A guide rail assembly structure of a truss robot

Abstract

The application relates to the technical field of truss robots, in particular to a guide rail assembly structure of a truss robot, which comprises a main load-bearing beam, a sliding piece, a driving mechanism and a damping device. The sliding piece is in contact with a guide groove through a plurality of groups of balls, and low-friction operation is realized in cooperation with a lubrication channel; the driving mechanism adopts a rack and pinion meshing design, and the moving precision is improved; the damping device reduces vibration through an elastic support plate and a buffer pad; a reinforcing rib and a sealing structure further enhance the stability and durability. The application can significantly improve the carrying capacity, operation stability and service life of the guide rail assembly, and simultaneously reduce the friction and noise, and is suitable for high-precision and high-strength operation environments.

Description

Technical Field

[0001] This utility model belongs to the field of automation equipment and robot technology, specifically a guide rail assembly structure for a gantry robot. Background Technology

[0002] When performing material handling or assembly tasks in industrial automation scenarios, gantry robots are required, making their guide rail assembly structure a key component. The guide rail assembly enables precise movement and positioning of the gantry robot, thus achieving efficient operation. However, existing gantry robot guide rail assemblies still have some shortcomings in practical applications. For example, most guide rail assemblies on the market currently use simple linear guides or single sliding mechanisms, which have limited load-bearing capacity and operational stability. They struggle to meet the demands for high precision and high efficiency in complex working conditions, potentially leading to low efficiency and operational inconvenience.

[0003] A search revealed a guide rail assembly, guide rail, and robot moving device, disclosed in publication number CN105179474B on March 30, 2018. This design utilizes grooved strips on both sides of the linear guide rail, which engage with protrusions on the sliding component to achieve a locking connection. While this structure can alleviate the problem of easy deformation of the guide rail assembly to some extent, the small contact area between the sliding component and the guide rail may lead to accelerated wear after prolonged operation, thus affecting the overall service life. Furthermore, this design does not adequately consider the dynamic balance problem in multi-axis linkage scenarios, potentially generating significant vibration and noise during high-speed operation.

[0004] A search revealed a guide rail assembly and boarding / disembarking device, disclosed in publication number CN114180093B on August 6, 2024. This design achieves folding functionality through multiple pivotable guide rail sections, adapting to application environments of varying heights. While this structure offers advantages such as space saving and easy assembly / disassembly, in practical applications, the potential gaps between the guide rail sections can easily lead to jamming during operation, especially under heavy loads, potentially further reducing operational stability and accuracy. Furthermore, the design does not detail how to effectively reduce friction between the guide rail sections, which may increase energy consumption.

[0005] The aforementioned problems indicate that traditional guide rail assemblies currently on the market have certain limitations in meeting the requirements for high load-bearing capacity, operational stability, and long service life under complex working conditions. Therefore, this invention provides a guide rail assembly structure for a gantry robot to overcome these shortcomings and offer a more intelligent, efficient, and adaptable solution for changing environments. Utility Model Content

[0006] This utility model provides a guide rail assembly structure for a gantry robot, aiming to solve the problems of insufficient load-bearing capacity, poor operational stability, and short service life of existing guide rail assemblies. To achieve the above objectives, this utility model is designed as follows: a guide rail assembly structure for a gantry robot includes: a main load-bearing beam fixedly installed on the gantry robot base, the main load-bearing beam having a guide groove for guiding the movement of a sliding member; a sliding member slidably connected within the guide groove, the sliding member contacting the inner wall of the guide groove via multiple sets of ball bearings; a drive mechanism disposed at the bottom of the sliding member for driving it to move along the guide groove; and a shock-absorbing device installed between the main load-bearing beam and the sliding member to reduce friction and improve operational stability.

[0007] Preferably, the slider includes: a ball retainer fixedly mounted on the slider body, wherein a plurality of rolling elements are embedded in the ball retainer; a lubrication channel formed on the ball retainer, the lubrication channel extending to the contact surface of each rolling element; and limiting blocks disposed on both sides of the slider body, the limiting blocks being tightly fitted with the sidewall of the guide groove to limit the lateral displacement of the slider.

