Shockproof industrial robot truss base structure

Abstract

The utility model relates to industrial robot technical field, and disclose a shockproof type industrial robot truss base structure, including main load bearing beam one and main load bearing beam two, the inside of main load bearing beam one and the inside of main load bearing beam two are filled with high damping elastic filler one, the inside of high damping elastic filler one is embedded with reinforcing fiber layer one, be equipped with the reinforcing component no.

Description

Technical Field

[0001] This utility model relates to the field of industrial robot technology, specifically to a shockproof industrial robot truss base structure. Background Technology

[0002] Gantry robots are widely used in modern intelligent manufacturing, logistics and warehousing and other fields. They typically achieve robot movement and precise positioning through a rigid gantry structure that spans the work area. The gantry base serves as the supporting foundation for the entire system, and its stability and anti-interference capabilities directly determine the robot's motion accuracy, service life and operational reliability.

[0003] Existing truss bases mostly use large I-beams, channel steel, or welded box beams directly fixed to the workshop floor. Although this structure is relatively rigid, it has obvious defects: First, it cannot effectively isolate or attenuate vibrations from the ground (such as vibrations caused by the operation of nearby equipment or the passage of vehicles) as well as internal vibrations generated when the robot moves at high speed. These vibrations will be transmitted to the truss and the robot's end effector, resulting in a decrease in positioning accuracy, and in severe cases, even affecting product quality.

[0004] Therefore, there is an urgent need for a new type of truss base structure that can effectively suppress and isolate internal and external vibrations, improve the dynamic stability of the system, and ensure the high-precision operation of the robot in complex industrial environments. Utility Model Content

[0005] To address the shortcomings of existing technologies, this utility model provides a shock-resistant industrial robot gantry base structure, which has the advantages of good shock resistance and improved stability, thus solving the problems mentioned in the background technology.

[0006] This utility model provides the following technical solution: a shock-resistant industrial robot truss base structure, including a main load-bearing beam one and a main load-bearing beam two. The interior of both the main load-bearing beam one and the main load-bearing beam two is filled with a high-damping elastic filler. A reinforcing fiber layer is pre-embedded inside the high-damping elastic filler. A reinforcing component one is provided between the main load-bearing beam one and the main load-bearing beam two to connect them. Reinforcing components two are provided on both sides of the main load-bearing beam one to connect it to the main load-bearing beam two. Several lower supports are fixedly installed at the bottom end of the main load-bearing beam one by bolts. A metal rubber vibration damping pad is fixedly provided at the bottom end of the lower support. A high-damping elastomer layer is fixedly provided at the bottom end of the metal rubber vibration damping pad.

[0007] As a preferred embodiment of this utility model, the reinforcing component includes an X-shaped bracket, a reinforcing rib plate is welded to the middle of the X-shaped bracket, support feet are fixedly provided at the four corners of the X-shaped bracket, a reinforcing rib plate is welded between the support feet and the X-shaped bracket, a support seat is fixedly connected to the support feet by bolts, and the main load-bearing beam and the main load-bearing beam are respectively welded to the corresponding support seat.

[0008] As a preferred embodiment of this utility model, the reinforcing component two includes a circular tube, the interior of which is filled with a high-damping elastic filler two, and a reinforcing fiber layer two is pre-embedded inside the high-damping elastic filler two. Both ends of the circular tube are welded with mounting rings, and a support seat two is fixedly connected to one side of the mounting ring by bolts. The main load-bearing beam one and the main load-bearing beam two are respectively welded to the corresponding support seat two.

[0009] As a preferred technical solution of this utility model, a plurality of upper supports are welded to the bottom end of the main load-bearing beam, and a limiting groove is formed in the middle of the bottom end of the upper support. The top end of the lower support is fixedly connected to the bottom end of the upper support by bolts, and a limiting block is fixedly provided in the middle of the top end of the lower support. The limiting block is engaged with the inside of the limiting groove.

[0010] As a preferred embodiment of this utility model, a top plate is welded to the bottom end of the lower support, and the top end of the metal rubber vibration damping pad is fixedly connected to the bottom end of the top plate.

