Lead screw assembly and robot

Abstract

The application provides a screw rod assembly and a robot, and belongs to the technical field of robots.The screw rod assembly comprises a screw rod shaft, a power transmission assembly, a synchronous belt wheel and a detection device.The power transmission assembly is in transmission connection with the screw rod shaft and is used to drive the screw rod shaft to move.The synchronous belt wheel is connected with the power transmission assembly and surrounds the outer periphery of the power transmission assembly, and is used to transmit power to the power transmission assembly.The detection device is arranged on the synchronous belt wheel, and the detection device has a supporting structure which is in top contact with the power transmission assembly.The top pressure of the supporting structure on the power transmission assembly can be controlled and changed.The detection device can be used to sense the stress condition of the inner wall of the concave platform of the synchronous belt wheel when the synchronous belt wheel cooperates with the power transmission assembly.The top pressure of the supporting structure on the power transmission assembly is controlled by the force sensor, so that the axis of the power transmission assembly is finely adjusted, and the coaxiality between the synchronous belt wheel and the power transmission assembly is ensured.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a lead screw assembly and a robot. Background Technology

[0002] In the field of robotics, synchronous pulleys and synchronous belts are commonly used for the transmission of three- and four-axis systems. Using ball screws and splines can ensure the simultaneous operation of three and four axes, large load capacity, and at the same time, due to the grinding precision requirements of ball screws and splines, the overall performance of the robot is guaranteed.

[0003] Therefore, the installation requirements for ball screws in robots are relatively high. During the installation process of ball screws and synchronous pulleys, the synchronous pulleys and screws may be misaligned or eccentric, which will affect the synchronous belt deformation and transmission ratio errors caused by the eccentricity of the synchronous pulleys. Summary of the Invention

[0004] To overcome the problems existing in related technologies, this invention proposes a lead screw assembly and a robot.

[0005] A first aspect of the present invention provides a lead screw assembly, comprising:

[0006] Lead screw shaft;

[0007] The power transmission assembly is connected to the lead screw shaft drive and is used to drive the lead screw shaft to move;

[0008] Synchronous pulley, which is connected to the power transmission component and surrounds the outer periphery of the power transmission component, is used to transmit power to the power transmission component;

[0009] The detection device is mounted on the synchronous pulley and has a support structure that is in contact with the power transmission assembly.

[0010] The top pressure exerted by the supporting structure on the power transmission components can be controlled and altered.

[0011] In the above technical solution, a force sensor is provided on one side of the support structure that is connected to the power transmission component. The support structure can change the top pressure of the support structure on the power transmission component according to the force information received by the force sensor.

[0012] In the above technical solution, the support structure includes an inflatable rubber pad protruding toward the power transmission component, the inflatable rubber pad having a top pressing surface protruding toward the power transmission component, and a force sensor being disposed on the top pressing surface of the inflatable rubber pad.

[0013] The detection device also includes an air pipe connector and an electromagnetic pneumatic valve. The electromagnetic pneumatic valve can inject gas into the inflatable rubber pad or expel gas from the inflatable rubber pad through the air pipe connector according to the force information received by the force sensor.

[0014] In the above technical solution, the detection device also includes a connecting structure connected to the support structure, and the connecting structure is fixedly connected to the synchronous pulley.

[0015] In the above technical solution, the connection structure is a snap-fit ​​connection structure, which includes:

[0016] Two plates are hinged together by a hinge spring. The plates have a first end and a second end that are opposite to each other in the height direction. A card interface is formed on the first end and a folding handle is hinged on the second end. A support structure is set on one of the plates.

[0017] The timing pulley is provided with a mounting slot, and a locking block is provided in the mounting slot. The locking interface of the connecting structure is placed in the mounting slot and is elastically locked onto the locking block.

[0018] In the above technical solution, the synchronous belt pulley includes an outer pulley body and an inner pulley body arranged around the inner circumferential surface of the outer pulley body;

[0019] The inner wheel body has a shaft hole at its center for the lead screw shaft to pass through;

[0020] A receiving space is formed between the outer wheel body and the inner wheel body to accommodate the detection device and at least part of the power transmission components.

