Double-chamber truss manipulator beam damping mechanism

Abstract

This utility model discloses a vibration damping mechanism for a dual-chamber truss manipulator beam, belonging to the field of trusses. The mechanism includes a truss with guide rails, a TMD (Transient Damping Device) vibration damper at the rear end of the guide rails, and a mounting frame welded and fixed to the truss outside the TMD vibration damper. A fan is mounted at the lower end of the mounting frame. This utility model solves the problem of gradually decreasing vibration damping capacity of existing damping mechanisms due to heat dissipation difficulties at the TMD location during vibration damping. The vibration generated by the manipulator sliding laterally along the guide rails is transmitted and buffered by the TMD vibration damper. During the buffering process, the fan actively draws in external air and delivers it to the vibrator's surroundings, providing efficient heat dissipation. Furthermore, during maintenance, the mounting base can be directly pulled laterally for efficient and direct maintenance.

Description

Technical Field

[0001] This utility model relates to the field of trusses, specifically a vibration reduction mechanism for the crossbeam of a double-chamber truss manipulator. Background Technology

[0002] The dual-chamber gantry robot beam vibration damping mechanism is a device specifically designed to reduce the vibration and swaying generated by gantry robots during operation. This mechanism achieves the vibration damping effect by installing a TMD (Total Mass Damping) in the middle of the gantry robot beam. TMD is a technology that utilizes the dynamic characteristics of an added mass system to absorb and dissipate the vibration energy of the main structure. It can effectively reduce the vibration amplitude of the robot, improve the stability and accuracy of the robot, and enhance the vibration damping performance to meet the needs of high-precision and high-efficiency automated production.

[0003] Existing vibration damping mechanisms often require the installation of a protective structure on the outside of the TMD for installation and protection. However, after the protective structure is installed, it is difficult to carry out subsequent maintenance and heat dissipation of the TMD itself. The difficulty in heat dissipation at the location of the TMD causes the vibration damping capacity of the TMD to gradually decrease. Utility Model Content

[0004] The purpose of this utility model is to provide a vibration damping mechanism for a double-chamber truss manipulator beam. The vibration generated by the manipulator sliding laterally along the guide rail is transmitted and buffered by the TMD vibration damper. During the buffering process, the start of the fan can actively draw in external air and send it to the vicinity of the TMD vibration damper, providing efficient heat dissipation. Furthermore, during maintenance, the mounting base can be directly pulled laterally. The lateral sliding of the mounting base can drive the upper TMD vibration damper out of the mounting frame, enabling efficient and direct maintenance and solving the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a double-chamber truss manipulator beam vibration damping mechanism, comprising a truss with guide rails, a TMD vibration damper at the rear end of the guide rails, an installation frame welded and fixed to the truss on the outside of the TMD vibration damper, a fan at the lower end of the installation frame, an air outlet on one side of the installation frame, a baffle at the front end of the installation frame, and guide rods at the upper ends of both sides of the installation frame and on both sides of the lower end of the installation frame.

[0006] Preferably, one end of each of the four guide rods is provided with a limiting frame, and the mounting frame, limiting frame, guide rod and guide rail are welded and fixed together in sequence.

[0007] Preferably, a movable groove is provided through one side of the outer side of the limiting frame, and a sliding frame is provided through the inside of the movable groove. One end of the sliding frame is welded and fixed to the baffle, and the guide rod slides through the other end of the sliding frame.

[0008] Preferably, one end of the limiting frame is provided with a threaded rod, which is welded and fixed to the limiting frame. The outer wall of the baffle is provided with a through hole corresponding to the position of the threaded rod, and the center of the through hole overlaps with the center of the threaded rod.

[0009] Preferably, a nut is rotatably mounted on the outside of the threaded rod, and the outer wall of the threaded rod is threadedly engaged with the inner wall of the nut.

[0010] Preferably, a second fixing pipe is provided on the other side of the mounting frame, and a first fixing pipe is provided on one side of the air outlet of the fan.

[0011] Preferably, the second fixing pipe is sealed to the first fixing pipe via a flexible hose, and the mounting frame, the second fixing pipe, the flexible hose, the first fixing pipe and the fan are sequentially sealed to each other.

