A multi-axis transmission device capable of quickly switching forms

Abstract

The present invention relates to the field of motors and transmission equipment, and discloses a multi-axis transmission device capable of rapidly switching forms, wherein an existing expandable linear module is mounted on a bracket assembly, and a synchronous lifting mechanism of the bracket assembly drives the expandable linear module to move up and down, and flips a fixed angle in a fixed direction at the same time; in addition, the present invention cleverly designs a matching quick-install Y-axis guide rail assembly according to the structural characteristics of the expandable linear module, integrates parts related to the Y-axis guide rail into a quick-install Y-axis guide rail assembly capable of overall translation, and the quick-install Y-axis guide rail assembly realizes docking and disconnection with the expandable linear module by means of translation, plugging and pulling, and limiting, thereby realizing rapid switching of the expandable linear module and improving production efficiency.

Description

Technical Field

[0001] The present invention relates to the field of motors and transmission equipment, and in particular to a multi-axis transmission device capable of rapidly switching forms. Background Art

[0002] There are several names for linear modules, such as linear modules, rectangular coordinate robots, linear slides, etc. Linear modules are automation upgrade units following linear guides and ball screw linear transmission mechanisms. The combination of various units can achieve linear and curved motion of the load, making the automation of light loads more flexible and positioning more accurate.

[0003] The linear module was first developed and used in Germany, and its market position is photovoltaic equipment, loading and unloading robots, cutting and moving equipment, gluing equipment, patch equipment, etc. The linear module can bring convenience to various industries: fast single-body movement speed, high repeated positioning accuracy, light body weight, small equipment space and long life.

[0004] Currently, the existing linear modules are almost all finished products, and disassembly, maintenance, cleaning and installation are very troublesome, and manual disassembly and installation are required, which is time-consuming and labor-intensive. For this reason, application number: CN202020938524.6 proposes a linear module that is easy to disassemble and install to solve the problem of inconvenient disassembly and assembly of linear modules. However, this module and the existing linear modules only have single-axis transmission and cannot be converted into multi-axis transmission. Similarly, dual-axis or even triple-axis modules cannot be converted into single-axis transmission, which makes the existing linear transmission equipment lack versatility and can generally only be used for a certain actuator but not for other actuators.

[0005] For this purpose, application number CN202410695062.2 proposes an easily expandable linear module, which provides a linear module that can be converted into single-axis and multi-axis forms. However, when the device switches between single-axis and multi-axis forms, it needs to install the components required for the multi-axis form on site, which makes its switching speed slow. Summary of the invention

[0006] In order to realize the rapid change of the deformable linear module from a single axis to multiple axes and from multiple axes to a single axis, the present invention proposes a multi-axis transmission device that can quickly switch the form, including: a bracket assembly, a quick-install Y-axis guide rail assembly, and an expandable linear module; a synchronous lifting mechanism is provided on both sides of the bracket assembly, a guide rod is provided on the upper part between the lifting mechanisms, and a slide groove A is provided on the lower part; the quick-install Y-axis guide rail assembly includes: a docking slide assembly, a pluggable motor assembly, and a retractable convex slider, the docking slide assembly slides in the slide groove A, and the pluggable motor assembly includes: a base, a motor A fixed to the front of the base, and a motor A drives the rotation The ball screw B, the machine base is set on the outside of the guide rod and slides on the guide rod. The retractable convex slider is driven by the rotation of the ball screw B to move vertically, and the lower end of the ball screw B is movably connected to the docking slide assembly; the expandable linear module includes: a drive motor, a deformable slider, a guide rail, and a ball screw A. The drive motor is installed at the right end of the guide rail. The drive motor drives the ball screw A to rotate, thereby driving the deformable slider fixed with a screw nut to move linearly along the X-axis on the guide rail. There are end plates at both ends of the guide rail, and a convex column is respectively provided on the outer side of the end plate. The two convex columns are concentric, and the convex columns are movably connected to the lifting mechanism, so that the guide rail can be lifted by The lowering mechanism is driven to move vertically and can rotate with the convex column as the axis; a semi-cylindrical protrusion is also provided on the outer side of at least one convex column, and the bracket assembly also includes a guide plate arranged on the outer side of the lifting mechanism, and a guide groove is provided on the guide plate that passes through the left and right sides, and the guide groove includes a wide groove at the bottom, a narrow groove at the top, and a bevel transitioning from the wide groove to the narrow groove, the width of the wide groove is equal to the diameter of the semi-cylindrical protrusion, and the width of the narrow groove is equal to the radius of the semi-cylindrical protrusion; when the deformable slider flips its movable block into a multi-axis form, the mass of the part in front of the ball screw A is greater than the mass of the part behind the ball screw A, so that the semi-cylindrical protrusion When it moves upward in the guide groove, it can flip 90° in a fixed direction, thereby driving the expandable linear module from horizontal to vertical; when the multi-axis transmission device is in the single-axis form, the lifting mechanism is lowered, and the expandable linear module is placed horizontally; when the multi-axis transmission device is in the multi-axis form, the lifting mechanism is raised, and the expandable linear module is placed vertically, and the quick-install Y-axis guide rail assembly is pushed from the left end of the guide rod into the position where the deformable slider is located, and the upper and lower ends of the structure are connected with the deformable slider. The pluggable motor assembly is also electrically connected to the deformable slider, so that the motor A drives the ball screw B, thereby driving the retractable convex slider to move along the Y axis, forming an X and Y dual-axis transmission.

