Truss robot, truss Z-axis mechanism and overload protector thereof

Abstract

The present invention relates to the technical field of overload protection, and in particular to an overload protector. In addition, the present invention also relates to a truss Z-axis mechanism including the above-mentioned overload protector and a truss robot including the above-mentioned truss Z-axis mechanism. The overload protector includes: an input member, used to connect a power source; an output member, used to connect a driven member and threadedly connected to the input member; and an elastically retractable first limit member. The present invention provides a first resistance that prevents the output member from rotating relative to the input member in a first direction by arranging an elastically retractable first limit member between the input member and the output member, so that the driven member can structurally automatically cut off the torque transmission between the input member and the output member when overloaded, thereby ensuring that the truss Z-axis mechanism used by the overload protector can immediately take protective measures when a collision occurs. The overload protector has a simple structure, low cost, good reliability and good market prospects.

Description

Technical Field

[0001] The present invention relates to the technical field of overload protection, and in particular to an overload protector. In addition, the present invention also relates to a truss Z-axis mechanism including the above-mentioned overload protector and a truss robot including the above-mentioned truss Z-axis mechanism. Background Art

[0002] The truss robot is suitable for loading and unloading, workpiece flipping, and workpiece transfer of machine tools and production lines. Its spatial movement is achieved by three mutually perpendicular linear motions, mainly including the X-axis feed mechanism, the Y-axis feed mechanism, the Z-axis feed mechanism, and the clamping mechanism configured on the Z-axis feed mechanism, that is, through the joint movement of the X-axis, Y-axis, and Z-axis, a series of automatic operation processes are realized. At present, the Z-axis feed mechanism is mainly composed of a motor, a reducer, and a Z-axis gear rack assembly. The motor drives the gear to rotate through the reducer, so that the Z-axis rack produces a displacement in the Z-axis direction (up and down direction), thereby causing the clamping mechanism fixed on the Z-axis rack to displace; however, in the process of the Z-axis driving the clamping mechanism to move down to grab the material, when the clamping mechanism grabs the material and collides, the clamping mechanism will be blocked by the material and cannot move down, but the motor will continue to run without stopping, which will cause the clamping mechanism to collide and cause greater damage. Summary of the invention

[0003] The technical problem to be solved by the present invention is: in order to solve the problem in the prior art that a mobile mechanism that uses rotational power as input to drive a mobile end to displace cannot automatically cut off power when an impact occurs at the execution end, an overload protector is now provided.

[0004] The technical solution adopted by the present invention to solve the technical problem is: an overload protector, comprising:

[0005] An input member for connecting to a power source;

[0006] An output member, used to connect to a driven member and threadedly connected to an input member;

[0007] And a first elastically retractable limit member is used to provide a first resistance to prevent the output member from rotating relative to the input member along the first direction. When the force transmitted to the output member by the driven member causes the output member to overcome the first resistance, the first limit member is pushed back to allow the output member to rotate relative to the input member along the first direction.

[0008] In the present solution, an elastically retractable first limit member is arranged between the input member and the output member to provide a first resistance that hinders the output member from rotating relative to the input member in the first direction. When the driven member is overloaded, the output member will automatically push the first limit member until it no longer hinders the output member from rotating relative to the input member in the first direction, so that the output member no longer rotates synchronously with the input member, thereby automatically cutting off the torque transmission between the input member and the output member from a structural perspective, thereby ensuring that the mobile mechanism used by the overload protector can immediately take protective measures when a collision occurs at the mobile end. The overload protector has a simple structure, low cost, good reliability and good market prospects.

