Adaptive support mechanism for the free end of a cantilever and cantilever sliding device

Abstract

The utility model discloses cantilever overhanging end adaptive support mechanism and cantilever sliding device, and this support mechanism includes: cantilever hanging plate, first mounting plate is connected in cantilever hanging plate, and first mounting plate is connected with support wheel, second mounting plate is slidably connected in cantilever hanging plate along the up-down direction, and second mounting plate is connected with floating wheel, and floating wheel is located the same side of cantilever hanging plate with support wheel, elastic member is connected in cantilever hanging plate and provides the elastic force for second mounting plate, and elastic member has the pre -compression elastic force of urging second mounting plate to be close to first mounting plate. Once the support plate exists the height nonparallel situation with linear guide, the setting of elastic member can ensure that floating wheel is always attached to the lower bottom surface of support plate, guarantees that cantilever assembly can be attached to support plate and slides in the linear drive process, and the activity space of cantilever overhanging end up-down direction is given to this technique, avoids that cantilever assembly appears the jam in the horizontal movement process because of the height change of support plate.

Description

Technical Field

[0001] This utility model relates to the technical field of medical devices, and in particular to an adaptive support mechanism for the suspended end of a cantilever and a cantilever sliding device. Background Technology

[0002] In the structural design of cantilever robotic arms, stability becomes a particularly prominent issue when the cantilever itself is heavy. After the robotic arm has been in operation for a period of time, the suspended end of the cantilever is prone to sagging due to long-term stress and its own weight. This problem directly leads to a decrease in the operating accuracy of the robotic arm, thereby affecting the normal functioning of the overall equipment.

[0003] To address the aforementioned cantilever sagging issue, a corresponding cantilever end support mechanism needs to be designed to provide effective support. However, in actual installation, the linear guide rails fixing the robotic arm and the support plates used for cantilever end support often exhibit height misalignment. This misalignment becomes increasingly pronounced as the robotic arm's stroke increases and the installation distance lengthens, hindering the adaptation and effectiveness of the support mechanism and leading to jamming and harsh noise during operation. Therefore, a support solution that can adaptively compensate for height misalignment is urgently needed. Utility Model Content

[0004] The present invention aims to provide an adaptive support mechanism for the cantilevered end, which can compensate for the effects caused by the non-parallelism between the linear guide rail and the support plate.

[0005] According to a first aspect embodiment of the present invention, a cantilevered end adaptive support mechanism comprises: Cantilever bracket, used to connect the cantilevered end of the cantilever; A first mounting plate is connected to the cantilever hanging plate, and the first mounting plate is connected to a support wheel; The second mounting plate is slidably connected to the cantilever hanging plate in the vertical direction. The second mounting plate is connected to a floating wheel. The floating wheel and the support wheel are located on the same side of the cantilever hanging plate. The support wheel and the floating wheel together define the vertical clamping space. An elastic element, which is connected to the cantilever plate and provides elasticity to the second mounting plate, the elastic element having the function of driving the second mounting plate closer to the first mounting plate.

[0006] The cantilever end adaptive support mechanism according to the present invention has at least the following beneficial effects: In use, the cantilever assembly is driven linearly on the linear guide rail. The cantilever mounting plate is connected to the cantilever end of the cantilever assembly, and the cantilever end adaptive support mechanism is assembled on the fixed support plate. The extension direction of the support plate should be parallel to the linear guide rail. At this time, the support plate is located in the upper and lower clamping space. The support wheel is in contact with the upper surface of the support plate by gravity, and the floating wheel is in contact with the lower bottom surface of the support plate by the elastic force of the elastic element. Once the support plate and the linear guide rail are not parallel in height, the setting of the elastic element can ensure that the floating wheel is always in contact with the lower bottom surface of the support plate, ensuring that the cantilever end can slide in contact with the support plate during the linear drive of the cantilever assembly. The cantilever end adaptive support mechanism provides the cantilever end with vertical movement space, avoiding jamming of the cantilever assembly due to the height change of the support plate during horizontal movement.

[0007] According to some embodiments of the present invention, the number of support wheels is greater than the number of floating wheels, and each floating wheel together with at least two support wheels forms a triangular stable structure.

[0008] According to some embodiments of the present invention, the first mounting plate is rotatably connected to the cantilever hanging plate via a rotating shaft, and the first mounting plate is connected to the support wheel outside the rotating shaft, with the central axis of the rotating shaft being parallel to the central axis of the support wheel.

[0009] According to some embodiments of this utility model, there are two support wheels, which are mirror images of the vertical symmetry plane of the first mounting plate, and the central axis of the rotating shaft coincides with the vertical symmetry plane of the first mounting plate.