[0007] Preferably, the deformable slider comprises a main body in the shape of a cube, and each of the four corners of the main body is hinged with a movable block that can be flipped 180°; a convex strip A that slides in the guide rail is provided at the bottom of the main body, and a slide groove B that is perpendicular to the convex strip A is provided at the top of the main body; when the deformable slider is in a single-axis form, all the movable blocks fit with the left and right sides of the main body, and at this time, the movable blocks have left and right holes that give way to the ball screw A after being assembled; when switching to a multi-axis form, all the movable blocks are flipped 180° to fit with the front and back sides of the main body, and at this time, after the movable blocks are assembled, there is a groove with the same width, depth and direction as the slide groove B on the top, and the groove and the slide groove B together constitute a track for the sliding of the retractable convex strip slider, and at the same time, mounting holes are also provided at the front and back of the movable blocks; when the multi-axis form is completed, the linear module can be expanded and placed upright, so that the left and right holes that give way to the ball screw A become two semicircular grooves at the upper and lower ends of the deformable slider, and the mounting hole and the socket A electrically connected to the convex strip A are located in the plane area next to the semicircular groove.

[0008] Preferably, the docking slide assembly includes a base, a bottom of the base is provided with a roller or a slide bar for rolling or sliding in the slide groove A, a front part of the base is provided with a protrusion, the protrusion is provided with a circular hole or a bearing that passes through from top to bottom, and is used to realize a movable connection with the lower end of the ball screw B, a limit plate is provided at the left end of the base, a semi-cylindrical protrusion is provided at the upper part of the base, the axial direction of the semi-cylindrical protrusion is left and right, and matches the semi-circular groove at the lower end of the deformable slider; a movable limit mechanism is provided on the right side of the base, and the movable limit mechanism includes a threaded groove, one side of the threaded groove is provided with a square groove connected to the front or back of the base, a screw is installed in the threaded groove, the upper part of the screw is a smooth rod, and an adjusting nut is sleeved on the outside of the screw and is provided in the square groove, and the screw is screwed out and stored by rotating the adjusting nut; when the multi-axis form is completed, the linear module can be expanded to be placed vertically, and when the quick-install Y-axis guide rail assembly is pushed to the limit plate against the left end of the movable block, the screw that is screwed out abuts against the right end of the movable block.

[0009] Preferably, the left side of the machine base is a clamping part, and the right side is a splicing part. The lower part of the clamping part is provided with a semicircular groove, and the lower part of the splicing part is provided with a semicircular groove. When the multi-axis form is completed, the linear module can be expanded to be placed upright, and when the quick-install Y-axis guide rail assembly is pushed to the limit plate against the left end of the movable block, the semicircular groove at the lower part of the splicing part and the semicircular groove at the upper end of the movable block are spliced ​​to form a circular hole for the guide rod to pass through, and the semicircular groove is also sleeved on the outside of the guide rod to prevent the machine base from falling out during translation; two clamping rails are provided at the back of the machine base, and a socket B is provided at the front. The cross-section of the clamping rail is dovetail-shaped or T-shaped, and each clamping rail has a lower A conductive sheet A is provided at each end, and the conductive sheet A is electrically connected to the socket; the machine base also has a matching plug-in connector, and two clips for inserting into the card rail are provided in front of the plug-in connector, and a conductive sheet B is provided at the lower end of the clip that is opposite to the conductive sheet A of the card rail; a plug A and a pin are provided under the machine base, and the plug A is electrically connected to the conductive sheet B. After the plug-in connector is inserted into the clamp of the machine base until the bottom of the plug-in connector abuts against the upper end surface of the movable block, the pin is inserted into the mounting hole, and the plug A is inserted into the socket A, so as to realize the electrical connection and structural connection between the pluggable motor assembly and the deformable slider.