[0012] Preferably, the lower end of the mounting frame is provided with a mounting base, and the mounting base is fixedly connected to the lower end of the TMD vibration damper by bolts, and the mounting base is welded and fixed to the baffle.

[0013] Preferably, a pair of rollers are provided on both sides of the lower end of the mounting base, and a sliding rail is provided at the lower end of the outer side of the rollers, with the rollers embedded inside the sliding rail.

[0014] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0015] In this invention, after the TMD vibration damper is normally installed in the lower part of the mounting frame via bolts, the vibration generated by the robotic arm sliding laterally along the guide rail is transmitted and buffered by the TMD vibration damper. During the buffering process, the start of the fan can actively draw in external air and send it to the area around the TMD vibration damper, providing efficient heat dissipation. Furthermore, during maintenance, the mounting base can be pulled laterally, and the lateral sliding of the mounting base can pull the upper TMD vibration damper out of the mounting frame, exposing it for user maintenance. After the TMD vibration damper is reinstalled laterally, the nut rotates outside the threaded rod, causing the baffle to fit tightly against the mounting frame, ensuring that the vibration of the guide rail is stably transmitted to the TMD vibration damper. The TMD vibration damper buffers the vibration at the guide rail position, and the air cooling maintains stable heat dissipation at the TMD vibration damper position. The sliding mechanism allows for efficient maintenance, thus extending the service life of the TMD vibration damper. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall external structure of this utility model;

[0017] Figure 2 This is a schematic diagram of the flexible hose transmission structure of this utility model;

[0018] Figure 3 This is a schematic diagram of the lateral movement trajectory of the baffle of this utility model;

[0019] Figure 4 For the present utility model Figure 3 Enlarged view of a portion of region A in the middle;

[0020] Figure 5 This is a cross-sectional view of the internal structure of the mounting frame of this utility model;

[0021] Figure 6 For the present utility model Figure 5 Enlarged view of a portion of region B in the middle.

[0022] In the diagram: 1. Truss; 2. Hopper; 3. Guide rail; 4. Mounting frame; 5. Fan; 6. Air outlet; 7. Baffle; 8. First fixed pipe; 9. Second fixed pipe; 10. Flexible hose; 11. Guide rod; 12. Sliding frame; 13. Movable groove; 14. Limiting frame; 15. Threaded rod; 16. TMD vibration damping; 17. Mounting base; 18. Roller; 19. Sliding rail. Detailed Implementation

[0023] The present invention will be further described below with reference to specific embodiments.

[0024] like Figure 1 and Figure 2 As shown, a vibration damping mechanism for a dual-chamber truss manipulator beam in this embodiment includes a truss 1, with a hopper 2 at the upper end of the truss 1. The hopper 2 contains materials to be gripped, which are then directly gripped by the manipulator.

[0025] A guide rail 3 is horizontally arranged at the upper end of the hopper 2, and the guide rail 3 is welded and fixed to the truss 1. After being driven, the robot arm can move along the hopper 2. The sliding along the hopper 2 can adapt to the processing of materials. After the robot arm grabs a heavy item, it will vibrate at the position of the guide rail 3. A TMD vibration damper 16 is arranged at the rear end of the guide rail 3. The TMD vibration damper 16 can buffer the vibration at the position of the guide rail 3. The vibration generated at the position of the guide rail 3 is transmitted to the TMD vibration damper 16 for buffering.

[0026] Furthermore, the TMD vibration damper 16 is provided with an external mounting frame 4, and the mounting frame 4 is welded and fixed to the outer wall of the truss 1. A baffle 7 is provided at the front end of the mounting frame 4, and the TMD vibration damper 16 can be wrapped and protected by the baffle 7 and the mounting frame 4.

[0027] In order to cool the internal area of ​​the mounting frame 4 and the baffle 7, a fan 5 is provided at the lower end of the mounting frame 4, and an air outlet 6 is provided on one side of the mounting frame 4. After the fan 5 is started, the gas generated is sent into the interior of the mounting frame 4 and then discharged from the air outlet 6.

[0028] In this embodiment, in order to facilitate gas transmission, a second fixed pipe 9 is provided on the other side of the mounting frame 4, and a first fixed pipe 8 is provided on one side of the air outlet of the fan 5. The gas discharged by the fan 5 is transmitted by the first fixed pipe 8, and after being transmitted by the first fixed pipe 8, the transmitted gas is received by the second fixed pipe 9.