[0021] In the above technical solution, the synchronous pulley surrounding the power transmission component includes multiple detachably connected wheel bodies.

[0022] In the above technical solution, a plug-in structure is formed between two adjacent wheel bodies, and the two adjacent wheel bodies can be detachably connected through the plug-in structure.

[0023] In the above technical solution, the wheel body has circumferentially distributed tooth surfaces and mounting surfaces extending from the circumferential ends of the tooth surfaces into the interior of the wheel body. Adjacent wheel bodies are installed by fitting together through the mounting surfaces.

[0024] The plug-in structure is formed between the assembly surfaces of two adjacent wheel bodies.

[0025] In the above technical solution, the insertion / removal structure formed between two adjacent wheel assembly surfaces includes:

[0026] A positioning pin is provided on the mounting surface of one wheel body, and a positioning groove is provided on the mounting surface of the other wheel body;

[0027] The two adjacent wheels are installed by interlocking with positioning pins and positioning slots.

[0028] In the above technical solution, the synchronous pulley includes a semi-circular first wheel body and a second wheel body, which are detachably arranged around the outer periphery of the power transmission component.

[0029] In the above technical solution, the synchronous pulley is provided with multiple screw holes, and the synchronous pulley surrounding the power transmission assembly is fixedly connected to the power transmission assembly by locking screws passing through the screw holes.

[0030] Multiple screw holes are evenly distributed along the circumference of the timing pulley.

[0031] In the above technical solution, the power transmission component includes a lead screw nut and / or a spline nut, and the synchronous belt pulley includes a first synchronous belt pulley and / or a second synchronous belt pulley;

[0032] The lead screw nut is threadedly connected to the lead screw shaft, and the first synchronous pulley is connected to the lead screw nut and surrounds the outer periphery of the lead screw nut to drive the lead screw nut to rotate. A detection device is provided between the lead screw nut and the first synchronous pulley, and / or.

[0033] The spline nut is threadedly slidably connected to the lead screw shaft. The second synchronous pulley is connected to the spline nut and surrounds the outer periphery of the spline nut to drive the spline nut to rotate. A detection device is provided between the spline nut and the second synchronous pulley.

[0034] A second aspect of the present invention provides a robot comprising the aforementioned lead screw assembly.

[0035] In the above technical solution, the robot is a SCRA robot, which includes a forearm, a J2 motor assembly, a J3 motor assembly, and a J4 motor assembly.

[0036] By adopting the above technical solution, the present invention has the following beneficial effects compared with the prior art:

[0037] I. In the implementation of this invention, by setting up a detection device, the force on the inner wall of the synchronous pulley recess when the synchronous pulley and the power transmission component are engaged can be sensed. By controlling the top pressure of the support structure on the power transmission component through the force sensor, the axis of the power transmission component can be finely adjusted, thereby ensuring the coaxiality between the synchronous pulley and the power transmission component, and thus ensuring the coaxiality between the synchronous pulley and the lead screw shaft. Attached Figure Description

[0038] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0039] Figure 1 This is an exploded view of the assembly structure of a conventional lead screw assembly in the prior art;

[0040] Figure 2 This is an exploded view of the assembly structure of an embodiment of the lead screw assembly of the present invention;

[0041] Figure 3 This is a three-dimensional structural diagram of the timing pulley in an embodiment of the lead screw assembly of the present invention;

[0042] Figure 4 This is a top view of the synchronous pulley in an embodiment of the lead screw assembly of the present invention;

[0043] Figure 5 This is a three-dimensional structural schematic diagram of the detection device in an embodiment of the lead screw assembly of the present invention;

[0044] Figure 6 This is a cross-sectional view of the detection device in an embodiment of the lead screw assembly of the present invention when it is installed on the synchronous pulley.

[0045] Figure 7 This is a top view of the robot embodiment of the present invention.