[0009] Furthermore, it also includes a second stopper, the second stopper is used to provide a second resistance to prevent the output member from rotating relative to the input member in the second direction, and the rotation of the output member relative to the input member in the first direction is opposite to the rotation of the output member relative to the input member in the second direction;

[0010] Since the moving end of the moving mechanism usually reciprocates in a straight line, there is a possibility of collision on its forward path, and there are generally no obstacles on its backward path. Therefore, the first limiter can disconnect the torque transmission between the input member and the output member when the input member rotates in the positive direction; the second limiter can ensure that when the input member rotates in the reverse direction, the torque transmission between the input member and the output member is maintained stably, so that the moving end of the moving mechanism can stably maintain the backward movement;

[0011] At the same time, when the thread between the input member and the output member is tightened, it can also play a role in maintaining stable torque transmission between the input member and the output member when the input member rotates in the opposite direction.

[0012] Further, the first limit member and the second limit member are both configured on the input member, and the output member has a limit boss, and the first limit member and the second limit member are respectively located on both sides of the limit boss; or the first limit member and the second limit member are both configured on the output member, and the input member has a limit boss, and the first limit member and the second limit member are respectively located on both sides of the limit boss; thereby, when the limit boss is stuck between the first limit member and the second limit member, the input member and the output member can maintain synchronous rotation.

[0013] Specifically, the first limiting member is a ball plunger.

[0014] Furthermore, a keyway for torque transmission is provided in the axial hole of the output member, and a key matching the keyway in the axial hole of the output member is provided on the driven member, and the keyway of the output member and the key of the driven member are connected in an axial sliding manner along the output member; the torque transmission between the output member and the driven member can be achieved by utilizing the cooperation of the key and the keyway, and when the output member rotates relative to the input member in a first direction, the output member can slide along its axial direction.

[0015] Furthermore, it also includes a first detection element and a second detection element located below the first detection element. The second detection element can be triggered when the output member moves downward, and the first detection element can be triggered when the output member moves upward. The purpose of arranging the first detection element and the second detection element is that when the output member slides and moves downward along the axial direction, it can be detected by the second detection element, and the second detection element sends feedback information to the control system. The control system controls the power source to stop, and after the impact is repaired, controls the motor to reverse, and the output member moves up along the axial direction until it is detected by the first detection element. The first detection element sends feedback information to the control system, and the overload protector resumes normal operation.

[0016] Furthermore, a notch is provided on the outer circumferential surface of the input member, and the notch extends into the axial hole of the input member. A locking screw is threadedly connected to the input member, and the locking screw passes through the notch; thereby, the input member can be tightly clamped to the main shaft of the power source by tightening the locking screw, so as to facilitate the assembly between the input member and the main shaft of the power source.

[0017] Furthermore, the input member is provided with an external thread section, the output member is provided with an internal thread hole matching the external thread section, and the external thread section is screwed into the internal thread hole.

[0018] The present invention also provides a truss Z-axis mechanism, comprising the above-mentioned overload protector.

[0019] The present invention also provides a truss robot, comprising a truss Z-axis mechanism, wherein the truss Z-axis mechanism adopts the above-mentioned truss Z-axis mechanism.

[0020] The beneficial effects of the present invention are as follows: the overload protector of the present invention provides a first resistance to prevent the output member from rotating relative to the input member in a first direction by arranging an elastically retractable first limit member between the input member and the output member, so that the driven member can structurally automatically cut off the torque transmission between the input member and the output member when overloaded, thereby ensuring that the truss Z-axis mechanism used by the overload protector can immediately take protective measures when a collision occurs, and the overload protector has a simple structure, low cost, good reliability and good market prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0022] Figure 1 is an exploded schematic diagram of the overload protector of the present invention;

[0023] Figure 2 is a three-dimensional schematic diagram of one side of the overload protector of the present invention;

[0024] Figure 3 is a three-dimensional schematic diagram of the other side of the overload protector of the present invention;

[0025] Figure 4 is a schematic top view of the overload protector of the present invention;

[0026] Figure 5 is a cross-sectional schematic diagram of the overload protector of the present invention;

[0027] Figure 6 is a schematic diagram of the main view of the overload protector of the present invention;

[0028] Figure 7 It is a schematic diagram of the coordination between the overload protector of the present invention and the first detection element and the second detection element;

[0029] Figure 8 Schematic diagram of the truss Z-axis mechanism of the present invention.