[0008] Preferably, the drive mechanism includes: a rack fixedly installed at the bottom of the sliding member, the rack extending along the moving direction of the sliding member; a servo motor fixedly installed at the end of the main load-bearing beam, a gear fixedly connected to the output shaft of the servo motor, the gear meshing with the rack; and a protective cover disposed between the rack and the gear, the protective cover being used to prevent dust from entering the meshing area.

[0009] Preferably, the shock absorption device includes: an elastic support plate fixedly installed on the inner side of the main load-bearing beam, the elastic support plate being made of multi-layer composite material; a buffer pad disposed between the elastic support plate and the sliding member, the buffer pad being made of high molecular polymer material; and adjusting bolts fixedly installed at both ends of the elastic support plate, the adjusting bolts passing through the main load-bearing beam and threadedly connected to the elastic support plate for adjusting the preload of the elastic support plate.

[0010] Preferably, the inner wall of the guide groove is provided with a plurality of parallel reinforcing ribs, which extend along the length of the guide groove; the top of the reinforcing ribs is provided with an arc-shaped groove, which matches the outer surface of the rolling element to increase the contact area between the rolling element and the inner wall of the guide groove.

[0011] Preferably, end caps are provided at both ends of the main load-bearing beam, and the end caps are fixed to the main load-bearing beam by bolts; a sealing ring is provided on the inner side of the end cap, and the sealing ring is tightly fitted with the opening edge of the guide groove to prevent external impurities from entering the guide groove.

[0012] Preferably, the top of the slider is provided with a mounting platform, which is fixed to the slider body by bolts; the mounting platform is provided with a plurality of positioning holes for mounting the robotic arm or other actuator of the gantry robot.

[0013] Preferably, an oil injection nozzle is provided at the inlet of the lubrication channel, and the oil injection nozzle is connected to an external lubrication system through a pipe; a filter screen is provided at the outlet of the lubrication channel, and the filter screen is used to intercept impurities in the lubricant.

[0014] Compared to existing technologies, the guide rail assembly structure for the gantry robot provided in this solution significantly increases the contact area between the sliding element and the guide groove by incorporating multiple sets of rolling elements, thereby enhancing the load-bearing capacity and operational stability of the guide rail assembly. Simultaneously, the introduction of shock-absorbing devices and reinforcing ribs effectively reduces vibration and noise during operation and extends the service life of the guide rail assembly. Furthermore, the inclusion of lubrication channels and grease nipples further reduces friction, improving overall operational efficiency. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of the present invention, showing the arrangement of the main load-bearing beam, sliding component, drive mechanism and shock absorption device.

[0016] Figure 2 This is a partial sectional view of the slider and guide groove, highlighting the structural details of the ball cage, rolling elements, and lubrication channels.

[0017] Figure 3 This is a magnified view of the drive mechanism, mainly showing the installation positions of the rack, gears, and protective cover, as well as their meshing relationship.

[0018] Figure 4 This is a structural diagram of the shock absorption device, showing in detail the connection methods of the elastic support plate, buffer pad, and adjusting bolts.

[0019] Figure 5 This is a schematic diagram of the end cap structure at the end of the main load-bearing beam, highlighting the fit between the sealing ring and the end cap.

[0020] The attached figures are labeled as follows:

[0021] 1. Main load-bearing beam; 2. Sliding component; 3. Guide groove; 4. Ball retainer; 5. Rolling element; 6. Lubrication channel; 7. Limit block; 8. Rack; 9. Servo motor; 10. Gear; 11. Protective cover; 12. Elastic support plate; 13. Buffer pad; 14. Adjusting bolt; 15. Reinforcing rib; 16. Arc groove; 17. End cap; 18. Sealing ring; 19. Mounting platform; 20. Oil nozzle; 21. Filter screen. Detailed Implementation

[0022] This utility model provides a guide rail assembly structure for a gantry robot, the overall structure of which is as follows: Figure 1 As shown, the system includes a main load-bearing beam 1, a sliding member 2, a guide groove 3, a drive mechanism, and a shock-absorbing device. The main load-bearing beam 1 serves as the supporting foundation for the entire guide rail assembly and is fixedly mounted on the base of the gantry robot. A guide groove 3 is provided on its upper surface, extending along the length of the main load-bearing beam 1 to guide the movement of the sliding member 2. The sliding member 2 contacts the inner wall of the guide groove 3 via multiple ball bearings and can slide along the guide groove 3. A rack 8 is provided at the bottom of the sliding member 2, which meshes with a gear 10 on the output shaft of a servo motor 9, thereby driving the sliding member 2. A shock-absorbing device is provided between the main load-bearing beam 1 and the sliding member 2 to reduce vibration and friction during operation.