[0010] According to some embodiments of the present invention, the central axis of the rotating shaft and the central axis of the floating wheel together form a vertical plane.

[0011] According to some embodiments of the present invention, the cantilever hanging plate is provided with a sliding groove, and the second mounting plate is slidably connected to the sliding groove in the up-down direction.

[0012] According to some embodiments of the present invention, the second mounting plate includes a sliding portion, the sliding portion having a limiting section and a sliding section, the limiting section having a size greater than the width of the sliding groove, and the sliding section having a size not greater than the width of the sliding groove, the sliding portion being slidably connected to the sliding groove through the sliding section.

[0013] According to some embodiments of the present invention, the second mounting plate further includes a limiting part, and the sliding segment is fixedly connected to the limiting part after passing through the sliding groove, and the limiting part has a size larger than the width of the sliding groove.

[0014] According to some embodiments of the present invention, the elastic element is disposed in the sliding groove, and both ends of the elastic element are in contact with the inner wall of the sliding groove and the second mounting plate, respectively.

[0015] According to a second aspect embodiment of the present invention, the cantilever sliding device includes: Linear guide rail; The cantilever assembly is slidably connected along the linear guide rail; A support plate is located at one end of the cantilever assembly opposite to the linear guide rail, and the support plate extends along the length direction of the linear guide rail. In the aforementioned cantilever overhang adaptive support mechanism, the cantilever mounting plate is connected to the overhang of the cantilever assembly, the support plate is located within the upper and lower clamping space, and the support wheel and the floating wheel abut against the upper surface and lower bottom surface of the support plate respectively, so that the overhang of the cantilever assembly fits against the support plate when sliding.

[0016] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural schematic diagram of the adaptive support mechanism for the cantilever suspended end provided in this embodiment of the utility model; Figure 2 yes Figure 1 An exploded three-dimensional view of the adaptive support mechanism at the cantilever's suspended end; Figure 3 yes Figure 1 The front view of the adaptive support mechanism at the cantilever's suspended end is shown. Figure 4 This is a three-dimensional structural schematic diagram of the cantilever sliding device provided in this embodiment of the utility model.

[0018] In the attached diagram: 100-cantilever mounting plate, 200-first mounting plate, 300-second mounting plate, 400-elastic element, 500-rotating shaft, 210-support wheel, 110-first shaft hole, 220-second shaft hole, 510-nut, 120-sliding groove, 320-sliding part, 321-limiting section, 322-sliding section, 310-floating wheel, 330-limiting part, 20-linear guide rail, 30-cantilever assembly, 40-support plate, 10-cantilever cantilever end adaptive support mechanism, 50-frame. Detailed Implementation

[0019] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0020] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and 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 this utility model.

[0021] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. If "first" or "second" is used in the description, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0022] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0023] like Figures 1 to 3 As shown, this embodiment of the utility model provides a cantilever cantilever end adaptive support mechanism 10, which includes a cantilever mounting plate 100, a first mounting plate 200, a second mounting plate 300, and an elastic element 400. These components work together to achieve an adaptive support function. The cantilever mounting plate 100 serves as the mounting base for the entire support mechanism. One side of the plate is specifically designed for fixed connection to the cantilever end, ensuring a stable connection between the mechanism and the cantilever assembly 30 through bolt tightening or other methods. The other side of the cantilever mounting plate 100 provides an mounting carrier for the assembly of the first mounting plate 200 and the second mounting plate 300.

[0024] For example, the first mounting plate 200 is connected to the cantilever hanging plate 100, and the first mounting plate 200 is connected to a freely rotatable support wheel 210. To further improve the support stability, the number of support wheels 210 is set to two, and the two support wheels 210 are distributed in a mirror symmetry with respect to the vertical symmetry plane of the first mounting plate 200.

[0025] In this embodiment, to improve the adaptability to the tilt of the support plate 40, the first mounting plate 200 can be rotatably connected to the cantilever hanging plate 100 via a pivot 500. Two support wheels 210 are connected to the first mounting plate 200 outside the pivot 500, and the central axis of the pivot 500 is parallel to the central axis of the support wheels 210. This structural design allows the first mounting plate 200 to rotate flexibly around the pivot 500, providing sufficient structural freedom for subsequent fitting with the tilted support plate 40. Simultaneously, the central axis of the pivot 500 precisely coincides with the vertical symmetry plane of the first mounting plate 200, ensuring balanced force on the first mounting plate 200 and avoiding rotational jamming caused by unilateral force, making the rotation process smoother and more reliable.