[0030] In the figure: 1. input member, 101. notch, 102. external threaded section, 2. output member, 201. keyway, 202. internal threaded hole, 3. first limiting member, 4. second limiting member, 5. limiting boss, 6. first detection element, 7. second detection element, 8. locking screw, 9. power source, 10. reducer, 11. connecting member, 12. driven member. DETAILED DESCRIPTION

[0031] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams that only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention, and directions and references (e.g., up, down, left, right, etc.) may only be used to help describe the features in the drawings. Therefore, the following specific embodiments are not to be taken in a limiting sense, and the scope of the subject matter claimed is limited only by the attached claims and their equivalents.

[0032] Example 1

[0033] like Figure 1-7 As shown, an overload protector comprises:

[0034] An input member 1 is used to connect to a power source 9, which may be a servo motor;

[0035] The output member 2 is used to connect the driven member 12 and is threadedly connected to the input member 1. The driven member 12 may be the input shaft of the reducer 10;

[0036] And an elastically retractable first limit member 3 is used to provide a first resistance to prevent the output member 2 from rotating relative to the input member 1 along the first direction. When the force transmitted to the output member 2 by the driven member 12 causes the output member 2 to overcome the first resistance, the first limit member 3 is pushed back to allow the output member 2 to rotate relative to the input member 1 along the first direction.

[0037] The device further comprises a second stopper 4, wherein the second stopper 4 is used to provide a second resistance to prevent the output member 2 from rotating relative to the input member 1 in a second direction, wherein the rotation of the output member 2 relative to the input member 1 in the first direction is opposite to the rotation of the output member 2 relative to the input member 1 in the second direction;

[0038] Since the moving end of the moving mechanism usually reciprocates in a straight line, there is a possibility of collision on its forward path, and there are generally no obstacles on its backward path. Therefore, the first limiter 3 can disconnect the torque transmission between the input member 1 and the output member 2 when the input member 1 rotates in the positive direction; the second limiter 4 can ensure that when the input member 1 rotates in the reverse direction, the torque transmission between the input member 1 and the output member 2 is maintained stably, so that the moving end of the moving mechanism can stably maintain the backward movement;

[0039] At the same time, when the threads between the input member 1 and the output member 2 are tightened, it can also play a role in maintaining stable torque transmission between the input member 1 and the output member 2 when the input member 1 rotates in the opposite direction.

[0040] The first limiting member 3 and the second limiting member 4 are both arranged on the input member 1, and the output member 2 is provided with a limiting boss 5, and the first limiting member 3 and the second limiting member 4 are respectively located on both sides of the limiting boss 5; or the first limiting member 3 and the second limiting member 4 are both arranged on the output member 2, and the input member 1 is provided with a limiting boss 5, and the first limiting member 3 and the second limiting member 4 are respectively located on both sides of the limiting boss 5; so that when the limiting boss 5 is stuck between the first limiting member 3 and the second limiting member 4, the input member 1 and the output member 2 can keep rotating synchronously;

[0041] Specifically, the first limiting member 3 is a ball plunger, and the second limiting member 4 in this embodiment can be specifically a screw plug. Preferably, the screw plug and the ball plunger are both fixed to the input member 1 by threaded connection, and the limiting boss 5 is located on the output member 2. Under normal conditions, the limiting boss 5 is stuck between the ball plunger and the screw plug.

[0042] A keyway 201 for torque transmission is provided in the shaft hole of the output member 2, and a key matching the keyway 201 in the shaft hole of the output member 2 is provided on the driven member 12. The keyway 201 of the output member 2 and the key of the driven member 12 are connected in an axial sliding manner along the output member 2. The torque transmission between the output member 2 and the driven member 12 can be achieved by the cooperation of the key and the keyway 201, and when the output member 2 rotates relative to the input member 1 in a first direction, the output member 2 can slide along its axial direction. In this embodiment, the keyway 201 in the output member 2 can be a spline groove or a single key groove, and the key on the driven member 12 is a spline or a single key.