[0011] As a preferred technical solution of this utility model, mounting seats are welded to both sides of the top of the first main load-bearing beam and both sides of the top of the second main load-bearing beam. Mounting holes for fixing the truss are opened at the four corners of the top of the mounting seat. A vertical plate for reinforcement is welded to the inner wall of the middle part of the top of the mounting seat.

[0012] As a preferred embodiment of this utility model, a metal mesh layer is embedded inside the high-damping elastomer layer, and a base plate is fixedly provided at the bottom end of the high-damping elastomer layer, with two positioning holes opened on the surface of the base plate.

[0013] As a preferred embodiment of this utility model, both ends of the first main load-bearing beam and both ends of the second main load-bearing beam are fixedly installed with end caps by positioning screws. Each of the four corners of the end cap is provided with countersunk holes for installation with the positioning screws. Both ends of the first main load-bearing beam and both ends of the second main load-bearing beam are provided with threaded grooves for threaded connection with the positioning screws. A protruding plate is fixedly provided on one side of the end cap. The inner walls of both ends of the first main load-bearing beam and both ends of the second main load-bearing beam are engaged with the protruding plate.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] 1. By setting composite vibration damping bases composed of metal rubber damping pads and high-damping elastomer layers at the bottom ends of the first and second main load-bearing beams, low-frequency and high-frequency vibrations transmitted from the ground can be effectively isolated. The metal rubber damping pads have good load-bearing capacity and fatigue resistance, while the high-damping elastomer layers can effectively absorb and dissipate vibration energy. The combination of the two forms a wide-band vibration damping effect. The high-damping elastic filler filling inside the first and second main load-bearing beams can further suppress the vibration of the structure itself and reduce the vibration transmitted to the robot. This not only improves the processing accuracy but also significantly reduces the fatigue damage of the robot body and truss structure, extending the service life of the entire equipment. It is widely used in various high-precision industrial robot application scenarios that are sensitive to vibration.

[0016] 2. By reinforcing the fiber layer, the crack resistance of the high-damping elastic filler can be improved. By using reinforcing components one and two to connect the main load-bearing beam one and the main load-bearing beam two, a high-rigidity, torsion-resistant frame structure can be formed, ensuring that the deformation of the base itself under load is minimized and that it is easy to assemble and disassemble. Attached Figure Description

[0017] Figure 1 This is one of the structural schematic diagrams of this utility model;

[0018] Figure 2 This is the second structural schematic diagram of the present invention;

[0019] Figure 3 This is a cross-sectional structural diagram of the present invention;

[0020] Figure 4 This is a structural schematic diagram of the reinforcing component one of this utility model;

[0021] Figure 5 This is a schematic diagram of the structure of the lower support of this utility model;

[0022] Figure 6 This is a schematic diagram of the structure of the mounting base of this utility model;

[0023] Figure 7 This is a structural schematic diagram of the cross-section of the end cap of this utility model.

[0024] In the diagram: 1. Main load-bearing beam one; 2. Main load-bearing beam two; 3. Reinforcing component one; 301. X-shaped bracket; 302. Support leg; 303. Support seat one; 304. Reinforcing rib plate one; 305. Reinforcing rib plate two; 4. High-damping elastic filler one; 5. Reinforcing fiber layer one; 6. Reinforcing component two; 601. Circular tube; 602. High-damping elastic filler two; 603. Reinforcing fiber layer two; 604. Mounting ring; 605. Support seat two; 7. Upper support; 8. Lower support; 9. Top plate; 10. Metal rubber vibration damping pad; 11. High-damping elastomer layer; 12. Base plate; 13. Positioning hole; 14. Limiting groove; 15. Limiting block; 16. Mounting seat; 17. Mounting hole; 18. Vertical plate; 19. End cap; 20. Protruding plate; 21. Countersunk hole. Detailed Implementation