[0010] Preferably, a socket B is provided at the front of the retractable convex strip slider, a receiving groove is provided at the middle of the rear, a movable convex strip is provided on the inner side of the receiving groove, and the front end surface of the movable convex strip is fixed to the receiving groove by a plurality of springs; when the movable convex strip is in the natural state of the spring, the two sides of the part exposed on the rear side of the receiving groove are inclined surfaces, so that when the movable convex strip enters the slide groove B from the left side of the deformable slider with the quick-install Y-axis guide rail assembly, the deformable slider squeezes the movable convex strip into the receiving groove along the inclined surface, and when it moves to the slide groove B, the spring pops out the movable convex strip to abut against the slide groove B; a conductive sheet C is provided on each side of the receiving groove, and the conductive sheet C is electrically connected to the socket B, and a conductive sheet D is provided on each side of the movable convex strip, and when the movable convex strip abuts against the slide groove B, the conductive sheet D is connected to the conductive sheet C, and the conductive sheet D is also connected to the conductive strip arranged behind the movable convex strip to receive power from the elastic guide strip in the slide groove B.

[0011] Preferably, the lifting mechanism includes: a guide rod, a steering knuckle, a connecting joint, a threaded rod, a plane bearing, and a driving mechanism; both ends of the guide rod are inserted into the steering knuckle, and the part of the guide rod inserted into the steering knuckle is a worm, the rotation of the worm drives the bevel gear in the steering knuckle to rotate, and the bevel gear drives the vertically arranged threaded rod to rotate, the lower part of the threaded rod is fixed to the inner ring of the plane bearing, the outer ring of the plane bearing is fixed to the bracket assembly, the front side of the connecting joint is provided with a screw hole and is sleeved on the threaded rod, and the rear side is provided with a bearing, the inner ring of the bearing is fixed to the convex column, so as to simultaneously drive the expandable linear module to lift and flip; the driving mechanism is installed on the top of the guide plate, and the driving mechanism is a hand wheel, a rocker or a motor.

[0012] Preferably, the bracket assembly is further provided with a compartment for accommodating the quick-install Y-axis guide rail assembly on the right side of the steering knuckle, the lower portion of the compartment having a groove for the boss to pass through and to be lifted and lowered, and the upper portion having a hole for the guide rod to pass through.

[0013] Preferably, a socket C is further provided on the rear side of the guide plate, and the socket C is electrically connected to a wire on the left side of the guide plate, and the wire supplies power to the expandable linear module.

[0014] Preferably, the bottom of the bracket assembly is mounted on the linear module of the Z-axis to achieve three-axis transmission.

[0015] The present invention sets up the existing expandable linear module on the bracket assembly, and the synchronous lifting mechanism of the bracket assembly drives the expandable linear module to move up and down, and at the same time flips a fixed angle in a fixed direction. In addition, the present invention cleverly designs a matching quick-install Y-axis guide rail assembly according to the structural characteristics of the expandable linear module, and integrates the parts related to the Y-axis guide rail into a quick-install Y-axis guide rail assembly that can be translated as a whole. The quick-install Y-axis guide rail assembly realizes docking and disconnection with the expandable linear module by means of translation, plugging and pulling, and limiting, thereby realizing the rapid switching state of the expandable linear module and improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a stereoscopic diagram of the present invention in a multi-axis configuration.

[0018] Figure 2 for Figure 1 Front view of .

[0019] Figure 3 for Figure 1 Rear view of.

[0020] Figure 4 It is a stereoscopic diagram of the present invention in a uniaxial form.

[0021] Figure 5 for Figure 4 Front view of .

[0022] Figure 6 It is a schematic diagram of the structure of the docking slide assembly.

[0023] Figure 7 It is a schematic diagram of the structure of the pluggable motor assembly.

[0024] Figure 8 This is a three-dimensional diagram of the quick-release Y-axis guide rail assembly.

[0025] Fig. 9 It is a three-dimensional diagram of a retractable convex slider.

[0026] Fig.10 The schematic diagram of the three-dimensional diagram of the retractable convex strip slider is shown without the spring and the movable convex strip.

[0027] Fig.11 It is a schematic diagram of the structure of the movable convex strip.

[0028] Fig.12 Schematic diagram of the movement of the semi-cylindrical protrusion in the guide groove.