[0029] It is worth mentioning that, in order to prevent the vibration of the guide rail 3 from being transmitted to the first fixed pipe 8 and affecting the start-up of the fan 5, the second fixed pipe 9 is sealed to the first fixed pipe 8 through a hose 10. The mounting frame 4, the second fixed pipe 9, the hose 10, the first fixed pipe 8 and the fan 5 are sequentially sealed to each other. The transmission of gas can be carried out through the hose 10, and the vibration of the guide rail 3 can be buffered by the position of the hose 10, so as to prevent the vibration from affecting the transmission of the fan 5.

[0030] To facilitate the installation of the TMD vibration damper 16 and its removal from the mounting frame 4, as shown in Figure 3, a mounting base 17 is provided at the lower end of the mounting frame 4. The mounting base 17 is fixedly connected to the lower end of the TMD vibration damper 16 by bolts. The mounting base 17 is located inside the mounting frame 4 and is welded and fixed to the baffle 7. After the baffle 7 is pulled laterally, the baffle 7 can drive the TMD vibration damper 16 to be removed from the mounting frame 4, which facilitates the user's inspection and maintenance of the TMD vibration damper 16.

[0031] Furthermore, in order to provide stability for the movement of the TMD damper 16, such as Figure 5 As shown, a pair of rollers 18 are provided on both sides of the lower end of the mounting base 17, and the two ends of the rollers 18 are rotatably connected to the lower end of the mounting base 17. During the lateral movement of the mounting base 17, the rotation of the rollers 18 can reduce the friction between the mounting base 17 and the mounting frame 4. Figure 6 As shown, a sliding rail 19 is provided at the lower end of the outer side of the roller 18, and the roller 18 is embedded in the sliding rail 19. When the roller 18 rotates and moves laterally, the roller 18 rotates within the sliding rail 19, and the sliding rail 19 can limit the movement trajectory of the roller 18.

[0032] It is worth mentioning that, in order to further assist the movement trajectory of the mounting base 17 and to facilitate the transmission of subsequent vibrations, guide rods 11 are provided on the upper ends of both sides of the mounting frame 4 and on both sides of the lower end of the mounting frame 4. A limiting frame 14 is provided at one end of each of the four guide rods 11, and the mounting frame 4, the limiting frame 14, the guide rods 11, and the guide rail 3 are sequentially welded and fixed together. Figure 4As shown, a movable groove 13 is provided through one side of the outer side of the limiting frame 14. A sliding frame 12 is provided through the inside of the movable groove 13, and one end of the sliding frame 12 is welded and fixed to the baffle 7. The guide rod 11 slides through the other end of the sliding frame 12. When the baffle 7 is pulled laterally, the sliding frame 12 will first slide in the movable groove 13. At the same time, the sliding frame 12 will also slide outside the guide rod 11. The limitation of the movable groove 13 and the guide rod 11 can provide stability for the movement of the baffle 7.

[0033] In this embodiment, a threaded rod 15 is provided at one end of the limiting frame 14. The threaded rod 15 is welded and fixed to the limiting frame 14. A through hole is provided on the outer wall of the baffle 7 corresponding to the position of the threaded rod 15. The center of the through hole overlaps with the center of the threaded rod 15. After the baffle 7 covers the outer wall of the mounting frame 4, the threaded rod 15 will pass through and protrude from the through hole. A nut is rotatably installed on the outside of the exposed threaded rod 15, and the outer wall of the threaded rod 15 is threadedly engaged with the inner wall of the nut. After the nut rotates on the outer wall of the threaded rod 15 and is pressed tightly against the outer wall of the limiting frame 14, it can be fixed and make the baffle 7 press tightly against the front end of the mounting frame 4. The contact between the mounting frame 4 and the baffle 7 can facilitate the transmission of vibration generated at the position of the guide rail 3, facilitate the transmission of vibration to the TMD vibration damper 16 for vibration damping, and facilitate the removal and installation of the TMD vibration damper 16, and facilitate the maintenance of the TMD vibration damper 16.