[0025] The technical solutions of the present utility model 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 utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0026] Please see Figures 1-7The vibration-resistant industrial robot truss base structure includes a main load-bearing beam 1 and a main load-bearing beam 2. Both main load-bearing beam 1 and main load-bearing beam 2 are filled with high-damping elastic filler 4, with a reinforcing fiber layer 5 embedded inside the high-damping elastic filler 4. A reinforcing component 3 connects main load-bearing beam 1 and main load-bearing beam 2. Reinforcing components 26 connect main load-bearing beam 1 to main load-bearing beam 2 on both sides of main load-bearing beam 1. Several lower supports 8 are bolted to the bottom of main load-bearing beam 1. Metal rubber damping pads 10 are fixed to the bottom of the lower supports 8, and high-damping elastomer layers 11 are fixed to the bottom of the metal rubber damping pads 10. By setting a composite vibration-damping base composed of metal rubber damping pads 10 and high-damping elastomer layers 11 at the bottom of main load-bearing beam 1 and main load-bearing beam 2, low-frequency and high-frequency vibrations transmitted from the ground can be effectively isolated. The metal-rubber vibration damping pad has good load-bearing capacity and fatigue resistance, while the high-damping elastomer layer 11 can effectively absorb and dissipate vibration energy. The combination of the two forms a wide-band vibration reduction effect. The high-damping elastic filler 4 filled inside the main load-bearing beam 1 and the main load-bearing beam 2 can further suppress the vibration of the structure itself and reduce the vibration transmitted to the robot. This not only improves the processing accuracy, but also significantly reduces the fatigue damage of the robot body and truss structure, and extends the service life of the entire equipment. It is widely used in various high-precision industrial robot application scenarios that are sensitive to vibration. The reinforcing fiber layer 5 can improve the crack resistance of the high-damping elastic filler 4. The main load-bearing beam 1 and the main load-bearing beam 2 are connected by reinforcing components 3 and 6, which can form a high-rigidity, torsional frame body, ensuring that the deformation of the base itself under load is minimized and that it is easy to assemble and disassemble.

[0027] In this embodiment, preferably, the reinforcing component 3 includes an X-shaped bracket 301, a reinforcing rib 304 welded to the middle of the X-shaped bracket 301, support feet 302 fixedly provided at each of the four corners of the X-shaped bracket 301, a reinforcing rib 305 welded between the support feet 302 and the X-shaped bracket 301, a support seat 303 fixedly connected to the support feet 302 by bolts, and main load-bearing beam 1 and main load-bearing beam 2 respectively welded to the corresponding support seat 303. The X-shaped bracket 301 can be fixed by the support feet 302 and the support seat 303. The X-shaped bracket 301 constitutes a high-rigidity, torsion-resistant frame body, ensuring that the deformation of the base itself under load is minimized. The strength of the X-shaped bracket 301 can be improved by the reinforcing rib 304 and the reinforcing rib 305.

[0028] In this embodiment, preferably, the reinforcing component 2 6 includes a circular tube 601, the interior of which is filled with a high-damping elastic filler 2 602, and a reinforcing fiber layer 2 603 is pre-embedded inside the high-damping elastic filler 2 602. Both ends of the circular tube 601 are welded with mounting rings 604, and a support seat 2 605 is fixedly connected to one side of the mounting ring 604 by bolts. The main load-bearing beam 1 and the main load-bearing beam 2 2 are respectively welded to the corresponding support seat 2 605. The circular tube 601 can be fixed by the mounting rings 604 and the support seat 2 605. The circular tube 601 can improve the connection effect between the main load-bearing beam 1 and the main load-bearing beam 2 2. The setting of the high-damping elastic filler 2 602 can consolidate the vibration suppression effect.

[0029] In this embodiment, preferably, a plurality of upper supports 7 are welded to the bottom end of the main load-bearing beam 1. A limiting groove 14 is opened in the middle of the bottom end of the upper support 7. The top end of the lower support 8 is fixedly connected to the bottom end of the upper support 7 by bolts. A limiting block 15 is fixedly provided in the middle of the top end of the lower support 8. The limiting block 15 is engaged with the inside of the limiting groove 14. A top plate 9 is welded to the bottom end of the lower support 8. The top end of the metal rubber damping pad 10 is fixedly connected to the bottom end of the top plate 9. A metal mesh layer is embedded in the interior of the high damping elastomer layer 11. A bottom plate 12 is fixedly provided at the bottom end of the high damping elastomer layer 11. Two positioning holes 13 are opened on the surface of the bottom plate 12. The upper supports 7 and the lower supports 8 can play a supporting role. The setting of the limiting block 15 can prevent horizontal displacement between the upper supports 7 and the lower supports 8. The setting of the top plate 9 and the bottom plate 12 can ensure the transmission of pressure. The metal mesh layer can enhance the load-bearing capacity and durability.