[0029] In the figure: 1. Expandable linear module; 101. convex column; 102. semi-cylindrical protrusion; 201. bracket assembly; 202. slideway A; 203. docking slide assembly; 204. pluggable motor assembly; 205. connector; 206. motor A; 207. retractable convex slider; 208. guide rod; 209. steering knuckle; 210. guide plate; 211. drive mechanism; 212. connecting joint; 213. threaded rod; 214. plane bearing; 215. cabin; 216. through groove; 217. guide groove; 203a. base; 203b. limit plate; 203 c, roller; 203d, protrusion; 203e, round hole; 203f, semi-cylindrical convex block; 203h, movable limiting mechanism; 204a, splicing part; 204b, rail; 204c, conductive sheet A; 204d, clamping part; 205a, clamping strip; 205b, conductive sheet B; 205c, plug A; 205d, latch; 207a, storage groove; 207b, movable convex strip; 207c, spring; 207d, conductive sheet C; 207e, conductive sheet D; 207f, socket B; 217a, wide groove; 217b, narrow groove; 217c, arc groove. DETAILED DESCRIPTION

[0030] The various devices selected in this application (components whose specific structures are not described) are all universal standard parts or components known to those skilled in the art, and their structures and principles can be known to those skilled in the art through technical manuals or conventional experimental methods.

[0031] In the description of the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0032] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0033] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0034] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0035] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0036] Embodiment 1, the overall structure and components of the present invention refer to Figure 1-Figure 12 In all the front, back, left, right, top and bottom azimuth descriptions of the present invention, except for the expandable linear module 1, the rest of the parts refer to Figure 2 from the perspective of Figure 2The left side is the left side, Figure 2 The right side is the right side, and so on. The multi-axis transmission device capable of rapidly switching forms of the present invention comprises: a bracket assembly 201, a quick-install Y-axis guide rail assembly, and an expandable linear module 1; a synchronous lifting mechanism is arranged on both sides of the bracket assembly 201, a guide rod 208 is arranged on the upper part between the lifting mechanisms, and a slide groove A202 is arranged on the lower part; the quick-install Y-axis guide rail assembly comprises: a docking slide assembly 203, a pluggable motor assembly 204, and a retractable convex slider 207, the docking slide assembly 203 slides in the slide groove A202, the pluggable motor assembly 204 comprises: a machine base, a motor A206 fixed to the front of the machine base, a ball screw B driven to rotate by the motor A206, and the machine base is sleeved on the guide rod 208 outside, slides on the guide rod 208, and the retractable convex slider 207 is driven by the rotation of the ball screw B to move vertically, and the lower end of the ball screw B is movably connected to the docking slide assembly 203; the expandable linear module 1 includes: a driving motor, a deformable slider, a guide rail, and a ball screw A. The driving motor is installed at the right end of the guide rail. The driving motor drives the ball screw A to rotate, thereby driving the deformable slider fixed with the screw nut to move linearly along the X-axis on the guide rail. The two ends of the guide rail have end plates, and a convex column 101 is respectively provided on the outer side of the end plate. The two convex columns 101 are concentric, and the convex columns 101 are movably connected to the lifting mechanism, so that the guide rail can be driven by the lifting mechanism to move vertically, and at the same time, the convex column 1 01 is axial rotation; a semi-cylindrical protrusion 102 is also provided on the outer side of a convex column 101, and the bracket assembly 201 also includes a guide plate 210 arranged on the outer side of the lifting mechanism, and a guide groove 217 is provided on the guide plate 210 and passes through the left and right sides. The guide groove 217 includes a wide groove 217a at the bottom, a narrow groove 217b at the top, and a bevel transitioning from the wide groove 217a to the narrow groove 217b. The width of the wide groove 217a is equal to the diameter of the semi-cylindrical protrusion 102, and the width of the narrow groove 217b is equal to the radius of the semi-cylindrical protrusion 102; when the deformable slider flips its movable block to enter the multi-axis form, the mass of the part in front of the ball screw A is greater than the mass of the part behind the ball screw A, When the semi-cylindrical protrusion 102 moves upward in the guide groove 217, it can flip 90° in a fixed direction, thereby driving the expandable linear module 1 from being laid flat to being laid upright; when the multi-axis transmission device is in the single-axis form, the lifting mechanism is lowered, and the expandable linear module 1 is laid flat; when the multi-axis transmission device is in the multi-axis form, the lifting mechanism is raised, and the expandable linear module 1 is placed upright, and the quick-install Y-axis guide rail assembly is pushed into the position of the deformable slider by the left end of the guide rod 208, and the upper and lower ends of the structure are connected with the deformable slider, and the pluggable motor assembly 204 is also electrically connected to the deformable slider, so that the motor A206 drives the ball screw B, thereby driving the retractable convex slider 207 to move along the Y axis, forming an X and Y dual-axis transmission.

