A multi-functional truss robot structure with high stability

Abstract

This utility model relates to a highly stable multifunctional truss manipulator structure, characterized by comprising a support frame and a Y-axis connecting beam. The support frame has symmetrically arranged X-axis connecting beams, which can move horizontally along the X-axis connecting beams. A liftable Z-axis connecting beam is also provided on the Y-axis connecting beam, which can move horizontally along the Y-axis connecting beam. An X-axis drive rack is provided on the X-axis connecting beam, and an X-axis motor is provided on the Y-axis connecting beam. The output end of the X-axis motor has a drive shaft extending towards the drive rack, and the end of the drive shaft is connected to an X-axis drive gear that meshes with the X-axis drive rack. A support assembly is provided on the Y-axis connecting beam to support the drive shaft, thereby improving the stability of power transmission. This utility model has the following advantages and effects: it can support the drive shaft, ensuring the stability of power transmission.

Description

Technical Field

[0001] This utility model relates to the field of truss technology, specifically to a multi-functional truss manipulator structure with high stability. Background Technology

[0002] A gantry is a component used to connect industrial robots, thereby increasing their working range. Currently, gantry structures can drive industrial robots to perform multi-axis movements.

[0003] For example, Chinese patent document CN216138908U discloses a gantry truss for moving industrial robots, including two support frames and a first gear and rack transmission mechanism disposed between the support frames. A truss is disposed at the top of the two support frames, and the truss is slidably connected to the two support frames through the first gear and rack transmission mechanism. A second gear and rack transmission mechanism is disposed in the middle of the side of the truss away from the first gear and rack transmission mechanism.

[0004] When moving along the x-axis in the above technical solution, power is transmitted through the transmission shaft connected to the transmission box, which drives the gear connected to the end of the transmission shaft to rotate. Through the transmission rack connected to the support frame, since the transmission rack meshes with the gear, relative movement can be generated between the gear and the transmission rack, thus driving the industrial robot to move along the x-axis.

[0005] However, the existing support frame has a large spacing, which can easily lead to a decrease in the rigidity of the drive shaft due to the length and angle of the drive shaft. This can cause a deviation between the gear and the drive rack, resulting in insufficient meshing and affecting the stability of power transmission. Summary of the Invention

[0006] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a multi-functional truss manipulator structure with high stability, which can support the transmission shaft and ensure the stability of power transmission.

[0007] To achieve the above objectives, this utility model provides the following technical solution: a highly stable multifunctional truss manipulator structure, comprising a support frame and a Y-axis connecting beam. The support frame is provided with symmetrically arranged X-axis connecting beams, which can move horizontally along the X-axis connecting beams. The Y-axis connecting beam is provided with a liftable Z-axis connecting beam, which can also move horizontally along the Y-axis connecting beam. The X-axis connecting beam is provided with an X-axis transmission rack, and the Y-axis connecting beam is provided with an X-axis motor. The output end of the X-axis motor is provided with a transmission shaft extending toward the transmission rack. The end of the transmission shaft is connected to an X-axis transmission gear that meshes with the X-axis transmission rack. The Y-axis connecting beam is provided with a support assembly for supporting the transmission shaft, thereby improving the stability of power transmission.

[0008] The present invention is further configured such that: the support assembly includes a support plate, a support seat is provided below the support plate, the support seat is used to support the drive shaft, a tie rod is provided between the support seat and the support plate, the support seat is provided with a bottom through hole for the tie rod to pass through, the support plate is provided with a top through hole for the tie rod to pass through, and the two ends of the tie rod are respectively connected to the support plate and the support seat.

[0009] The present invention is further configured such that the support base is provided with a rotatable support wheel.

[0010] The present invention is further configured such that: an annular positioning groove is provided on the outer periphery of the transmission shaft, and the annular positioning groove is adapted to the support wheel so that the support wheel is in stable contact with the transmission shaft.

[0011] The present invention is further configured such that: the top and bottom of the pull rod are respectively provided with a top thread and a bottom thread, and the top and bottom of the pull rod can be screwed into nuts that form a threaded fit with the top thread and the bottom thread, respectively.

[0012] The present invention is further configured such that: the transmission shaft includes a connecting part and an extension part, the connecting part and the extension part are connected by a coupling, the end of the connecting part is connected to the x-axis transmission gear, and a bearing seat is provided on the y-axis connecting beam, the bearing seat being connected to the connecting part.

[0013] The present invention is further configured such that: a support beam is provided below the support plate, and the two ends of the support beam are respectively connected to the y-axis connecting beam and the support plate, and there are multiple support beams arranged at intervals between each other.

[0014] The present invention is further configured such that: the y-axis connecting beam is provided with a y-axis transmission rack and a y-axis motor on the side facing away from the support plate, and the output end of the y-axis motor is provided with a y-axis transmission gear, which meshes with the y-axis transmission rack.