[0023] Combination Figure 2 The sliding component 2 consists of a sliding component body, a ball cage 4, rolling elements 5, a lubrication channel 6, and limiting blocks 7. The ball cage 4 is fixedly installed at the lower part of the sliding component body, and multiple rolling elements 5 are embedded inside it. The rolling elements 5 are steel spherical structures, evenly distributed in the ball cage 4, and contact the inner wall of the guide groove 3. The ball cage 4 has a lubrication channel 6 that extends to the contact surface of each rolling element 5, ensuring that the lubricant can evenly cover the contact area between the rolling element 5 and the guide groove 3. An oil nozzle 20 is provided at the inlet of the lubrication channel 6, which is connected to an external lubrication system via a pipe. A filter screen 21 is provided at the outlet to intercept impurities in the lubricant. Limiting blocks 7 are provided on both sides of the sliding component body. The limiting blocks 7 fit tightly against the side walls of the guide groove 3, restricting the displacement of the sliding component 2 in the lateral direction, thereby ensuring the stable operation of the sliding component 2 within the guide groove 3.

[0024] The specific structure of the drive mechanism is as follows Figure 3As shown, rack 8 is fixedly installed at the bottom of slider 2 and extends along the moving direction of slider 2. Servo motor 9 is fixedly installed at one end of main load-bearing beam 1, and gear 10 is fixedly connected to its output shaft. Gear 10 meshes with rack 8. When servo motor 9 is started, gear 10 rotates and pushes slider 2 along guide groove 3 through rack 8. A protective cover 11 is provided in the meshing area between rack 8 and gear 10. The protective cover 11 is fixed on main load-bearing beam 1 to prevent dust or other impurities from entering the meshing area, thereby protecting the normal operation of rack 8 and gear 10.

[0025] The detailed structure of the shock absorption device is as follows: Figure 4 As shown, the system includes an elastic support plate 12, a buffer pad 13, and an adjusting bolt 14. The elastic support plate 12 is fixedly installed on the inner side of the main load-bearing beam 1, and its material is made of multi-layer composite material, possessing good elasticity and fatigue resistance. The buffer pad 13 is disposed between the elastic support plate 12 and the sliding member 2, and is made of high-molecular polymer material, possessing excellent wear resistance and shock absorption performance. The adjusting bolt 14 passes through the main load-bearing beam 1 and is threadedly connected to the elastic support plate 12. By rotating the adjusting bolt 14, the preload of the elastic support plate 12 can be adjusted, thereby controlling the overall stiffness of the shock absorption device. The design of the shock absorption device enables the sliding member 2 to effectively absorb the impact and vibration during operation, thereby improving the operational smoothness of the entire guide rail assembly.

[0026] Multiple parallel reinforcing ribs 15 are provided on the inner wall of the guide groove 3, and the reinforcing ribs 15 extend along the length direction of the guide groove 3, such as... Figure 1 As shown, the top of the reinforcing rib 15 has an arc-shaped groove 16, the shape of which matches the outer surface of the rolling element 5 to increase the contact area between the rolling element 5 and the inner wall of the guide groove 3. The design of the reinforcing rib 15 not only improves the structural strength of the guide groove 3, but also reduces the wear between the rolling element 5 and the guide groove 3, thereby extending the service life of the guide rail assembly.

[0027] End caps 17 are provided at both ends of the main load-bearing beam 1, and the end caps 17 are fixed to the main load-bearing beam 1 by bolts, such as Figure 5 As shown, a sealing ring 18 is provided on the inner side of the end cap 17. The sealing ring 18 fits tightly against the opening edge of the guide groove 3, forming a sealing barrier to prevent external impurities from entering the guide groove 3. The sealing ring 18 is made of corrosion-resistant and wear-resistant rubber material, which can maintain good sealing performance during long-term use.

[0028] A mounting platform 19 is provided on the top of the slider 2, and the mounting platform 19 is fixed to the slider body by bolts. The mounting platform 19 is provided with multiple positioning holes for mounting the robotic arm or other actuators of the gantry robot. The design of the mounting platform 19 allows the slider 2 to flexibly adapt to different actuators, thereby meeting the needs of various application scenarios.