[0037] Embodiment 2, the deformable slider of the present invention includes a main body in the shape of a cube, and each of the four corners of the main body is hinged with a movable block that can be flipped 180 degrees; a convex strip A that slides in the guide rail is provided at the bottom of the main body, and a slide groove B perpendicular to the convex strip A is provided at the top of the main body; when the deformable slider is in a single-axis form, all the movable blocks are fitted with the left and right sides of the main body, and at this time, the movable blocks have left and right holes that give way to the ball screw A after being assembled; when switching to a multi-axis form, all the movable blocks are flipped 180 degrees to fit the front and back sides of the main body, and at this time, after the movable blocks are assembled, there is a groove with the same width, depth and direction as the slide groove B on the top, and the groove and the slide groove B together constitute a track for the sliding of the retractable convex strip slider 207, and at the same time, mounting holes are also provided at the front and back of the movable blocks; when the multi-axis form is completed, the linear module 1 can be expanded and placed upright, so that the left and right holes that give way to the ball screw A become two semicircular grooves at the upper and lower ends of the deformable slider, and the mounting hole and the socket A electrically connected to the convex strip A are located in the plane area next to the semicircular groove.

[0038] Embodiment 3, as Figure 6 As shown, the docking slide assembly 203 of the present invention includes a base 203a, a roller 203c or a slide bar for rolling or sliding in the slide groove A202 is provided at the bottom of the base 203a, a protrusion 203d is provided at the front of the base 203a, and the protrusion 203d is provided with a circular hole 203e that passes through from top to bottom and is used to realize active connection with the lower end of the ball screw B, a limiting plate 203b is provided at the left end of the base 203a, and a semi-cylindrical protrusion 203f is provided at the upper part of the base 203a, and the axial direction of the semi-cylindrical protrusion 203f is left-right and is aligned with the semi-cylindrical protrusion 203f at the lower end of the deformable slider. The circular groove matches; a movable limiting mechanism 203h is provided on the right side of the base 203a, and the movable limiting mechanism 203h includes a threaded groove, and one side of the threaded groove has a square groove connected to the front or back of the base 203a, a screw is installed in the threaded groove, and the upper part of the screw is a smooth rod, and the adjusting nut is sleeved on the outside of the screw and is arranged in the square groove, and the screw is screwed out and stored by rotating the adjusting nut; when the multi-axis form is completed, the linear module 1 can be expanded to be placed upright, and when the quick-install Y-axis guide rail assembly is pushed to the limit plate 203b against the left end of the movable block, the screw that is screwed out abuts against the right end of the movable block.

[0039] Embodiment 4, as Figure 7As shown, the left side of the base of the present invention is a clamping part 204d, and the right side is a splicing part 204a. The lower part of the clamping part 204d is provided with a semicircular groove, and the lower part of the splicing part 204a is provided with a semicircular groove. When the multi-axis form is completed, the linear module 1 can be expanded to be placed upright, and when the quick-install Y-axis guide rail assembly is pushed to the limit plate 203b against the left end of the movable block, the semicircular groove at the lower part of the splicing part 204a and the semicircular groove at the upper end of the movable block are spliced ​​to form a circular hole for the guide rod 208 to pass through, and the semicircular groove is also sleeved on the outside of the guide rod 208 to prevent the base from falling out during translation; two clamping rails 204b are provided at the back of the base, and a socket B207f is provided at the front. The cross-section of the clamping rail 204b is dovetail-shaped or T-shaped, and a conductive sheet A2 is provided at the lower end of each clamping rail 204b. 04c, the conductive sheet A204c is electrically connected to the socket; the base also has a matching plug-in connector 205, the front of the plug-in connector 205 is provided with two clamping strips 205a for inserting into the rail 204b, the lower end of the clamping strip 205a is provided with a conductive sheet B205b which is opposite to the conductive sheet A204c of the rail 204b; a plug A205c and a pin 205d are provided under the base, the plug A205c is electrically connected to the conductive sheet B205b, after the plug-in connector 205 is inserted into the clamp of the base until the bottom of the plug-in connector 205 abuts against the upper end surface of the movable block, the pin 205d is inserted into the mounting hole, and the plug A205c is inserted into the socket A, so as to realize the electrical connection and structural connection between the pluggable motor assembly 204 and the deformable slider.

[0040] Embodiment 5, as Figure 9-11 As shown, the front of the retractable convex strip slider 207 of the present invention is provided with a socket B207f, and the middle of the rear is provided with a storage groove 207a, and the inner side of the storage groove 207a is provided with a movable convex strip 207b, and the front end surface of the movable convex strip 207b is fixed to the storage groove 207a by a plurality of springs 207c; when the movable convex strip 207b is in the natural state of the spring 207c, the two sides of the rear side of the portion exposed to the storage groove 207a are inclined surfaces, so that when the movable convex strip 207b enters the slide groove B from the left side of the deformable slider along the quick-install Y-axis guide rail assembly, the deformable slider squeezes the movable convex strip 207b into the slide groove B along the inclined surface. The storage groove 207a moves to the slide groove B, and the spring 207c pops out the movable protrusion 207b to abut against the slide groove B; a conductive sheet C207d is provided on each side of the storage groove 207a, and the conductive sheet C207d is electrically connected to the socket B207f. A conductive sheet D207e is provided on each side of the movable protrusion 207b. When the movable protrusion 207b abuts against the slide groove B, the conductive sheet D207e is connected to the conductive sheet C207d. The conductive sheet D207e is also connected to the conductive strip arranged behind the movable protrusion 207b to receive power from the elastic conductive strip in the slide groove B.