[0015] The present invention is further configured such that: a z-axis motor is provided above the y-axis connecting beam, a z-axis transmission gear is provided at the output end of the z-axis motor, a z-axis transmission rack is provided on the outer side of the z-axis connecting beam, and the z-axis transmission rack meshes with the z-axis transmission gear.

[0016] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0017] Because a support assembly is installed on the Y-axis connecting beam, the support assembly can support the drive shaft, thereby avoiding the technical problem that the rigidity of the drive shaft is reduced due to its long length, which prevents the X-axis drive gear and X-axis drive rack connected to the drive shaft from meshing properly, thus improving the stability of power transmission. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of this utility model (I);

[0019] Figure 2 This is a schematic diagram of the overall structure of the present utility model (II);

[0020] Figure 3 This is a schematic diagram of the overall structure of this utility model (III);

[0021] Figure 4 This is a partially enlarged structural diagram of point A in this utility model;

[0022] Figure 5 This is a partially enlarged structural diagram of section B of this utility model. Detailed Implementation

[0023] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0025] like Figures 1 to 5 As shown, this utility model discloses a multi-functional truss manipulator structure with high stability, including a support frame 1 and a y-axis connecting beam 2. The support frame 1 is provided with symmetrically arranged x-axis connecting beams 3. The y-axis connecting beam 2 can move horizontally along the x-axis connecting beam 3. The y-axis connecting beam 2 is provided with a liftable z-axis connecting beam 4. The z-axis connecting beam 4 can move horizontally along the y-axis connecting beam 2. The z-axis connecting beam 4 is used to install the manipulator.

[0026] The structure of the Y-axis connecting beam 2 that can move horizontally along the X-axis connecting beam 3 is as follows: an X-axis transmission rack 5 is provided on the X-axis connecting beam 3, and an X-axis motor 6 is provided on the Y-axis connecting beam 2. The output end of the X-axis motor 6 is provided with a transmission shaft 7 extending toward the transmission rack. The end of the transmission shaft 7 is connected to an X-axis transmission gear 8 that meshes with the X-axis transmission rack 5. When the X-axis motor 6 drives the transmission shafts 7 on both sides to rotate through the transmission box, it can drive the X-axis transmission gear 8 to rotate. Under the guidance of the corresponding slide rail slider, the X-axis transmission gear 8 and the X-axis transmission rack 5 can move relative to each other, thereby realizing the horizontal movement of the Y-axis connecting beam 2 along the X-axis connecting beam 3.

[0027] The structure of the z-axis connecting beam 4, which can move horizontally along the y-axis connecting beam 2, is as follows: a y-axis transmission rack 12 and a y-axis motor 13 are provided on the side of the y-axis connecting beam 2 facing away from the support plate 91. The output end of the y-axis motor 13 is provided with a y-axis transmission gear, which meshes with the y-axis transmission rack 12. When the y-axis motor 13 drives the y-axis transmission gear to rotate, relative movement can be generated between the y-axis transmission gear and the y-axis transmission rack 12 under the guidance of the corresponding slide rail slider, thereby realizing the horizontal movement of the z-axis connecting beam 4 along the y-axis connecting beam 2.

[0028] The structure for lifting and lowering the Z-axis connecting beam 4 is as follows: a Z-axis motor 15 is installed above the Y-axis connecting beam 2, and a Z-axis transmission gear is installed at the output end of the Z-axis motor 15. A Z-axis transmission rack 16 is fixed to the outside of the Z-axis connecting beam 4, and the Z-axis transmission rack 16 meshes with the Z-axis transmission gear. When the Z-axis motor 15 drives the Z-axis transmission gear to rotate, relative movement occurs between the Z-axis transmission gear and the Z-axis transmission rack 16 under the guidance of the corresponding slide rail slider, thereby realizing the lifting and lowering of the Z-axis connecting beam 4. In this way, the robot arm connected to the Z-axis connecting beam 4 in the truss can perform multi-axis movement, thereby meeting more processing needs and expanding its functional richness.

[0029] In this embodiment, a support assembly is provided on the Y-axis connecting beam 2. The support assembly is used to support the transmission shaft 7 to improve the stability of power transmission. The specific structure of the support assembly includes a support plate 91, and a support seat 92 is provided below the support plate 91. The support seat 92 is used to support the transmission shaft 7. A tie rod 93 is provided between the support seat 92 and the support plate 91. The support seat 92 has a bottom through hole for the tie rod 93 to pass through, and the support plate 91 has a top through hole for the tie rod 93 to pass through. The two ends of the tie rod 93 are connected to the support plate 91 and the support seat 92 respectively to install the support seat 92 on the support plate 91.

[0030] In this embodiment, a support wheel 921 that rotates via a pin is provided on the support base 92. When the transmission shaft 7 rotates, the support wheel 921 contacts the transmission shaft 7, thus driving the support wheel 921 to rotate. As a result, while the support base 92 supports the transmission shaft 7 through the support wheel 921, the friction generated between the two in contact is rolling friction, which reduces the frictional force on the transmission shaft 7 when supporting it, thereby facilitating the x-axis motor 6 to drive the transmission shaft 7 to rotate.