[0046] Wherein: 1-Lead screw shaft; 2-Power transmission assembly; 21-Lead screw nut; 22-Spline nut; 3-Synchronous pulley; 31-Pulley body; 311-Assembly surface; 32-Screw hole; 33-Mounting slot; 331-Clamping block; 34-Outer wheel body; 35-Inner wheel body; 351-Shaft hole; 352-First end face; 353-Second end face; 4-Plugging and pulling structure; 411-Positioning pin; 412-Positioning groove; 5-Locking screw; 6-Inspection... Measurement device; 61-Connection structure; 611-Air pipe connector; 612-Clamping plate; 613-Clamping interface; 614-Folding handle; 62-Supporting structure; 621-Force sensor; 622-Inflatable rubber pad; 63-Electromagnetic pneumatic valve; 7-First receiving space; 8-Second receiving space; 9-Screw nut mounting plate; 100-Forearm; 200-J2 motor assembly; 300-J3 motor assembly; 400-J4 motor assembly; Detailed Implementation

[0047] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the invention as detailed in the appended claims.

[0048] like Figure 1As shown, in existing technologies, ball screws are prone to misalignment or eccentricity when assembled with synchronous pulleys. This can lead to belt deformation and transmission ratio errors due to eccentricity. In this invention, a detection device is used to sense the force on the inner wall of the synchronous pulley's recess when it engages with the power transmission assembly. A force sensor controls the top pressure of the support structure on the power transmission assembly, thereby fine-tuning the axis of the power transmission assembly and ensuring coaxiality between the synchronous pulley and the power transmission assembly, which in turn ensures coaxiality between the synchronous pulley and the screw shaft.

[0049] The following is in conjunction with the appendix Figure 1-7 The technical solution of this embodiment is described in detail. Unless otherwise specified, the following implementation methods and embodiments can be combined with each other.

[0050] Example

[0051] A brief description of prior art lead screw assemblies is provided between the introduction of the lead screw assemblies in the embodiments of the present invention:

[0052] like Figure 1 As shown, Figure 1 This is an exploded view of a conventional ball screw assembly. The traditional installation method for a reducer involves using a tooling fixture to remove the spline nut from the ball screw, inserting the screw nut mounting plate, two types of timing pulleys (screw nut and timing pulley), and the spline nut and timing pulley into the ball screw, and then installing the spline nut back into the ball screw. Limit blocks are installed at both ends of the ball screw. This installation method is relatively cumbersome and requires careful operation. Improper operation can cause the balls in the spline nut to fall out, requiring the entire screw to be returned to the factory for maintenance or scrapped. Simultaneously, the timing pulley uses its recessed inner wall to center the ball screw, ensuring coaxiality between the ball screw and the timing pulley, and achieving radial positioning of the timing pulley. This requires high machining precision for the timing pulley recess, and the screw nut and spline nut may suffer surface damage due to machining inaccuracies with the timing pulley.

[0053] Based on the problems existing in the lead screw assembly of the current technology, such as Figures 2-6 As shown, this embodiment proposes a lead screw assembly, which includes:

[0054] Lead screw shaft 1;

[0055] Power transmission assembly 2 is connected to lead screw shaft 1 for driving the lead screw shaft 1 to move.

[0056] Synchronous pulley 3 is connected to power transmission component 2 and surrounds the outer periphery of power transmission component 2, and is used to transmit power to power transmission component 2.

[0057] The detection device 6 is mounted on the synchronous pulley 3 and has a support structure 62 that is in contact with the power transmission assembly 2.

[0058] The top pressure of the support structure 62 on the power transmission component 2 can be controlled and changed.

[0059] In this invention, a detection device is set up to sense the force on the inner wall of the concave platform of the synchronous pulley 3 when it is engaged with the power transmission component 2. The force sensor 621 controls the top pressure of the support structure 62 on the power transmission component, thereby fine-tuning the axis of the power transmission component 2, thus ensuring the coaxiality between the synchronous pulley 3 and the power transmission component 2, and consequently ensuring the coaxiality between the synchronous pulley 3 and the lead screw shaft 1.