[0041] Embodiment 6, as Figure 1As shown, the lifting mechanism of the present invention includes: a guide rod 208, a steering knuckle 209, a connecting joint 212, a threaded rod 213, a plane bearing 214, and a driving mechanism 211; both ends of the guide rod 208 are inserted into the steering knuckle 209, and the part of the guide rod 208 inserted into the steering knuckle 209 is a worm, the rotation of the worm drives the bevel gear in the steering knuckle 209 to rotate, and the bevel gear drives the vertically arranged threaded rod 213 to rotate, the lower part of the threaded rod 213 is fixed to the inner ring of the plane bearing 214, the outer ring of the plane bearing 214 is fixed to the bracket assembly 201, the front side of the connecting joint 212 is provided with a screw hole and is sleeved on the threaded rod 213, and the rear side is provided with a bearing, the inner ring of the bearing is fixed to the convex column, so as to simultaneously realize the lifting and flipping of the expandable linear module 1; the driving mechanism 211 is installed on the top of the guide plate 210, and the driving mechanism 211 is a hand wheel, a rocker or a motor.

[0042] Embodiment 7: The bracket assembly 201 of the present invention is further provided with a compartment 215 for accommodating a quick-install Y-axis guide rail assembly on the right side of the steering knuckle 209; the compartment 215 has a through groove 216 at the bottom for the boss to pass through and be lifted and lowered, and a hole at the top for the guide rod 208 to pass through.

[0043] Embodiment 8: A socket C is further provided on the rear side of the guide plate 210 of the present invention, and the socket C is electrically connected to the wire on the left side of the guide plate 210, and the wire supplies power to the expandable linear module 1. It should be noted that the expandable linear module described in the present invention is a prior art, and can be regarded as all contents of a linear module A having a drive motor, a deformable slider, a guide rail, and a ball screw pair in an easily expandable linear module described in application number: CN202410695062.2. In the above embodiment, the wire supplies power to the expandable linear module, which is understood as energizing the four conductive strips A of the linear module A and powering the drive motor. The present invention is applicable to a DC power supply, and reduces the problems of entanglement and unsightly appearance of exposed wires by means of energizing conductive sheets, internal routing, and bonding conductive strips and elastic conductive strips. Figure 3 The left side of the rear view shows an implementation scheme, in which a six-pin socket is provided at the rear end of the guide plate and a wire electrically connected to the six-pin socket is provided on one side of the guide plate to power three circuits, namely the X-axis, Y-axis drive device, and the actuator.

[0044] Embodiment 9: The bottom of the bracket assembly of the present invention is installed on the linear module of the Z axis to realize three-axis transmission.

[0045] Embodiment 10, as Fig.12As shown, the expandable linear module of the present invention is at the bottom of the bracket assembly in a single-axis state, and the semi-cylindrical protrusion 102 is also at the bottom of the wide groove. At this time, the plane of the semi-cylindrical protrusion 102 is on top, and when the lifting mechanism is raised, due to the uneven distribution of the deformable slider on the front and rear sides of the ball screw, the front part of the deformable slider is always placed on the table top. As the lifting mechanism is raised, the rear end of the semi-cylindrical protrusion 102 tilts forward, enters the narrow groove along the inclined surface, and rests on the arc groove 217c with a length of 1 / 4 of the arc at the top of the narrow groove, so that the expandable linear module is flipped 90°. The design of this flipping mechanism avoids the use of an additional drive device.

[0046] The present invention sets up the existing expandable linear module on the bracket assembly, and the synchronous lifting mechanism of the bracket assembly drives the expandable linear module to move up and down, and at the same time flips a fixed angle in a fixed direction. In addition, the present invention cleverly designs a matching quick-install Y-axis guide rail assembly according to the structural characteristics of the expandable linear module, and integrates the parts related to the Y-axis guide rail into a quick-install Y-axis guide rail assembly that can be translated as a whole. The quick-install Y-axis guide rail assembly realizes docking and disconnection with the expandable linear module by means of translation, plugging and pulling, and limiting, thereby realizing the rapid switching state of the expandable linear module and improving production efficiency.

