Floating type driving mechanism

Abstract

The utility model provides a floating type driving mechanism which comprises a stand column and a movable frame, a horizontally-arranged rack is arranged at the upper end of the stand column, and teeth on the rack face horizontally. Gear motors are installed at the two ends of the movable frame, gears meshed with the racks are installed at the driving ends of the gear motors, and a horizontal floating device is installed on the movable frame; the gear motor is installed on the horizontal floating device so that the gear motor can automatically float in the horizontal direction and the direction perpendicular to the rack. Due to the fact that the gear motor can float in the horizontal direction, when the moving frame deviates left and right due to the gap between the wheels and the track, the gear motor and the gear can float along with the moving frame, the stable meshing state between the gear and the rack is kept, and disengagement or excessive meshing between the gear and the rack is avoided.

Description

Technical Field

[0001] This utility model relates to the field of gantry robot technology, specifically a floating drive mechanism. Background Technology

[0002] Gantry robots, as efficient and precise material handling and positioning devices, are widely used in various tasks on production lines. These robots typically consist of a basic frame formed by two symmetrically arranged columns, designed to achieve precise control and transfer of loads via a horizontally moving frame. To achieve smooth and controllable horizontal movement of the moving frame, existing gantry robots usually employ a specific drive structure: a rack is fixed to the upper end of the columns, with the teeth on the rack facing horizontally to cooperate with the drive mechanism on the moving frame.

[0003] The mobile frame is typically equipped with geared motors at both ends, and the drive ends of these geared motors are fitted with gears that mesh with a rack. Driven by the geared motors, the gears rotate and move along the rack, thereby causing the entire mobile frame to move horizontally between the columns.

[0004] However, in actual operation, due to the gap between the wheels and the track of the mobile frame, the frame may wobble or deviate during movement. This deviation can cause changes in the meshing relationship between the gears and racks, resulting in disengagement or over-meshing. Disengagement not only interrupts the movement of the mobile frame but may also cause impact damage to the gears and racks; over-meshing leads to excessively tight meshing between the gears and racks, resulting in excessive wear and mechanical stress, which can also damage these critical components. These problems not only reduce the operating efficiency and reliability of the gantry robot but also increase maintenance costs and shorten its service life. Utility Model Content

[0005] To address the technical problems in the background art, this utility model discloses a floating drive mechanism.

[0006] This utility model provides a floating drive mechanism, including a column and a movable frame. The upper end of the column is provided with a horizontally arranged rack with teeth on the rack facing horizontally. Both ends of the movable frame are equipped with a reduction motor, and the drive end of the motor is equipped with a gear that meshes with the rack. A horizontal floating device is installed on the movable frame.

[0007] The geared motor is mounted on a horizontal floating device, which allows the geared motor to float automatically in the horizontal and vertical directions of the rack.

[0008] The beneficial effects of the above configuration are: 1. Since the geared motor can float horizontally, when the moving frame shifts left or right due to the gap between the wheels and the track, the geared motor and gear can float accordingly, maintaining a stable meshing state with the rack and pinion, thus avoiding disengagement or over-meshing of the gear and rack; 2. The stable meshing state reduces the impact and wear between the gear and rack, thereby extending the service life of the robot; 3. The design of the horizontal floating device makes the entire drive mechanism more stable during movement, improving the overall stability and working efficiency of the gantry robot.

[0009] The specific structure of the horizontal floating device is as follows: it includes a guide rail that is fixedly connected to the moving frame and arranged horizontally; a slider is slidably connected on the guide rail; and a reduction motor is fixedly connected to the slider.

[0010] Gears and racks typically use helical teeth to improve movement accuracy. However, when the rack bends downwards, the gear and rack cannot engage accurately and are prone to disengagement. Therefore, a further improvement is to use straight teeth for both gears and racks.

[0011] The installation structure of the rack directly affects its cost and ease of installation. Therefore, a further improvement is made: a horizontal steel rail is installed at the top of the column, with the rack positioned in a groove on one side of the rail; the upper flange of the rail is adjacent to the geared motor. The advantages of this design are: 1. The rail is a standard profile, readily available and low-cost; 2. The flange and web of the rail form a groove for rack installation and positioning, improving installation speed and efficiency; 3. Compared to H-beams and I-beams, the rail has higher strength and a more stable structure, improving the stability of the rack installation structure; 4. The high structural strength and low deflection of the rail, along with the high flatness of the groove bottom formed by the flange and web, reduce rack bending.

[0012] To improve the stability of the moving frame, a further design feature is that the moving frame is equipped with rollers; the rollers are respectively connected to the opposite sides and the outer side of the upper flange.