[0030] In this embodiment, preferably, mounting bases 16 are welded to both sides of the top of the main load-bearing beam 1 and both sides of the top of the main load-bearing beam 2. Mounting holes 17 for fixing the truss are opened at the four corners of the top of the mounting base 16. A vertical plate 18 for reinforcement is welded to the inner wall of the middle part of the top of the mounting base 16. The truss of the industrial robot can be fixed through the mounting holes 17 of the mounting base 16.

[0031] In this embodiment, preferably, end caps 19 are fixedly installed at both ends of the main load-bearing beam 1 and the main load-bearing beam 2 by positioning screws. The four corners of the end caps 19 are provided with countersunk holes 21 for installation with the positioning screws. The two ends of the main load-bearing beam 1 and the two ends of the main load-bearing beam 2 are provided with threaded grooves for threaded connection with the positioning screws. A protruding plate 20 is fixedly provided on one side of the end caps 19. The inner walls of the two ends of the main load-bearing beam 1 and the two ends of the main load-bearing beam 2 are engaged with the protruding plate 20. The end caps 19 can provide protection for the high-damping elastic filler 4 and prevent it from being exposed to the outside. The protruding plate 20 can improve the stability of the end caps 19 and make the end caps 19 less prone to shaking.

[0032] In use, place the main load-bearing beam 1 and the main load-bearing beam 2 in parallel. Weld and fix the support seats 303 at both ends of the reinforcing component 3 to the main load-bearing beam 1 and the main load-bearing beam 2 respectively. Then weld and fix the support seats 605 at both ends of the reinforcing component 6 to the main load-bearing beam 1 and the main load-bearing beam 2 respectively. Use bolts to fix the support feet 302 to the support seats 303. Tighten the mounting ring 604 to the support seats 605.

[0033] Weld the upper support 7 to the predetermined positions at the bottom of the main load-bearing beam 1 and the main load-bearing beam 2. Align the limiting block 15 at the top of the lower support 8 with the limiting groove 14 at the bottom of the upper support 7 so that the two fit together. Use bolts to fasten the upper support 7 and the lower support 8. The cooperation between the limiting block 15 and the limiting groove 14 can effectively prevent horizontal displacement. Use lifting equipment to lift the assembled truss base frame to the predetermined installation position, align the positioning hole 13 on the base plate 12 with the anchor bolt hole on the foundation, insert the anchor bolt into the positioning hole 13, and tighten the nuts of all anchor bolts to the specified torque to firmly fix the base on the foundation. Hoist the truss or gantry structure of the industrial robot onto the base frame, align its legs with the mounting seat 16 welded on the main load-bearing beam, and use high-strength bolts to pass through the mounting hole 17 on the mounting seat 16 to fasten the truss to the base.

[0034] When external vibrations are transmitted through the foundation, they are first absorbed and attenuated by the metal rubber damping pads 10 and the high-damping elastomer layer 11 of the composite damping layer. Only a very small portion of the vibration energy is transmitted to the upper truss structure. At the same time, the internal vibrations generated by the robot's high-speed movement are partly isolated by the high-damping elastic filler 4 in the main load-bearing beam and partly isolated by the composite damping layer, avoiding resonance with ground vibrations. This greatly ensures the smoothness of the robot's end effector movement and positioning accuracy. The X-shaped bracket 301 and the round tube 601, together with the main load-bearing beam 1 and the main load-bearing beam 2, can form a high-rigidity, torsion-resistant frame body, ensuring that the deformation of the base itself is minimized under load.