[0060] Specifically, a force sensor 621 is provided on one side of the support structure 62 that is abutting the power transmission component 2. The support structure 62 can change the top pressure of the support structure 62 on the power transmission component 2 according to the force information received by the force sensor 621. That is, the top pressure of the support structure 62 on the power transmission component is controlled by the force sensor 621, thereby fine-tuning the axis of the power transmission component 2.

[0061] like Figure 5 As shown, the support structure 62 includes an inflatable rubber pad 622 protruding toward the power transmission assembly 2. The inflatable rubber pad 622 has a top pressure surface protruding toward the power transmission assembly 2. The force sensor 621 is disposed on the top pressure surface of the inflatable rubber pad 622.

[0062] The detection device also includes an air pipe connector 611 and an electromagnetic pneumatic valve 63, which can inject gas into the inflatable rubber pad 622 or discharge gas from the inflatable rubber pad 622 according to the force information received by the force sensor 621.

[0063] In this embodiment of the invention, when the lead screw assembly is running, the controller controls the electromagnetic pneumatic valve 63 to fill the air pad 622 with gas to make it expand or to release the gas to make it shrink, based on the force information obtained by the force sensor 621. This enables the synchronous pulley 3 and the power transmission assembly 2 to be fine-tuned. After fine-tuning, the synchronous pulley 3 and the power transmission assembly 2 are locked together by the locking screw 5 to ensure the coaxiality of the synchronous pulley 3 and the power transmission assembly 2, thereby ensuring the coaxiality of the synchronous pulley 3 and the lead screw shaft 1.

[0064] In any of the above embodiments, such as Figure 6 As shown, the detection device also includes a connecting structure 61 connected to the support structure 62, and the connecting structure 61 is fixedly connected to the synchronous pulley 3.

[0065] Specifically, the connecting structure 61 is a snap-fit ​​connecting structure, which includes:

[0066] Two latches 612 are hinged to each other by a hinge spring. The latches 612 have a first end and a second end that are arranged opposite each other in the height direction. A latch interface 613 is formed on the first end, and a folding handle 614 is hinged on the second end. A support structure 62 is disposed on one of the latches 612.

[0067] The timing pulley 3 is provided with a mounting slot 33, and a locking block 331 is provided in the mounting slot 33. The locking interface 613 of the connecting structure 61 is placed in the mounting slot 33 and is elastically locked onto the locking block 331.

[0068] In this embodiment of the invention, the connection structure is designed as a snap-fit, which facilitates the installation and disassembly of the detection device. At the same time, the folding handle can reduce the overall height of the detection device, thereby avoiding the detection device occupying too much space and affecting the normal movement of the lead screw assembly.

[0069] In any of the above embodiments, such as Figure 6 As shown, the synchronous pulley 3 includes an outer pulley body 34 and an inner pulley body 35 arranged around the inner circumferential surface of the outer pulley body 34;

[0070] The inner wheel body 35 has a shaft hole 351 at its center for the lead screw shaft 3 to pass through; and there is a receiving space between the outer wheel body 34 and the inner wheel body 35 for accommodating the detection device 6 and at least part of the power transmission assembly 2.

[0071] Specifically, the inner wheel body 35 has a first end face 352 and a second end face 353 that are disposed opposite to each other in its axial direction. A first receiving space 7 is formed between the first end face 352 and the outer wheel body 34, and a second receiving space 8 is formed between the second end face 353 and the outer wheel body 34.

[0072] More specifically, when the timing pulley 3 is installed in conjunction with the lead screw nut, the first accommodating space 7 houses the detection device 6 and a part of the lead screw nut; when the timing pulley is installed in conjunction with the spline nut, the second accommodating space 8 houses the detection device and a part of the spline nut.

[0073] In this embodiment of the invention, by providing a first accommodating space 7 and a second accommodating space 8 on the synchronous pulley 3, it is convenient to install the power transmission component 2 (including the lead screw nut and the spline nut) and the detection device. At the same time, it can also effectively protect the power transmission component 2 and the detection device, preventing them from being exposed and colliding with other components.