[0031] In addition, an annular positioning groove 721 is provided on the outer periphery of the drive shaft 7. The annular positioning groove 721 is adapted to the support wheel 921. The annular positioning groove 721 can axially limit the support wheel 921 so that the support wheel 921 can be stably contacted with the drive shaft 7, thus ensuring the stability of the support for the drive shaft 7.

[0032] In this example, the top and bottom of the pull rod 93 are respectively provided with top thread and bottom thread. Nuts that form a threaded fit with the top thread and bottom thread can be screwed into the top and bottom of the pull rod 93, respectively. This allows the top and bottom of the pull rod 93 to form a detachable connection with the support plate 91 and the support base 92, respectively, which facilitates the assembly and disassembly of the whole.

[0033] In this embodiment, the drive shaft 7 includes a connecting part 71 and an extension part 72, which are connected by a coupling. The end of the connecting part 71 is connected to the x-axis drive gear 8 via a keyway. By setting the drive shaft 7 in separate parts, the overall length of the drive shaft 7 is too long when it is set as a whole, which would reduce its rigidity. This ensures that the x-axis drive gear 8 and the x-axis drive rack 5 can mesh fully. Furthermore, a bearing seat 10 is provided on the y-axis connecting beam 2, which is connected to the connecting part 71, thereby providing further support for the drive shaft 7 and improving the stability of the support for the drive shaft 7.

[0034] In this embodiment, a support beam 11 is provided below the support plate 91. The two ends of the support beam 11 are connected to the y-axis connecting beam 2 and the support plate 91 by bolts and nuts, respectively. There are multiple support beams 11 and they are spaced apart from each other. The support beams 11 can support the support plate 91 to improve the load-bearing capacity of the support plate 91.

[0035] This specific embodiment is merely an explanation of the present utility model and is not intended to limit the present utility model. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but as long as they are within the scope of the claims of the present utility model, they are protected by patent law.

Claims

1. A highly stable multi-functional truss manipulator structure, characterized in that, The device includes a support frame and a Y-axis connecting beam. The support frame has symmetrically arranged X-axis connecting beams, which can move horizontally along the X-axis. The Y-axis connecting beam also has a liftable Z-axis connecting beam, which can move horizontally along the Y-axis. The X-axis connecting beam has an X-axis drive rack, and the Y-axis connecting beam has an X-axis motor. The output end of the X-axis motor has a drive shaft extending towards the drive rack. The end of the drive shaft is connected to an X-axis drive gear that meshes with the X-axis drive rack. The Y-axis connecting beam has a support assembly for supporting the drive shaft, thereby improving the stability of power transmission.

2. The multi-functional gantry robot structure with high stability according to claim 1, characterized in that, The support assembly includes a support plate, a support seat is provided below the support plate, the support seat is used to support the drive shaft, a tie rod is provided between the support seat and the support plate, the support seat is provided with a bottom through hole for the tie rod to pass through, the support plate is provided with a top through hole for the tie rod to pass through, and the two ends of the tie rod are respectively connected to the support plate and the support seat.

3. The highly stable multi-functional truss manipulator structure according to claim 2, characterized in that, The support base is equipped with rotatable support wheels.

4. The highly stable multi-functional truss manipulator structure according to claim 3, characterized in that, The drive shaft is provided with an annular positioning groove on its outer circumference. The annular positioning groove is adapted to the support wheel so that the support wheel is in stable contact with the drive shaft.

5. A highly stable multi-functional truss manipulator structure according to claim 2 or 3, characterized in that, The top and bottom of the pull rod are respectively provided with a top thread and a bottom thread, and the top and bottom of the pull rod can be screwed into nuts that form a threaded fit with the top thread and the bottom thread, respectively.

6. The highly stable multi-functional truss manipulator structure according to claim 1, characterized in that, The drive shaft includes a connecting part and an extension part, which are connected by a coupling. The end of the connecting part is connected to the x-axis drive gear, and a bearing seat is provided on the y-axis connecting beam. The bearing seat is connected to the connecting part.

7. The highly stable multi-functional truss manipulator structure according to claim 2, characterized in that, A support beam is provided below the support plate. The two ends of the support beam are respectively connected to the y-axis connecting beam and the support plate. There are multiple support beams, which are spaced apart from each other.

8. The highly stable multi-functional truss manipulator structure according to claim 2, characterized in that, The y-axis connecting beam is provided with a y-axis drive rack and a y-axis motor on the side facing away from the support plate. The output end of the y-axis motor is provided with a y-axis drive gear, which meshes with the y-axis drive rack.

9. A highly stable multi-functional truss manipulator structure according to claim 8, characterized in that, A z-axis motor is provided above the y-axis connecting beam. The output end of the z-axis motor is provided with a z-axis transmission gear. A z-axis transmission rack is provided on the outside of the z-axis connecting beam. The z-axis transmission rack meshes with the z-axis transmission gear.

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