move relative to the gantry frame 4. This improves the stability of the moving mechanism's movement.

[0037] The mobile platform 31 is equipped with a mounting plate 311; the mounting plate 311 is used to connect the drive component 32 and the gear assembly 21; the mounting plate 311 is detachably connected to the mobile platform 31. When maintenance is required, the transmission assembly 2 below the mounting plate 311 can be repaired by removing the mounting plate 311.

[0038] In one embodiment, one of the gear assemblies 21 includes a first gear 211 and a second gear 212, the first gear 211 and the second gear 212 being coaxially connected, and the second gear 212 meshing with one side of the rack 1; the other gear assembly 21 includes a third gear 213 and a fourth gear 214, the third gear 213 and the fourth gear 214 being coaxially arranged, and the fourth gear 214 meshing with the other side of the rack 1; the first gear 211 meshes with the third gear 213, and the first gear 211 or the third gear 213 is connected to the drive member 32.

[0039] In this embodiment of the present invention, one set of gear assemblies 21 includes a first gear 211 and a second gear 212, and the other set of gear assemblies 21 includes a third gear 213 and a fourth gear 214. The first gear 211 and the second gear 212 are coaxially connected so that they can rotate synchronously. The second gear 212 meshes with one side of the rack 1. The other gear assembly 21 includes a third gear 213 and a fourth gear 214. The third gear 213 and the fourth gear 214 are coaxially arranged so that they can rotate synchronously. The fourth gear 214 meshes with the other side of the rack 1. By meshing the first gear 211 with the third gear 213, the first gear 211 or the third gear 213 is connected to the driving member 32. The driving member 32 can control the first gear 211 or the third gear 213 to control the two gear assemblies 21, and they can simultaneously move at the same speed with both sides of the rack 1. In this configuration, the diameter of the first gear 211 is larger than the diameter of the second gear 212; the diameter of the third gear 213 is larger than the diameter of the fourth gear 214; the diameter of the first gear 211 is equal to the diameter of the second gear 212; and the diameter of the third gear 213 is equal to the diameter of the fourth gear 214. When the first gear 211 and the third gear 213 are engaged, the second gear 212 and the fourth gear 214 mesh precisely with both sides of the rack 1. This improves the stability of the motion mechanism.

[0040] Furthermore, to improve the stability of the motion mechanism, the moving platform 31 is also rotatably connected to auxiliary gears 215. At least two auxiliary gears 215 are included, and each meshes with one side of the rack 1. The two auxiliary gears 215 do not contact the gear assembly 21. During the overall movement of the motion mechanism, the auxiliary gears 215 perform corresponding actions, thereby assisting the engagement between the gear assembly 21 and the rack 1, reducing the stress on the gear assembly 21. This extends the service life of the gear assembly 21 and reduces the occurrence of gear wear.

[0041] Furthermore, the mobile platform 31 is also connected to two rollers 312 on the side facing the gantry 4. The rollers 312 are used to abut against the gantry 4. The rollers 312 assist the movement of the motion mechanism, playing an auxiliary role in the movement of the motion mechanism and reducing the force on the gear assembly 21. This improves the service life of the gear assembly 21 and reduces the occurrence of gear wear.

[0042] In one embodiment, contact sensors are connected to both ends of the gantry 4; the moving mechanism 3 is connected to a controller; the contact sensors are electrically connected to the controller, and the controller is electrically connected to the drive component 32; when the contact sensors detect that the moving platform 31 has moved to the first or second end of the gantry 4, the controller can control the drive component 32 to stop driving the transmission assembly 2.

[0043] In this embodiment of the utility model, when the touch sensor detects that the moving mechanism 3 touches the end point of the gantry 4, the controller can control the drive mechanism to stop driving, thereby accurately stopping the gantry 4 and avoiding damage to the gear assembly 21 caused by the drive component 32 continuing to drive the gear assembly 21 when the moving mechanism reaches the limit.

[0044] In one embodiment, the welding robot includes the aforementioned motion mechanism.

[0045] In one embodiment, the gantry inverted welding robot includes the aforementioned motion mechanism.

[0046] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that the present invention is not limited to the described order of actions, because according to the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to the present invention.

[0047] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0048] In the several embodiments provided by this utility model, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some interfaces; indirect couplings or communication connections between devices or units may be electrical or other forms.

[0049] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0050] Furthermore, in the various embodiments of this utility model, the functional units can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0051] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this utility model, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, mobile terminal, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this utility model.

[0052] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A motion mechanism, characterized in that, include: Rack (1), transmission assembly (2), and moving mechanism (3); The rack (1) is fixed to the gantry frame (4), and the rack (1) has straight teeth on both sides; The transmission assembly (2) meshes with the straight teeth on both sides of the rack (1); The moving mechanism (3) is connected to the transmission assembly (2). The moving mechanism (3) can rotate relative to the rack (1) through the transmission assembly (2) to drive the moving mechanism (3) to move relative to the gantry (4).

2. The motion mechanism according to claim 1, characterized in that, The transmission assembly (2) includes two gear assemblies (21), which respectively abut against the straight teeth on both sides of the rack (1); The moving mechanism (3) includes a moving platform (31) and a driving component (32), wherein the moving platform (31) is slidably connected to the gantry (4); The drive unit (32) is fixed to the mobile platform (31). The drive unit (32) is used to drive the two gear assemblies (21) to rotate synchronously in opposite directions, so as to drive the mobile platform (31) to move relative to the gantry (4).

3. The motion mechanism according to claim 2, characterized in that, One of the gear assemblies (21) includes a first gear (211) and a second gear (212), the first gear (211) and the second gear (212) being coaxially connected, and the second gear (212) meshing with one side of the rack (1); Another gear assembly (21) includes a third gear (213) and a fourth gear (214), the third gear (213) and the fourth gear (214) being coaxially arranged, the fourth gear (214) meshing with the other side of the rack (1); The first gear (211) meshes with the third gear (213), and the first gear (211) or the third gear (213) is connected to the drive member (32).

4. The motion mechanism according to claim 3, characterized in that, The diameter of the first gear (211) is greater than the diameter of the second gear (212); the diameter of the third gear (213) is greater than the diameter of the fourth gear (214); the diameter of the first gear (211) is equal to the diameter of the second gear (212); and the diameter of the third gear (213) is equal to the diameter of the fourth gear (214).

5. The motion mechanism according to claim 2, characterized in that, The mobile platform (31) is also rotatably connected to an auxiliary gear (215), which includes at least two auxiliary gears (215) and respectively meshes with both sides of the rack (1).

6. The motion mechanism according to claim 2, characterized in that, The mobile platform (31) is provided with a mounting plate (311); the mounting plate (311) is used for connecting the drive component (32) and the gear assembly (21); The mounting plate (311) is detachably connected to the mobile platform (31).

7. The motion mechanism according to claim 6, characterized in that, The mobile platform (31) is also connected to two rollers (312) on the side facing the gantry (4); The roller (312) is used to abut against the gantry (4).

8. The motion mechanism according to claim 2, characterized in that, The gantry (4) is connected to contact sensors at both ends; the moving mechanism (3) is connected to a controller; The contact sensor is electrically connected to the controller, and the controller is electrically connected to the drive unit (32); When the contact sensor detects that the moving platform (31) has moved to the first or second end of the gantry (4), the controller can control the drive (32) to stop driving the transmission assembly (2).

9. A welding robot, characterized in that, The welding robot includes the motion mechanism described in any one of claims 1-8.

10. A gantry inverted welding robot, characterized in that, The gantry inverted welding robot includes the motion mechanism described in any one of claims 1-8.

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