[0026] Specifically, the cantilever plate 100 is provided with a first shaft hole 110, and the first mounting plate 200 is provided with a second shaft hole 220. After aligning the first shaft hole 110 and the second shaft hole 220, the rotating shaft 500 is sequentially passed through the second shaft hole 220 and the first shaft hole 110, and the relative position of the rotating shaft 500 in the axial direction is locked by the nut 510 to prevent the rotating shaft 500 from coming out of the shaft hole. At this time, the first mounting plate 200 can rotate freely around the rotating shaft 500.

[0027] For example, the second mounting plate 300 and the cantilever hanging plate 100 are connected by a sliding connection in the vertical direction. Specifically, this is achieved by opening a sliding groove 120 extending vertically on the cantilever hanging plate 100. The second mounting plate 300 is provided with a sliding part 320 that matches the sliding groove 120. The sliding part 320 can be further subdivided into a limiting section 321 and a sliding section 322. The limiting section 321 is used to connect the floating wheel 310. The floating wheel 310 is assembled in a free-rotating manner. The floating wheel 310 and the support wheel 210 are located on the same side of the cantilever hanging plate 100. When the support plate 40 is located above the cantilever, the support wheel 210 is located above the floating wheel 310. When the support plate 40 is located below the cantilever, the floating wheel 310 is located above the support wheel 210. The limiting section 321 has a size greater than the width of the sliding groove 120, and the sliding section 322 has a size not greater than the width of the sliding groove 120, so that the sliding part 320 can be embedded in the sliding groove 120 through the sliding section 322 and maintain stable up and down sliding, and the sliding part 321 can prevent the second mounting plate 300 from passing through the sliding groove 120 as a whole.

[0028] To further enhance sliding stability and prevent the second mounting plate 300 from shifting position during sliding, the second mounting plate 300 also includes a limiting part 330. The sliding segment 322 is fixedly connected to the limiting part 330 after passing through the sliding groove 120. The limiting part 330 also has a size larger than the width of the sliding groove 120. At this time, the limiting part 330 and the limiting segment 321 together form a bidirectional limiting structure to ensure that the second mounting plate 300 can only move up and down along the sliding groove 120.

[0029] It is understood that this utility model does not limit the specific installation structure of the second mounting plate 300 and the cantilever hanging plate 100. In some other embodiments, the second mounting plate 300 can also maintain a vertical sliding connection with the cantilever hanging plate 100 through a dovetail groove structure, and is not limited to the above embodiments.

[0030] In this embodiment, the number of support wheels 210 exceeds the number of floating wheels 310. Since two support wheels 210 were mentioned above, only one floating wheel 310 is used to satisfy the requirement that the number of support wheels 210 exceeds the number of floating wheels 310. The floating wheel 310 is specifically positioned in the middle region of the two support wheels 210, allowing the two support wheels 210 and the one floating wheel 310 to together form an inverted triangular stable structure. This arrangement effectively improves the overall rigidity of the support mechanism and enhances its stability.

[0031] It is worth noting that the central axis of the rotating shaft 500 and the central axis of the floating wheel 310 together form a vertical plane, ensuring that the floating wheel 310 is located at the center of the two support wheels 210, thus avoiding lateral forces during operation that could cause the mechanism to jam or accelerate component wear. The support wheels 210 and the floating wheel 310 together define the upper and lower clamping spaces, the dimensions of which are adapted to the thickness of the support plate 40, providing a basis for subsequent cooperation with the support plate 40.

[0032] It is understood that in some other embodiments, the number of support wheels 210 may be more than two, such as three or four, and correspondingly, the number of floating wheels 310 may be more than one. Regardless of the number of support wheels 210, it is necessary to ensure that each floating wheel 310, together with at least two support wheels 210, forms a triangular stable structure. For example, in one embodiment, there are two floating wheels 310. One floating wheel 310, together with two or three support wheels 210 arranged in a row, forms a triangular stable structure, and the other floating wheel 310, together with two or three support wheels 210 arranged in a row, forms a triangular stable structure. The two sets of support wheels 210 may or may not have overlapping elements.

[0033] For example, the elastic element 400 is connected to the cantilever plate 100 and provides continuous elastic force to the second mounting plate 300. To make the elastic force transmission more direct, the elastic element 400 may be disposed within the sliding groove 120, with its two ends respectively in contact with the inner wall of the sliding groove 120 and the second mounting plate 300, ensuring that the elastic force of the elastic element 400 can act efficiently on the second mounting plate 300. The elastic element 400 has a pre-compression elastic force that drives the second mounting plate 300 closer to the first mounting plate 200. This pre-compression state ensures that the floating wheel 310 always has an upward pressing force, providing a guarantee for adhering to the lower surface of the support plate 40. In this embodiment, there are two elastic elements 400, and the two elastic elements 400 together provide continuous elastic force to the second mounting plate 300.