[0029] In practical applications, the guide rail assembly structure of the gantry robot operates through the following steps. First, the servo motor 9 starts, the gear 10 rotates, and pushes the slider 2 along the guide groove 3 via the rack 8. During the movement of the slider 2, the rolling elements 5 in the ball retainer 4 contact the inner wall of the guide groove 3, and the rolling elements 5 achieve low-friction rolling under the lubrication provided by the lubrication channel 6. The limit block 7 restricts the lateral displacement of the slider 2, ensuring its linear movement along the guide groove 3. At the same time, the elastic support plate 12 and the buffer pad 13 in the shock absorption device absorb the vibration and impact generated during the operation of the slider 2, and the adjusting bolt 14 adjusts the preload of the shock absorption device according to actual needs. The reinforcing ribs 15 and the arc-shaped grooves 16 on the inner wall of the guide groove 3 further increase the contact area between the rolling elements 5 and the guide groove 3, reducing wear. The end cap 17 and the sealing ring 18 work together to prevent external impurities from entering the interior of the guide groove 3, thereby ensuring the normal operation of the slider 2.

[0030] To enable those skilled in the art to fully understand and implement this utility model, the specific implementation principle of this utility model is further explained below in conjunction with a specific application scenario.

[0031] In a certain industrial automation scenario, gantry robots are used for handling heavy materials. This scenario requires the guide rail assembly to have high load-bearing capacity, stable operation, and reliability for long-term use. The following are the operating steps and implementation principles of the guide rail assembly structure provided by this utility model in practical applications.

[0032] First, after the servo motor 9 starts, the gear 10 rotates and pushes the slider 2 along the guide groove 3 through the rack 8. During this process, the meshing relationship between the rack 8 and the gear 10 at the bottom of the slider 2 ensures the precise transmission of driving force, thereby achieving the linear motion of the slider 2. A protective cover 11 covers the outside of the meshing area of ​​the rack 8 and the gear 10, preventing dust or other impurities from entering, ensuring the cleanliness of the meshing area, and thus improving the service life of the drive mechanism. Furthermore, because the servo motor 9 can be precisely controlled according to preset parameters, the moving speed and position of the slider 2 can achieve high accuracy, meeting the positioning requirements under complex working conditions.

[0033] Secondly, during the movement of the sliding member 2, the rolling elements 5 within the ball cage 4 contact the inner wall of the guide groove 3, achieving low-friction rolling under the lubrication provided by the lubrication channel 6. The lubrication channel 6 extends to the contact surface of each rolling element 5, continuously supplying lubricant through an external lubrication system connected to the grease nipple 20. Simultaneously, the filter screen 21 intercepts impurities in the lubricant, preventing them from entering between the rolling elements 5 and the guide groove 3 and causing wear. This design not only effectively reduces the friction between the rolling elements 5 and the guide groove 3 but also significantly improves the operating efficiency of the sliding member 2. The limiting block 7 fits tightly against the side wall of the guide groove 3, restricting the displacement of the sliding member 2 in the lateral direction, thereby ensuring that its linear movement along the guide groove 3 does not deviate, further enhancing operational stability.

[0034] Meanwhile, the elastic support plate 12 and buffer pad 13 in the shock absorber absorb the vibration and impact generated during the operation of the sliding member 2. The elastic support plate 12 is made of multi-layer composite material, which has good elasticity and fatigue resistance, and can maintain a stable shock absorption effect during long-term use; while the buffer pad 13 is made of high molecular polymer material, which has both excellent wear resistance and shock absorption performance. The adjusting bolt 14 passes through the main load-bearing beam 1 and is threadedly connected to the elastic support plate 12. By rotating the adjusting bolt 14, the preload of the elastic support plate 12 can be adjusted, thereby flexibly controlling the overall stiffness of the shock absorber to adapt to different load conditions. This design allows the sliding member 2 to maintain smooth operation even under high speed or heavy load conditions, greatly reducing vibration and noise.