[0047] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-axis transmission device capable of rapidly switching forms, characterized in that: include: Bracket assembly, quick-install Y-axis guide rail assembly, and expandable linear module; a synchronous lifting mechanism is provided on both sides of the bracket assembly, a guide rod is provided on the upper part between the lifting mechanisms, and a slide groove A is provided on the lower part; the quick-install Y-axis guide rail assembly includes: a docking slide assembly, a pluggable motor assembly, and a retractable convex slider, the docking slide assembly slides in the slide groove A, the pluggable motor assembly includes: a machine base, a motor A fixed to the front of the machine base, and a ball screw B driven to rotate by the motor A, the machine base is sleeved on the outside of the guide rod and slides on the guide rod, the retractable convex slider is driven to move vertically by the rotation of the ball screw B, and the lower end of the ball screw B is movably connected to the docking slide assembly; the expandable linear module includes: a drive motor, a deformable slider, a guide rail, a ball screw A, a drive motor assembly At the right end of the guide rail, the driving motor drives the ball screw A to rotate, thereby driving the deformable slider fixed with the screw nut to move linearly along the X-axis on the guide rail. The two ends of the guide rail are provided with end plates, and a convex column is respectively provided on the outer side of the end plate. The two convex columns are concentric, and the convex columns are movably connected with the lifting mechanism, so that the guide rail can be driven by the lifting mechanism to move vertically and can rotate with the convex column as the axis; at least one convex column is also provided with a semi-cylindrical protrusion on the outer side, and the bracket assembly also includes a guide plate arranged on the outer side of the lifting mechanism, and the guide plate is provided with a guide groove running through the left and right sides, and the guide groove includes a wide groove at the bottom, a narrow groove at the top, and a bevel transitioning from the wide groove to the narrow groove, the width of the wide groove is equal to the diameter of the semi-cylindrical protrusion, and the width of the narrow groove is equal to the radius of the semi-cylindrical protrusion; When the deformable slider flips its movable block to enter the multi-axis form, the mass of the part in front of the ball screw A is greater than the mass of the part behind the ball screw A, so that when the semi-cylindrical protrusion moves upward in the guide groove, it can flip 90° in a fixed direction, thereby driving the expandable linear module from horizontal to vertical; when the multi-axis transmission device is in the single-axis form, the lifting mechanism is lowered, and the expandable linear module is placed horizontally; when the multi-axis transmission device is in the multi-axis form, the lifting mechanism is raised, and the expandable linear module is placed vertically, and the quick-install Y-axis guide rail assembly is pushed from the left end of the guide rod into the position of the deformable slider, completing the structural docking of the upper and lower ends with the deformable slider, and the pluggable motor assembly is also electrically connected to the deformable slider, so that the motor A drives the ball screw B, thereby driving the retractable convex slider along The Y-axis moves to form an X and Y dual-axis transmission; the deformable slider includes a cubic body, and each of the four corners of the body is hinged with a movable block that can be turned 180 degrees; the bottom of the body is provided with a convex strip A that slides in the guide rail, and the top of the body is provided with a slide groove B perpendicular to the convex strip A; when the deformable slider is in a single-axis form, all movable blocks fit with the left and right sides of the body, and at this time, the movable blocks have left and right holes that give way to the ball screw A after being assembled; when switching to a multi-axis form, all movable blocks are flipped 180 degrees to fit with the front and back sides of the body, and at this time, after the movable blocks are assembled, there is a groove with the same width, depth and direction as the slide groove B on the top, and the groove and the slide groove B together constitute a track for the sliding of the retractable convex strip slider, and at the same time, the front and back of the movable blocks are also provided with mounting holes;When the multi-axis form is completed, the linear module can be expanded and placed upright, so that the left and right holes of the ball screw A become two semicircular grooves at the upper and lower ends of the deformable slider, and the mounting hole and the socket A electrically connected to the convex strip A are located in the plane area beside the semicircular groove. ; 2. The multi-axis transmission device capable of rapidly switching states according to claim 1, characterized in that: The docking slide assembly comprises a base, a roller or a slide bar for rolling or sliding in the slide groove A is provided at the bottom of the base, a protrusion is provided at the front of the base, and the protrusion is provided with a circular hole or a bearing that passes through the upper and lower parts, which is used to realize a movable connection with the lower end of the ball screw B. A limiting plate is provided at the left end of the base, and a semi-cylindrical protrusion is provided at the upper part of the base. The axial direction of the semi-cylindrical protrusion is left and right, and matches the semi-circular groove at the lower end of the deformable sliding block; a movable limiting mechanism is provided on the right side of the base, and the movable limiting mechanism comprises a threaded groove, and a square groove is provided on one side of the threaded groove to connect to the front or rear of the base, a screw is installed in the threaded groove, and the upper part of the screw is a smooth rod, and an adjusting nut is sleeved on the outer side of the screw and is provided in the square groove, and the screw is screwed out and stored by rotating the adjusting nut; when the multi-axis form is completed, the linear module can be expanded to be placed vertically, and when the quick-install Y-axis guide rail assembly is pushed to the limit plate against the left end of the movable block, the screw that is screwed out abuts against the right end of the movable block.