[0035] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A shock-resistant industrial robot truss base structure, comprising a first main load-bearing beam (1) and a second main load-bearing beam (2), characterized in that: The interior of the main load-bearing beam 1 (1) and the interior of the main load-bearing beam 2 (2) are filled with high-damping elastic filler 1 (4). The interior of the high-damping elastic filler 1 (4) is pre-embedded with a reinforcing fiber layer 1 (5). A reinforcing component 1 (3) is provided between the main load-bearing beam 1 (1) and the main load-bearing beam 2 (2) to connect them. Both sides of the main load-bearing beam 1 (1) are provided with a reinforcing component 2 (6) to connect it to the main load-bearing beam 2 (2). Several lower supports (8) are fixedly installed at the bottom of the main load-bearing beam 1 (1) by bolts. A metal rubber damping pad (10) is fixedly provided at the bottom of the lower support (8). A high-damping elastomer layer (11) is fixedly provided at the bottom of the metal rubber damping pad (10).

2. The shock-resistant industrial robot truss base structure according to claim 1, characterized in that: The first reinforcing component (3) includes an X-shaped bracket (301), a reinforcing rib plate (304) is welded to the middle of the X-shaped bracket (301), and support feet (302) are fixedly provided at the four corners of the X-shaped bracket (301). A second reinforcing rib plate (305) is welded between the support feet (302) and the X-shaped bracket (301). The support feet (302) are fixedly connected to a support seat (303) by bolts. The first main load-bearing beam (1) and the second main load-bearing beam (2) are respectively welded to the corresponding support seat (303).

3. The shock-resistant industrial robot truss base structure according to claim 1, characterized in that: The second reinforcing component (6) includes a circular tube (601), the inside of which is filled with a high-damping elastic filler (602), and a reinforcing fiber layer (603) is pre-embedded inside the high-damping elastic filler (602). Both ends of the circular tube (601) are welded with mounting rings (604), and one side of the mounting ring (604) is fixedly connected to a support seat (605) by bolts. The first main load-bearing beam (1) and the second main load-bearing beam (2) are respectively welded to the corresponding support seat (605).

4. The shock-resistant industrial robot gantry base structure according to claim 1, characterized in that: The bottom end of the main load-bearing beam (1) is welded with several upper supports (7). The middle part of the bottom end of the upper support (7) is provided with a limiting groove (14). The top end of the lower support (8) is fixedly connected to the bottom end of the upper support (7) by bolts. The middle part of the top end of the lower support (8) is fixedly provided with a limiting block (15). The limiting block (15) is engaged with the inside of the limiting groove (14).

5. The shock-resistant industrial robot gantry base structure according to claim 4, characterized in that: The bottom end of the lower support (8) is welded with a top plate (9), and the top end of the metal rubber damping pad (10) is fixedly connected to the bottom end of the top plate (9).

6. The shock-resistant industrial robot gantry base structure according to claim 1, characterized in that: Mounting seats (16) are welded to both sides of the top of the first main load-bearing beam (1) and both sides of the top of the second main load-bearing beam (2). Mounting holes (17) for fixing the truss are opened at the four corners of the top of the mounting seat (16). A vertical plate (18) for reinforcing it is welded to the inner wall of the middle part of the top of the mounting seat (16).

7. The shock-resistant industrial robot gantry base structure according to claim 1, characterized in that: The high-damping elastomer layer (11) is embedded with a metal mesh layer, and a base plate (12) is fixedly provided at the bottom end of the high-damping elastomer layer (11). Two positioning holes (13) are opened on the surface of the base plate (12).

8. The shock-resistant industrial robot gantry base structure according to claim 1, characterized in that: Both ends of the first main load-bearing beam (1) and both ends of the second main load-bearing beam (2) are fixedly installed with end caps (19) by positioning screws. The four corners of the end caps (19) are provided with countersunk holes (21) for installation with the positioning screws. Both ends of the first main load-bearing beam (1) and both ends of the second main load-bearing beam (2) are provided with threaded grooves for threaded connection with the positioning screws. A protruding plate (20) is fixedly provided on one side of the end caps (19). The inner walls of both ends of the first main load-bearing beam (1) and both ends of the second main load-bearing beam (2) are engaged with the protruding plate (20).

Images