[0074] In any of the above embodiments, the detection device 6 is provided in multiple sets, and the multiple sets of detection devices 6 are evenly distributed in the circumferential direction of the synchronous pulley 3. Preferably, the detection device 6 in the embodiment of the present invention is provided in three sets {according to the three-jaw centering principle}, and the three sets of detection devices are staggered with the four screw holes mentioned above, thereby avoiding a large shift in the center of gravity of the synchronous pulley 3, which would lead to unstable operation of the synchronous pulley 3.

[0075] In any of the above embodiments, such as Figure 3 and Figure 4 As shown, the synchronous pulley 3 surrounding the power transmission assembly 2 includes multiple detachably connected wheel bodies 31.

[0076] In this embodiment, by setting the synchronous pulley 3 into multiple pulley bodies 31, that is, setting the synchronous pulley 3 into a split structure, when installing the synchronous pulley, it is not necessary to remove the screw nut and spline nut of the power transmission component 2 from the screw shaft 1, which can reduce the labor cost of installing or disassembling the synchronous pulley.

[0077] Specifically, such as Figure 3 As shown, in the circumferential direction of the synchronous pulley 3, a plug-in structure 4 is formed between two adjacent pulley bodies 31, and the two adjacent pulley bodies 31 are detachably connected through the plug-in structure 4.

[0078] In this embodiment of the invention, the multiple pulley bodies 3 that make up the synchronous pulley 3 are connected by a plug-in structure 4, which can further improve the speed of assembly or disassembly of the synchronous pulley 3 and reduce labor costs.

[0079] In any of the above embodiments, such as Figure 3 and Figure 4 As shown, the wheel body 31 has circumferentially distributed tooth surfaces and a mounting surface 311 extending from both ends of the tooth surfaces into the interior of the wheel body 31. Two adjacent wheel bodies 31 are fitted together through the mounting surface 311.

[0080] The plug-in structure 4 is formed between the mounting surfaces 311 of two adjacent wheel bodies 31.

[0081] In other words, in the embodiments of the present invention, the multiple wheel bodies 31 are assembled by connecting two adjacent wheel bodies 31 with their assembly surfaces.

[0082] Specifically, such as Figure 3 As shown, the insertion / removal structure 4 formed between the mounting surfaces 311 of two adjacent wheel bodies 31 includes:

[0083] A radially protruding positioning post 411 is provided on the mounting surface of one wheel body 31, and a radially recessed positioning groove 412 is provided on the mounting surface of another wheel body 31. Adjacent wheel bodies 31 are installed by interlocking the positioning post 411 and the positioning groove 412. That is, the multiple wheel bodies 31 shown in the embodiment of the present invention are assembled by horizontal interlocking.

[0084] It is worth noting that in some embodiments not shown, adjacent wheel bodies 31 can also be assembled by vertical insertion. For example, a rib protruding along the axial direction of one wheel body 31 can be provided on the mounting surface of one wheel body 31, and a groove with an opening at one end along the axial direction can be provided on the mounting surface of the other wheel body 31. When assembling the two wheel bodies 31, the rib on one wheel body 31 can be inserted from top to bottom into the groove of the other wheel body 31 along the axial direction of the other wheel body 31. It should also be noted that in this assembly method, the rib can be set in a stepped shape, and correspondingly, the groove can also be set in a stepped shape, so that the two wheel bodies 31 will not fall off after assembly.

[0085] In any of the above embodiments, such as Figure 3 and Figure 4 As shown, the synchronous pulley 3 includes a semi-circular first wheel body and a second wheel body, which are detachably arranged around the outer periphery of the power transmission assembly 2 to form a complete synchronous pulley 3.

[0086] In this embodiment of the invention, the synchronous pulley 3 is configured as a split pulley with two semi-circular wheel bodies 31. This ensures that the synchronous pulley 3 has high strength and also improves the efficiency of disassembly and assembly of the synchronous pulley 3.