[0034] Working principle: When using the dual-chamber truss robot to grasp and process materials, the robot slides laterally along the guide rail 3. The vibration during lateral movement is damped by the TMD vibration damper 16. The TMD vibration damper 16 is externally enclosed and protected by the mounting frame 4 and the baffle 7 to prevent contact or collision with external foreign objects. During daily use, heat dissipation of the TMD vibration damper 16 is achieved by drawing in external air through the fan 5. The air is then delivered through the first fixed pipe 8, the flexible hose 10, and the second fixed pipe 9. The gas enters the area enclosed by the baffle 7 and the mounting frame 4, and directly cools the TMD vibration damper 16. After the gas enters the area enclosed by the mounting frame 4 and the baffle 7, the heat is discharged from the air outlet 6. When the TMD vibration damper 16 needs to be repaired, the nut outside the threaded rod 15 is rotated to remove it, and the baffle 7 is pulled to make the sliding frame 12 slide in the movable groove 13. At the same time, one end of the sliding frame 12 slides outside the guide rod 11. During the lateral movement of the baffle 7, the roller 18 rotates in the sliding rail 19, and the sliding rail 19 provides a stable movement trajectory.

[0035] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0036] 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.

Claims

1. A vibration damping mechanism for a double-chamber truss manipulator beam, comprising a truss (1) with guide rails (3), characterized in that, The rear end of the guide rail (3) is provided with a TMD vibration damper (16), and the exterior of the TMD vibration damper (16) is provided with a mounting frame (4) that is welded and fixed to the truss (1). The lower end of the mounting frame (4) is provided with a fan (5), and one side of the mounting frame (4) is provided with an air outlet (6). The front end of the mounting frame (4) is provided with a baffle (7), and the upper ends of both sides of the mounting frame (4) and both sides of the lower end of the mounting frame (4) are provided with guide rods (11).

2. The vibration damping mechanism for the crossbeam of a double-chamber truss manipulator according to claim 1, characterized in that, Each of the four guide rods (11) is provided with a limiting frame (14) at one end, and the mounting frame (4), the limiting frame (14), the guide rods (11) and the guide rail (3) are welded and fixed together in sequence.

3. The vibration damping mechanism for the crossbeam of a double-chamber truss manipulator according to claim 2, characterized in that, A movable groove (13) is provided through one side of the outer side of the limiting frame (14), and a sliding frame (12) is provided through the inside of the movable groove (13). One end of the sliding frame (12) is welded and fixed to the baffle (7), and the guide rod (11) slides through the other end of the sliding frame (12).

4. The vibration damping mechanism for the crossbeam of a double-chamber truss manipulator according to claim 3, characterized in that, One end of the limiting frame (14) is provided with a threaded rod (15), which is welded and fixed to the limiting frame (14). The outer wall of the baffle (7) is provided with a through hole corresponding to the position of the threaded rod (15), and the center of the through hole overlaps with the center of the threaded rod (15).

5. The vibration damping mechanism for the crossbeam of a double-chamber truss manipulator according to claim 4, characterized in that, A nut is rotatably mounted on the outside of the threaded rod (15), and the outer wall of the threaded rod (15) is threadedly engaged with the inner wall of the nut.

6. The vibration damping mechanism for the crossbeam of a double-chamber truss manipulator according to claim 1, characterized in that, A second fixing pipe (9) is provided on the other side of the mounting frame (4), and a first fixing pipe (8) is provided on one side of the air outlet of the fan (5).

7. The vibration damping mechanism for the crossbeam of a double-chamber truss manipulator according to claim 6, characterized in that, The second fixed pipe (9) is sealed to the first fixed pipe (8) by a hose (10), and the mounting frame (4), the second fixed pipe (9), the hose (10), the first fixed pipe (8) and the fan (5) are sealed to each other in sequence.

8. The vibration damping mechanism for the crossbeam of a double-chamber truss manipulator according to claim 7, characterized in that, The lower end of the mounting frame (4) is provided with a mounting base (17), and the mounting base (17) is fixedly connected to the lower end of the TMD vibration damper (16) by bolts. The mounting base (17) is welded and fixed to the baffle (7).

9. The vibration damping mechanism for the crossbeam of a double-chamber truss manipulator according to claim 8, characterized in that, A pair of rollers (18) are provided on both sides of the lower end of the mounting base (17). A sliding rail (19) is provided on the lower end of the outside of the rollers (18), and the rollers (18) are embedded in the sliding rail (19).

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