[0035] Furthermore, the reinforcing ribs 15 on the inner wall of the guide groove 3 and the arc-shaped groove 16 at its top further optimize the contact area between the rolling element 5 and the guide groove 3. The shape of the arc-shaped groove 16 matches the outer surface of the rolling element 5, increasing the fit between them, thereby reducing the pressure distribution per unit area and lowering the risk of wear. The reinforcing ribs 15 extend along the length of the guide groove 3, not only improving the structural strength of the guide groove 3 but also providing additional support for the rolling element 5, enabling it to maintain stable operation even when carrying heavy loads. These improvements work together to extend the service life of the guide rail assembly.

[0036] Finally, the design of the end cap 17 and the sealing ring 18 effectively prevents external impurities from entering the guide groove 3. The end cap 17 is fixed to both ends of the main load-bearing beam 1 with bolts, and the sealing ring 18 on its inner side fits tightly against the edge of the guide groove 3 opening, forming a reliable sealing barrier. The sealing ring 18 is made of corrosion-resistant and wear-resistant rubber material, which can maintain good sealing performance during long-term use, ensuring that the internal environment of the guide groove 3 is always clean, thereby avoiding operational failures caused by the intrusion of impurities.

[0037] In summary, the gantry robot guide rail assembly structure provided by this utility model achieves the technical goals of high load-bearing capacity, stable operation, and long service life through the coordinated work of the aforementioned components. In practical applications, this guide rail assembly can efficiently complete the handling of heavy materials while adapting to complex working environments, fully demonstrating its intelligent, reliable, and multifunctional characteristics.

[0038] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A guide rail assembly structure for a gantry robot, characterized in that, include: The main load-bearing beam is fixedly installed on the gantry robot base; Guide grooves are provided on the main load-bearing beam to guide the movement of the sliding parts; A sliding member is slidably connected within the guide groove, and the sliding member contacts the inner wall of the guide groove through a plurality of rolling elements; A drive mechanism fixedly installed at the bottom of the slider for driving it to move along the guide groove; A shock-absorbing device is installed between the main load-bearing beam and the sliding component to reduce friction.

2. The guide rail assembly structure of the gantry robot as described in claim 1, characterized in that, The slider includes: A ball retainer is fixedly mounted on the body of the sliding component, and a plurality of rolling elements are embedded in the ball retainer; A lubrication channel is formed on the ball cage, and the lubrication channel extends to the contact surface of each rolling element; Limiting blocks are disposed on both sides of the slider body, and the limiting blocks are tightly fitted with the sidewall of the guide groove to limit the lateral displacement of the slider.

3. The guide rail assembly structure of the gantry robot as described in claim 1, characterized in that, The drive mechanism includes: A rack is fixedly installed at the bottom of the slider, and the rack extends along the moving direction of the slider; A servo motor is fixedly installed at the end of the main load-bearing beam, and a gear is fixedly connected to the output shaft of the servo motor, the gear meshing with the rack; A protective cover is disposed between the rack and the gear to prevent dust from entering the meshing area.

4. The guide rail assembly structure of the gantry robot as described in claim 1, characterized in that, The shock absorption device includes: An elastic support plate is fixedly installed on the inner side of the main load-bearing beam, and the elastic support plate is made of multi-layer composite material; A buffer pad is disposed between the elastic support plate and the sliding member, and the buffer pad is made of a high molecular polymer material. Adjusting bolts are fixedly installed at both ends of the elastic support plate. The adjusting bolts pass through the main load-bearing beam and are threadedly connected to the elastic support plate.

5. The guide rail assembly structure of the gantry robot as described in claim 1, characterized in that, The inner wall of the guide groove is provided with multiple parallel reinforcing ribs, which extend along the length of the guide groove. The top of the reinforcing ribs is provided with an arc-shaped groove, which matches the outer surface of the rolling element.

6. The guide rail assembly structure of the gantry robot as described in claim 1, characterized in that, The main load-bearing beam has end caps at both ends, which are fixed to the main load-bearing beam by bolts. A sealing ring is provided on the inner side of the end cap, and the sealing ring fits tightly against the opening edge of the guide groove.

7. The guide rail assembly structure of the gantry robot as described in claim 1, characterized in that, The top of the sliding component is provided with an installation platform, which is fixed to the main body of the sliding component by bolts. The installation platform is provided with multiple positioning holes.

8. The guide rail assembly structure of the gantry robot as described in claim 2, characterized in that, An oil injection nozzle is installed at the inlet of the lubrication channel, and the oil injection nozzle is connected to an external lubrication system through a pipe. A filter screen is installed at the outlet of the lubrication channel.

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