[0087] In any of the above embodiments, such as Figure 2 and Figure 4 As shown, the synchronous pulley 3 is provided with multiple screw holes 32. The synchronous pulley 3 surrounding the power transmission assembly 2 is fixedly connected to the power transmission assembly 2 by locking screws 5 passing through the screw holes 32.

[0088] Multiple screw holes 32 are evenly distributed in the circumferential direction of the timing pulley 3. Preferably, four screw holes 32 are provided.

[0089] In this embodiment of the invention, by evenly distributing the screw holes 32 on the circumference of the synchronous pulley 3, the center of gravity of the synchronous pulley 3 can be made to approach the center of gravity of the synchronous pulley 3, thereby avoiding the generation of a large eccentric force when the synchronous pulley 3 rotates and improving the stability of the synchronous pulley 3 during rotation.

[0090] In any of the above embodiments, such as Figure 2As shown, the power transmission assembly 2 mentioned above includes a lead screw nut 21 and / or a spline nut 22, and the synchronous pulley mentioned above includes a first synchronous pulley and / or a second synchronous pulley;

[0091] The lead screw nut 21 is threadedly connected to the lead screw shaft 1. The first synchronous pulley is connected to the lead screw nut 21 and surrounds the outer periphery of the lead screw nut 21 to drive the lead screw nut 21 to rotate. A detection device is provided between the lead screw nut and the first synchronous pulley, and / or.

[0092] The spline nut 22 is threadedly slidably connected to the lead screw shaft 1. The second synchronous pulley is connected to the spline nut 22 and surrounds the outer periphery of the spline nut 22 to drive the spline nut 22 to rotate. A detection device is provided between the spline nut and the second synchronous pulley.

[0093] That is, the detection device 6 in this embodiment of the invention can be used on a lead screw assembly without a spline nut, or on a lead screw assembly that has both a spline nut and a lead screw nut. However, relatively speaking, it is preferred that the detection device in this embodiment of the invention be used on a lead screw assembly that has both a spline nut and a lead screw nut. That is, the detection device 6 is provided between the lead screw nut and the first synchronous pulley and between the spline nut and the second synchronous pulley.

[0094] It should be noted that the connection relationship between the lead screw nut, spline nut and lead screw shaft is a well-known technology to those skilled in the art, and the connection structure between the lead screw nut, spline nut and lead screw shaft will not be specifically described in the embodiments of the present invention.

[0095] In any of the above embodiments, the lead screw assembly further includes a lead screw nut mounting plate 9, through which the lead screw nut 21 is connected to the timing pulley 3.

[0096] To better understand the structural configuration of the lead screw assembly in the embodiments of the present invention, the following detailed explanation will be based on the installation of the lead screw female synchronous pulley, i.e., the first synchronous pulley.

[0097] like Figure 3 and Figure 4As shown, in this embodiment of the invention, the original integral synchronous pulley is replaced with a split synchronous pulley. The split synchronous pulley structure consists of a left synchronous pulley, a right synchronous pulley, and a positioning post. The synchronous pulley is made into two separate parts, a left synchronous pulley and a right synchronous pulley. The two synchronous pulleys are positioned and installed using the positioning post. Three foldable locking devices, i.e., detection devices, are set next to the recessed wall where the synchronous pulley contacts the lead screw nut. The foldable locking devices are connected to the synchronous pulley using locking mechanisms. The foldable latching devices are evenly distributed on the inner wall of the synchronous pulley recess. A semi-circular inflatable rubber pad is added to the front end of the device, and a force sensor is attached to the rubber pad to sense the force on the inner wall of the synchronous pulley recess when the synchronous pulley and the lead screw nut are engaged. The force sensor controls the electromagnetic pneumatic valve to inflate the gas in the rubber pad on the latch, allowing for fine adjustment of the synchronous pulley and the lead screw nut of the ball screw spline. After fine adjustment, the synchronous pulley and the lead screw nut are locked together by screws to ensure the coaxiality of the synchronous pulley and the lead screw nut. After the lead screw has run for a period of time, the fixing screws of the synchronous pulley and the lead screw may loosen, and the coaxiality of the pulley and the lead screw may change. This device can be used to check the coaxiality.