[0034] Depending on the different installation positions of the elastic element 400 within the sliding groove 120, its type also needs to be adjusted accordingly. For example, when the elastic element 400 is located below the second mounting plate 300, it can be selected as a compression spring, a spring sheet, or a rubber block; when the elastic element 400 is located above the second mounting plate 300, it can be selected as a tension spring. Since the compression spring is the most commonly used elastic element 400, it is selected as the elastic element 400 in this embodiment. The compression spring provides elastic support for the second mounting plate 300, keeping it lifted upwards, and when the second mounting plate 300 is subjected to a downward force, the compression spring can absorb the force through elastic deformation to maintain the floating state of the floating wheel 310.

[0035] like Figure 4 As shown, the support plate 40 mentioned above serves as a support for the cantilever's suspended end. In use, the cantilever assembly 30 is driven linearly on the linear guide rail 20. The cantilever hanging plate 100 is connected to the suspended end of the cantilever assembly 30, and the cantilever suspended end adaptive support mechanism 10 is assembled on the fixedly set support plate 40. The extension direction of the support plate 40 is parallel to the linear guide rail 20. At this time, the support plate 40 is located in the upper and lower clamping space. The support wheel 210 is kept in contact with the upper surface of the support plate 40 by gravity, and the floating wheel 310 is kept in contact with the lower bottom surface of the support plate 40 by the elastic force of the elastic element 400. When the fixed end of the cantilever assembly 30 is linearly driven on the linear guide rail 20, if the cantilever cantilever end adaptive support mechanism 10 and support plate 40 are not provided, the cantilever end of the cantilever assembly 30 will be in a suspended state. It is prone to drooping due to long-term stress and its own gravity. This problem directly leads to a decrease in the operating accuracy of the robotic arm, which in turn affects the normal functioning of the overall equipment.

[0036] Although the design requires the extension direction of the support plate 40 to be parallel to the linear guide 20, in actual applications, due to limitations such as material deformation and processing errors, it is difficult to ensure that the support plate 40 and the linear guide 20 are absolutely parallel. Since the linear guide 20 is a standard part and the support plate 40 is a non-standard part, in most cases the support plate 40 is tilted relative to the linear guide 20. If the support plate 40 and the linear guide rail 20 are not parallel at all heights, when the cantilever cantilever end adaptive support mechanism 10 moves on the inclined support plate 40, the elastic element 400 ensures that the floating wheel 310 is always in contact with the bottom surface of the support plate 40. At the same time, the load on the lower support wheel 210 increases, causing the first mounting plate 200 to rotate around the pivot 500 toward the higher support wheel 210, so as to evenly distribute the load on the two support wheels 210, ensuring that the two support wheels 210 are always in contact with the upper surface of the support plate 40, avoiding jamming, and ensuring that the cantilever end of the cantilever assembly 30 can slide in contact with the support plate 40 during linear drive, and to a certain extent correct the tilt of the support plate 40. In other words, when the support plate 40 is not parallel to the linear guide rail 20, the adaptive support mechanism 10 at the cantilever end provides vertical movement space for the cantilever end, preventing the cantilever assembly 30 from getting stuck due to the height change of the support plate 40 during horizontal movement, and effectively alleviating the problem of operating noise.

[0037] Although the existing technology also has an upper roller and a lower roller, the upper roller cannot rotate around the rotation axis 500, and the lower roller does not have a floating state. Therefore, when the support plate 40 tilts downward in the sliding direction, the bottom surface of the support plate 40 will interfere with the lower roller, and the upper roller will also detach from the upper surface of the support plate 40, resulting in running jam. If the cantilever assembly 30 is forcibly driven, it will produce a harsh noise.

[0038] like Figure 4 As shown, this embodiment of the invention also provides a cantilever sliding device, which includes a linear guide rail 20, a cantilever assembly 30, a support plate 40, and the aforementioned adaptive support mechanism 10 for the cantilever's suspended end. The linear guide rail 20 is fixedly mounted on the frame 50, and the length direction of the linear guide rail 20 is consistent with the sliding direction of the cantilever assembly 30. The cantilever assembly 30 is slidably connected to the linear guide rail 20 via a slider and reciprocates along the linear guide rail 20 via a power source.