[0043] It also includes a first detection element 6 and a second detection element 7 located below it. The second detection element 7 can be triggered when the output member 2 moves downward, and the first detection element 6 can be triggered when the output member 2 moves upward. The first detection element 6 and the second detection element 7 are arranged for the purpose of: when the output member 2 slides and moves downward along the axial direction, it can be detected by the second detection element 7, and the second detection element 7 sends feedback information to the control system. The control system controls the power source 9 to stop, and after the impact is repaired, controls the motor to reverse, and the output member 2 moves up along the axial direction until it is detected by the first detection element 6. The first detection element 6 sends feedback information to the control system, and the overload protector resumes normal operation.

[0044] In this embodiment, the first detection element 6 and the second detection element 7 can be specifically implemented as proximity switches.

[0045] A notch 101 is provided on the outer circumferential surface of the input member 1, and the notch 101 extends into the axial hole of the input member 1. A locking screw 8 is threadedly connected to the input member 1, and the locking screw 8 passes through the notch 101; thus, by tightening the locking screw 8, the input member 1 can be tightly clamped on the main shaft of the power source 9, so as to facilitate the assembly between the input member 1 and the main shaft of the power source 9.

[0046] The input member 1 is provided with an external thread section 102 , and the output member 2 is provided with an internal thread hole 202 matching the external thread section 102 . The external thread section 102 is screwed into the internal thread hole 202 .

[0047] In this embodiment, an elastically retractable first limit member 3 is provided between the input member 1 and the output member 2 to provide a first resistance that prevents the output member 2 from rotating relative to the input member 1 in the first direction. When the driven member 12 is overloaded, the output member 2 will automatically push the first limit member 3 to no longer prevent the output member 2 from rotating relative to the input member 1 in the first direction, so that the output member 2 no longer rotates synchronously with the input member 1, thereby automatically cutting off the torque transmission between the input member 1 and the output member 2 from a structural perspective, thereby ensuring that the mobile mechanism used by the overload protector can immediately take protective measures when a collision occurs at the mobile end. The overload protector has a simple structure, low cost, good reliability and good market prospects.

[0048] It is worth noting that the overload protector in this embodiment can be applied to various types of mobile mechanisms that use rotational power as input to drive the mobile end to move, especially the anti-collision protection of the truss Z-axis mechanism, which can greatly reduce the cost of anti-collision protection and improve product competitiveness.

[0049] Example 2

[0050] like Figure 8As shown, a truss Z-axis mechanism includes the overload protector in Example 1, and the truss Z-axis mechanism may specifically include a power source 9, a reducer 10, a clamping mechanism, and a gear rack assembly that converts rotational motion into linear motion. The power source 9 is a motor, and specifically a servo motor. The main shaft of the motor is fixedly connected to the input member 1 of the overload protector, the output member 2 of the overload protector and the input shaft of the reducer 10 are connected by a key, the output shaft of the reducer 10 and the gear in the gear rack assembly are fixedly connected, the clamping mechanism is arranged on the rack in the gear rack assembly, the first detection element 6 and the second detection element 7 are fixed on the connecting member 11, and the connecting member 11 is fixed on the housing of the motor or the housing of the reducer 10, and the first detection element 6, the second detection element 7 and the motor are all connected to the control system signal.

[0051] When the clamping mechanism grabs the material and collides with it, the clamping mechanism of the truss Z-axis mechanism can no longer move downward, and the input member 1 in the overload protector continues to rotate under the drive of the motor, but the output member 2 will pass the ball head on the ball head plunger, making it impossible for the input shaft of the reducer 10 connected to the output member 2 to rotate, and the output member 2 moves downward along its axial direction. When the second detection element 7 under the connecting member 11 detects the output member 2, it sends feedback information to the control system, and the servo motor stops rotating to avoid greater damage caused by the collision.