[0098] In summary, this invention utilizes a split structure to install the pulley on the lead screw shaft, preventing potential problems caused by pulley installation. Simultaneously, the use of a force sensor and solenoid valve to control the coaxiality of the lead screw nut, spline nut, and pulley makes pulley installation on the lead screw more convenient, and the change in coaxiality also increases the lead screw's efficiency.

[0099] On the other hand, this invention also provides a robot that includes the aforementioned lead screw assembly.

[0100] Specifically, the robot in this embodiment of the invention is a SCRA robot, which includes a forearm 100, a J2 motor assembly 200, a J3 motor assembly 300, and a J4 motor assembly 400.

[0101] In summary, the robot in this embodiment of the invention, after adopting the above-described lead screw assembly, can have the following beneficial effects:

[0102] 1. By setting a detection device on the synchronous pulley, the coaxiality of the synchronous pulley and the ball screw spline can be guaranteed, preventing abnormal transmission ratio and damage to the synchronous belt due to eccentricity. After the robot has been running for a period of time, the coaxiality of the synchronous pulley and the ball screw spline can be easily adjusted.

[0103] 2. By setting the timing pulley to a split type, the installation efficiency of the timing pulley into the ball screw can be effectively improved.

[0104] It is worth noting that the structure protected in the embodiments of the present invention is applicable to the installation of different types of ball screw splines on synchronous pulleys of different sizes in different fields such as robotics.

[0105] Other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the embodiments disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of the invention are indicated by the following claims.

[0106] It should be understood that the present invention is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

[0107] Other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the embodiments disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of the invention are indicated by the following claims.

[0108] It should be understood that the present invention is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A lead screw assembly, characterized in that, include: Lead screw shaft (1); The power transmission assembly (2) is connected to the lead screw shaft (1) for driving the lead screw shaft (1) to move. Synchronous pulley (3), the synchronous pulley (3) is connected to the power transmission assembly (2) and surrounds the outer periphery of the power transmission assembly (2), and is used to transmit power to the power transmission assembly (2); The detection device (6) is mounted on the synchronous pulley (3) and has a support structure (62) that is in contact with the power transmission assembly (2). The top pressure exerted by the support structure (62) on the power transmission assembly (2) can be controlled and changed. The synchronous pulley (3) includes an outer pulley body (34) and an inner pulley body (35) arranged around the inner circumferential surface of the outer pulley body (34). The inner wheel body (35) has a shaft hole (351) at the center position for the lead screw shaft (1) to pass through. A receiving space is formed between the outer wheel body (34) and the inner wheel body (35) for accommodating the detection device (6) and at least part of the power transmission assembly (2).

2. The lead screw assembly according to claim 1, characterized in that, The support structure (62) is abutted on one side of the power transmission assembly (2) and a force sensor (621) is provided. The support structure (62) can change the top pressure of the support structure (62) on the power transmission assembly (2) according to the force information received by the force sensor (621).

3. The lead screw assembly according to claim 2, characterized in that, The support structure (62) includes an inflatable rubber pad (622) protruding toward the power transmission assembly (2) side, the inflatable rubber pad (622) having a top pressure surface protruding toward the power transmission assembly (2) side, and the force sensor (621) is disposed on the top pressure surface of the inflatable rubber pad (622). The detection device also includes an air pipe connector (611) and an electromagnetic pneumatic valve (63). The electromagnetic pneumatic valve can inject gas into the inflatable rubber pad (622) or discharge gas from the inflatable rubber pad (622) through the air pipe connector (611) according to the force information received by the force sensor (621).

4. The lead screw assembly according to any one of claims 1-3, characterized in that, The detection device also includes a connecting structure (61) connected to the support structure (62), and the connecting structure (61) is fixedly connected to the synchronous pulley (3).