3. The multi-axis transmission device capable of rapidly switching states according to claim 2, characterized in that: The left side of the base is a clamping part, and the right side is a splicing part. The lower part of the clamping part is provided with a semicircular groove, and the lower part of the splicing part is provided with a semicircular groove. When the multi-axis form is completed, the linear module can be expanded to stand upright, and when the quick-install Y-axis guide rail assembly is pushed to the limit plate against the left end of the movable block, the semicircular groove at the lower part of the splicing part and the semicircular groove at the upper end of the movable block are spliced ​​to form a circular hole for the guide rod to pass through, and the semicircular groove is also sleeved on the outside of the guide rod to prevent the base from falling out during translation; two clamping rails are provided at the back of the base, and a socket B is provided at the front. The cross-section of the clamping rail is dovetail-shaped or T-shaped, and the lower end of each clamping rail is A conductive sheet A is provided, which is electrically connected to the socket; the machine base also has a matching connector, and two clamping strips for inserting into the card rail are provided in front of the connector, and a conductive sheet B is provided at the lower end of the clamping strip and is opposite to the conductive sheet A of the card rail; a plug A and a pin are provided under the machine base, and the plug A is electrically connected to the conductive sheet B. After the connector is inserted into the clamp of the machine base until the lower side of the connector abuts against the upper end surface of the movable block, the pin is inserted into the mounting hole and the plug A is inserted into the socket A to realize the electrical connection and structural connection between the pluggable motor assembly and the deformable slider.

4. The multi-axis transmission device capable of rapidly switching states according to claim 3, characterized in that: A socket B is provided at the front of the retractable convex strip slider, a receiving groove is provided at the middle of the rear, a movable convex strip is provided on the inner side of the receiving groove, and the front end surface of the movable convex strip is fixed to the receiving groove by a plurality of springs; when the movable convex strip is in the natural state of the spring, the two sides of the part exposed on the rear side of the receiving groove are inclined surfaces, so that when the movable convex strip enters the slide groove B from the left side of the deformable slider along the quick-install Y-axis guide rail assembly, the deformable slider squeezes the movable convex strip into the receiving groove along the inclined surface, and when it moves to the slide groove B, the spring pops out the movable convex strip to abut against the slide groove B; a conductive sheet C is provided on each side of the receiving groove, and the conductive sheet C is electrically connected to the socket B, and a conductive sheet D is provided on each side of the movable convex strip, and when the movable convex strip abuts against the slide groove B, the conductive sheet D is connected to the conductive sheet C, and the conductive sheet D is also connected to the conductive strip arranged behind the movable convex strip to receive power from the elastic guide strip in the slide groove B.

5. The multi-axis transmission device capable of rapidly switching states according to claim 4, characterized in that: The lifting mechanism includes: a guide rod, a steering knuckle, a connecting joint, a threaded rod, a plane bearing, and a driving mechanism; both ends of the guide rod are inserted into the steering knuckle, and the part of the guide rod inserted into the steering knuckle is a worm, the rotation of the worm drives the bevel gear in the steering knuckle to rotate, and the bevel gear drives the vertically arranged threaded rod to rotate, the lower part of the threaded rod is fixed to the inner ring of the plane bearing, the outer ring of the plane bearing is fixed to the bracket assembly, the front side of the connecting joint is provided with a screw hole and is sleeved on the threaded rod, and the rear side is provided with a bearing, the inner ring of the bearing is fixed to the convex column, so as to simultaneously realize the lifting and flipping of the expandable linear module; the driving mechanism is installed on the top of the guide plate, and the driving mechanism is a hand wheel, a rocker or a motor.

6. The multi-axis transmission device capable of rapidly switching states according to claim 5, characterized in that: The bracket assembly is also provided with a compartment for accommodating the quick-install Y-axis guide rail assembly on the right side of the steering knuckle. The lower part of the compartment has a groove for the boss to pass through and lift, and the upper part has a hole for the guide rod to pass through.

7. The multi-axis transmission device capable of rapidly switching states according to claim 6, characterized in that: A socket C is also provided on the rear side of the guide plate, and the socket C is electrically connected to a wire on the left side of the guide plate, and the wire supplies power to the expandable linear module.

8. The multi-axis transmission device capable of rapidly switching forms according to any one of claims 1 to 7, characterized in that: The bottom of the bracket assembly is installed on the linear module of the Z axis to realize three-axis transmission.

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