[0013] The beneficial effects of this utility model are: 1. Since the geared motor can float in the horizontal direction, when the moving frame shifts left and right due to the gap between the wheels and the track, the geared motor and gear can float accordingly, maintaining a stable meshing state with the rack, thus avoiding disengagement or over-meshing of the gear and rack; 2. The stable meshing state reduces the impact and wear between the gear and rack, thereby extending the service life of the robot; 3. The design of the horizontal floating device makes the entire drive mechanism more stable during movement, improving the overall stability and working efficiency of the gantry robot. Attached Figure Description

[0014] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0015] Figure 1 This is a schematic diagram of the structure of this utility model;

[0016] Figure 2 This is a structural schematic diagram from another perspective of this utility model;

[0017] Figure 3 This is the right view of this utility model;

[0018] In the diagram: 1. Moving frame; 2. Rack; 3. Gear motor; 4. Gear; 5. Guide rail; 6. Slider; 7. Rail; 8. Roller; 71. Upper flange; 72. Lower flange; 73. Web. Detailed Implementation

[0019] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the present invention, and therefore only show the components relevant to the present invention.

[0020] like Figure 1 and Figure 2 As shown, this utility model discloses a floating drive mechanism, including columns and a movable frame 1. Two columns are symmetrically arranged, with their lower ends fixedly connected to the ground or base, and their upper ends equipped with horizontally arranged steel rails 7. The upper flange 71 and lower flange 72 of the steel rail 7 are horizontally arranged, and the web 73 is vertically arranged. A horizontally arranged rack 2 with its teeth facing horizontally and away from the movable frame 1 is installed in one of the grooves formed by the upper flange 71, lower flange 72, and web 73. The beneficial effects of this design are: 1. The rail 7 is a standard profile, which is easy to source and has low cost; 2. The flange and web 73 of the rail 7 form a groove for limiting the installation of the rack 2, thereby improving the installation speed and efficiency of the rack 2; 3. Compared with H-beams and I-beams, the rail 7 has higher strength and a more stable structure, which can improve the stability of the rack 2 installation structure; 4. The rail 7 has high structural strength and low deflection, and the groove bottom formed by the flange and web 73 has high flatness, which can reduce the bending degree of the rack 2.

[0021] The moving frame 1 is equipped with geared motors 3 at both ends. The geared motors 3 are a combination of servo motors and planetary gear reducers. A horizontal floating device is also installed on the moving frame 1. Specifically, the moving frame 1 has two horizontally arranged, symmetrically positioned guide rails 5 perpendicular to the rack, with sliders 6 slidably connected to the guide rails 5. The geared motors 3 are fixedly mounted on the moving plate, which is fixedly connected to the sliders 6, allowing the geared motors 3 to slide horizontally under the guidance of the guide rails and sliders 6. A gear 4 is installed at the drive end of the gear reducer, meshing with the rack 2. When the geared motor 3 starts, it drives the moving frame 1 to move horizontally. The narrower upper flange 71 is adjacent to the geared motor 3 to avoid obstructing the gear 4 from engaging with the rack 2.

[0022] The movable frame 1 is equipped with rollers 8, such as Figure 2 As shown, the rollers 8 are rolled to the opposite sides and the outer side of the upper flange 71 respectively, which is used to improve the movement stability of the moving frame 1.

[0023] The teeth of gear 4 and rack 2 are generally helical teeth to improve the accuracy of movement. However, when rack 2 bends downward, gear 4 and rack 2 will be misaligned, making it difficult to engage accurately and prone to disengagement. Therefore, the teeth of gear 4 and rack 2 are both set to straight teeth.

[0024] The advantages of this embodiment are: 1. Since the reduction motor 3 can float in the horizontal direction, when the moving frame 1 shifts left and right due to the gap between the wheels and the track, the reduction motor 3 and the gear 4 can float accordingly, maintaining a stable meshing state with the rack 2, thus avoiding disengagement or over-meshing of the gear 4 and the rack 2; 2. The stable meshing state reduces the impact and wear between the gear 4 and the rack 2, thereby extending the service life of the robot; 3. The design of the horizontal floating device makes the entire drive mechanism more stable during movement, improving the overall stability and working efficiency of the gantry robot.

[0025] Based on the above-described preferred embodiments of this utility model, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the technical concept of this utility model. The technical scope of this utility model is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A floating driving mechanism, comprising a column and a moving frame (1), the upper end of the column is provided with a horizontally arranged rack (2), the teeth on the rack (2) are horizontally oriented; the two ends of the moving frame (1) are provided with a speed reducer motor (3), the driving end of which is provided with a gear (4) engaged with the rack (2), characterized in that: a horizontal floating device is installed on the moving frame (1); the speed reducer motor (3) is installed on the horizontal floating device, so that the speed reducer motor (3) can automatically float in the horizontal direction perpendicular to the rack (2). The horizontal floating device comprises a guide rail (5) fixedly connected with the moving frame (1) and horizontally arranged; The guide rail (5) is slidably connected with a sliding block (6); 2. The floating drive mechanism of claim 1, wherein: The speed reducer motor (3) is fixedly connected with the sliding block (6). The teeth of the gear (4) and the rack (2) are straight teeth. The upper end of the column is provided with a horizontal steel rail (7), and the rack (2) is arranged in a groove on one side of the steel rail (7); 3. The floating drive mechanism of claim 2, wherein: The upper flange (71) of the steel rail (7) is adjacent to the speed reducer motor (3).

4. The floating drive mechanism of claim 1, wherein: The moving frame (1) is provided with a roller (8); The roller (8) is respectively rollingly connected with the opposite sides of the upper flange (71) and the outer side.

5. The floating drive mechanism of claim 1, wherein: ​ ​

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