[0039] Because the cantilever assembly 30 is quite heavy and its suspended end is in a suspended state, it is prone to sagging during long-term operation. To address this, a support plate 40 is fixedly installed on the frame 50. At this time, the support plate 40 is located at the end of the cantilever assembly 30 away from the linear guide rail 20. The support plate 40 extends along the length of the linear guide rail 20, and theoretically it should remain parallel to the linear guide rail 20. However, in actual installation and after long-term use, it is easy for the height to become non-parallel. The cantilever cantilever end adaptive support mechanism 10 is fixedly connected to the cantilever end of the cantilever assembly 30 via the cantilever hanging plate 100, and the cantilever cantilever end adaptive support mechanism 10 is assembled on the fixed support plate 40. At this time, the support plate 40 is located in the upper and lower clamping space of the cantilever cantilever end adaptive support mechanism 10. The support wheel 210 keeps in close contact with the upper surface of the support plate 40 under the action of the cantilever assembly 30 and its own weight, while the floating wheel 310 keeps in close contact with the lower bottom surface of the support plate 40 under the action of the pre-compression elastic force of the elastic element 400, forming a two-way clamping fit on the support plate 40, while providing stable support for the cantilever cantilever end and preventing sagging.

[0040] Since the cantilever sliding device adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be repeated here.

[0041] The embodiments of the present utility model have been described in detail above with reference to the accompanying drawings. However, the present utility model is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present utility model.

Claims

1. A cantilevered end adaptive support mechanism, characterized in that, include: Cantilever bracket, used to connect the cantilevered end of the cantilever; A first mounting plate is connected to the cantilever hanging plate, and the first mounting plate is connected to a support wheel; The second mounting plate is slidably connected to the cantilever hanging plate in the vertical direction. The second mounting plate is connected to a floating wheel. The floating wheel and the support wheel are located on the same side of the cantilever hanging plate. The support wheel and the floating wheel together define the vertical clamping space. An elastic element, which is connected to the cantilever plate and provides elasticity to the second mounting plate, has a pre-compression elasticity that drives the second mounting plate closer to the first mounting plate.

2. The cantilevered end adaptive support mechanism according to claim 1, characterized in that, The number of support wheels is greater than the number of floating wheels, and each floating wheel together with at least two support wheels forms a triangular stable structure.

3. The cantilevered end adaptive support mechanism according to claim 2, characterized in that: The first mounting plate is rotatably connected to the cantilever hanging plate via a rotating shaft. The first mounting plate is connected to the support wheel outside the rotating shaft, and the central axis of the rotating shaft is parallel to the central axis of the support wheel.

4. The cantilevered end adaptive support mechanism according to claim 3, characterized in that, The number of support wheels is two, and the two support wheels are mirror images of the vertical symmetry plane of the first mounting plate. The central axis of the rotating shaft coincides with the vertical symmetry plane of the first mounting plate.

5. The cantilevered end adaptive support mechanism according to claim 4, characterized in that, The central axis of the rotating shaft and the central axis of the floating wheel together form a vertical plane.

6. The cantilevered end adaptive support mechanism according to claim 1, characterized in that, The cantilever mounting plate is provided with a sliding groove, and the second mounting plate is slidably connected to the sliding groove in the vertical direction.

7. The cantilevered end adaptive support mechanism according to claim 6, characterized in that: The second mounting plate includes a sliding part, which has a limiting section and a sliding section. The limiting section has a size greater than the width of the sliding groove, and the sliding section has a size not greater than the width of the sliding groove. The sliding part is slidably connected to the sliding groove through the sliding section.

8. The cantilevered end adaptive support mechanism according to claim 7, characterized in that, The second mounting plate also includes a limiting part, and the sliding segment is fixedly connected to the limiting part after passing through the sliding groove. The limiting part has a size larger than the width of the sliding groove.

9. The cantilevered end adaptive support mechanism according to claim 6, characterized in that, The elastic element is disposed in the sliding groove, and both ends of the elastic element are in contact with the inner wall of the sliding groove and the second mounting plate, respectively.

10. A cantilever sliding device, characterized in that, include: Linear guide rail; The cantilever assembly is slidably connected along the linear guide rail; A support plate is located at one end of the cantilever assembly opposite to the linear guide rail, and the support plate extends along the length direction of the linear guide rail. The cantilever overhang adaptive support mechanism as described in any one of claims 1 to 9, wherein the cantilever mounting plate is connected to the overhang of the cantilever assembly, the support plate is located within the upper and lower clamping space, and the support wheel and the floating wheel abut against the upper surface and lower bottom surface of the support plate respectively, so that the overhang of the cantilever assembly fits against the support plate when sliding.

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