[0052] After the impact is repaired, the servo motor is controlled to reverse, the output part 2 moves upward relatively, and is locked at the limit boss 5 of the input part 1, and the first detection element 6 on the upper part of the connecting part 11 will detect the output part 2, and send feedback information to the control system, and the overload protector returns to normal.

[0053] Example 3

[0054] The present invention also provides a truss robot, comprising a truss Z-axis mechanism, wherein the truss Z-axis mechanism adopts the truss Z-axis mechanism in Example 2.

[0055] The above-mentioned ideal embodiments of the present invention are for inspiration. Through the above-mentioned description, relevant staff can make various changes and modifications without departing from the technical idea of ​​the present invention. The technical scope of the present invention is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. An overload protector, characterized in that: include: An input member (1) for connecting to a power source (9); An output member (2) is used to connect to a driven member (12) and is threadedly connected to the input member (1); and a first elastically retractable limiting member (3) for providing a first resistance for preventing the output member (2) from rotating relative to the input member (1) along a first direction; when the force transmitted by the driven member (12) to the output member (2) causes the output member (2) to overcome the first resistance, the first limiting member (3) is pushed back to allow the output member (2) to rotate relative to the input member (1) along the first direction; the first limiting member (3) is arranged on the input member (1); A keyway (201) for torque transmission is provided in the shaft hole of the output member (2), and a key matching the keyway (201) in the shaft hole of the output member (2) is provided on the driven member (12), and the keyway (201) of the output member (2) and the key of the driven member (12) are slidably connected along the axial direction of the output member (2); When the output member (2) rotates relative to the input member (1) along a first direction, the output member (2) can slide along its axial direction; It also comprises a first detection element (6) and a second detection element (7) located below the first detection element (6), wherein the second detection element (7) can be triggered when the output element (2) moves downward, and the first detection element (6) can be triggered when the output element (2) moves upward; When the second detection element (7) detects the output member (2), feedback information is sent to the control system, and the servo motor stops rotating; after the impact is repaired, the servo motor reverses, the output member (2) moves upward relatively, and the first detection element (6) on the upper part of the connecting member (11) detects the output member (2), and feedback information is sent to the control system, and the overload protector returns to normal.

2. The overload protector according to claim 1, characterized in that: It also comprises a second limiting member (4), the second limiting member (4) being used to provide a second resistance for preventing the output member (2) from rotating relative to the input member (1) in a second direction, the rotation of the output member (2) relative to the input member (1) in the first direction being opposite to the rotation of the output member (2) relative to the input member (1) in the second direction.

3. The overload protector according to claim 2, characterized in that: The first limiting member (3) and the second limiting member (4) are both arranged on the input member (1), the output member (2) is provided with a limiting boss (5), and the first limiting member (3) and the second limiting member (4) are respectively located on two sides of the limiting boss (5).

4. The overload protector according to claim 1, characterized in that: The first limiting member (3) is a ball plunger.

5. The overload protector according to claim 1, characterized in that: A notch (101) is provided on the outer circumferential surface of the input member (1), the notch (101) extending into the axial hole of the input member (1), a locking screw (8) is threadedly connected to the input member (1), and the locking screw (8) passes through the notch (101).

6. The overload protector according to claim 1, characterized in that: The input member (1) is provided with an external thread section (102), the output member (2) is provided with an internal thread hole (202) matching the external thread section (102), and the external thread section (102) is screwed into the internal thread hole (202).

7. A truss Z-axis mechanism, characterized in that: Comprising the overload protector as described in any one of claims 1-6.

8. A truss robot, characterized in that: It comprises a truss Z-axis mechanism, and the truss Z-axis mechanism adopts the truss Z-axis mechanism as claimed in claim 7.

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