5. The lead screw assembly according to claim 4, characterized in that, The connecting structure (61) is a snap-fit ​​connecting structure, which includes: Two plates (612) are hinged to each other by a hinge spring. The plates (612) have a first end and a second end that are arranged opposite each other in the height direction. A card interface (613) is formed on the first end and a folding handle (614) is hinged on the second end. The support structure (62) is disposed on one of the plates (612). The synchronous pulley (3) is provided with a mounting slot (33), and a locking block (331) is provided in the mounting slot (33). The locking interface (613) of the connecting structure (61) is placed in the mounting slot (33) and elastically locked onto the locking block (331).

6. The lead screw assembly according to claim 1, characterized in that, The inner wheel body (35) has a first end face (352) and a second end face (353) arranged opposite to each other in its axial direction. A first receiving space (7) is formed between the first end face (352) and the outer wheel body (34), and a second receiving space (8) is formed between the second end face (353) and the outer wheel body (34).

7. The lead screw assembly according to any one of claims 1-3, characterized in that, The detection device (6) is provided in multiple sets, and the multiple sets of detection devices (6) are evenly distributed in the circumferential direction of the synchronous pulley (3).

8. The lead screw assembly according to any one of claims 1-3, characterized in that, The synchronous pulley (3) surrounding the power transmission assembly (2) includes a plurality of detachably connected pulley bodies (31).

9. The lead screw assembly according to claim 8, characterized in that, A plug-in structure (4) is formed between two adjacent wheel bodies (31), and the two adjacent wheel bodies (31) are detachably connected through the plug-in structure (4).

10. The lead screw assembly according to claim 9, characterized in that, The wheel body (31) has circumferentially distributed tooth surfaces and a mounting surface (311) extending from both ends of the tooth surfaces into the interior of the wheel body (31). Two adjacent wheels bodies (31) are fitted together through the mounting surface (311). The plug-in structure (4) is formed between the mounting surfaces (311) of two adjacent wheel bodies (31).

11. The lead screw assembly according to claim 10, characterized in that, The plug-in structure (4) formed between the mounting surfaces (311) of two adjacent wheel bodies (31) includes: A positioning post (411) is provided on the mounting surface of one of the wheel bodies (31), and a positioning groove (412) is provided on the mounting surface of the other wheel body (31). The two adjacent wheel bodies (31) are installed by the insertion and cooperation of the positioning pin (411) and the positioning groove (412).

12. The lead screw assembly according to claim 1, characterized in that, The synchronous pulley (3) is provided with a plurality of screw holes (32). The synchronous pulley (3) surrounding the outer periphery of the power transmission assembly (2) is fixedly connected to the power transmission assembly (2) by locking screws (5) passing through the screw holes (32). The screw holes (32) are evenly distributed in the circumferential direction of the synchronous pulley (3).

13. The lead screw assembly according to claim 1, characterized in that, The power transmission assembly (2) includes a lead screw nut (21) and / or a spline nut (22), and the synchronous pulley includes a first synchronous pulley and / or a second synchronous pulley; The lead screw nut (21) is threadedly connected to the lead screw shaft (1), the first synchronous pulley is connected to the lead screw nut (21) and surrounds the outer periphery of the lead screw nut (21) for driving the lead screw nut (21) to rotate, and the detection device is provided between the lead screw nut and the first synchronous pulley, and / or; The spline nut (22) is threadedly slidably connected to the lead screw shaft (1). The second synchronous pulley is connected to the spline nut (22) and surrounds the outer periphery of the spline nut (22) to drive the spline nut (22) to rotate. The detection device is provided between the spline nut and the second synchronous pulley.

14. A robot, characterized in that, The lead screw assembly includes any one of claims 1-13.

15. The robot according to claim 14, characterized in that, The robot is a SCRA robot, which includes a forearm (100), a J2 motor assembly (200), a J3 motor assembly (300), and a J4 motor assembly (400).

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