Synchronous transmission mechanism

Abstract

The utility model provides a synchronous transmission mechanism, which comprises an encoder module, a follower wheel module and a transmission module, the encoder module comprises a rotatable first rotating shaft, a first encoding wheel fixed on the first rotating shaft, and an encoder connected with the first rotating shaft; the follower wheel module comprises a rotatable second rotating shaft and a second coding wheel fixed on the second rotating shaft, the first coding wheel and the second coding wheel are used for being in contact fit with the conveying line, are distributed side by side in the conveying direction of the conveying line, and are in transmission connection through the transmission module and rotate synchronously. At least one of the first encoding wheel and the second encoding wheel rotates under the contact action of the conveying line, the encoders are driven to rotate synchronously, and position information is collected. And through the structural arrangement of the first coding wheel and the second coding wheel, the position tracking range is effectively expanded, so that the position tracking device is suitable for a conveying line doing long-distance linear motion and can be used for multiple working conditions.

Description

Technical Field

[0001] The utility model relates to the technical field of robot tracking, in particular to a synchronous transmission mechanism. Background Art

[0002] In the technical fields of cage reinforcement manufacturing of prefabricated building material piles and automobile manufacturing, synchronous transmission mechanisms for robot tracking are involved. Specifically, the position information of the conveyor line (i.e., the carrier, such as a flat car) is obtained through an encoder, and then the real-time position information of the workpiece on the conveyor line is obtained, and the real-time position information of the workpiece is sent to the robot, so that the robot maintains a state of synchronous movement with the conveyor line, and finally achieves the purpose of the robot and the workpiece transported by the conveyor line being relatively static, which is convenient for the robot to process the workpiece on the conveyor line, such as the robot automatically driving screws on the workpiece.

[0003] At present, the installation structure of the encoder is mainly as follows: a rotating shaft with a fixed installation position is set, and an encoder and a code wheel are installed on the rotating shaft, and the code wheel is used to contact and cooperate with the conveyor line. In this way, when the conveyor line is conveying the workpiece, the friction between the conveyor line and the code wheel drives the code wheel to rotate, and then drives the encoder to rotate synchronously. The encoder collects pulse signals and sends them to the robot, thereby realizing the synchronous movement between the robot and the conveyor line. However, since the installation position of the rotating shaft is fixed, the installation position of the code wheel is also fixed, which limits the range of the code wheel tracking the position information of the conveyor line, so that the existing synchronous transmission mechanism can only be applied to conveyor lines that perform rotary motion or conveyor lines that perform short-distance linear motion, but cannot be used for conveyor lines that perform longer-distance linear motion, that is, the application conditions are limited. Utility Model Content

[0004] In view of the above-mentioned shortcomings of the prior art, the technical problem to be solved by the present invention is to provide a synchronous transmission mechanism with a larger position tracking range, which can be used for a conveyor line performing a relatively long-distance linear motion.

[0005] To achieve the above-mentioned purpose, the utility model provides a synchronous transmission mechanism, including an encoder module, a follower wheel module and a transmission module, the encoder module including a rotatable first shaft, a first encoding wheel fixed on the first shaft, and an encoder connected to the first shaft, the follower wheel module including a rotatable second shaft, and a second encoding wheel fixed on the second shaft, the first encoding wheel and the second encoding wheel are both used for contacting and cooperating with a conveyor line, and the two are distributed side by side along the conveying direction of the conveyor line, the first encoding wheel and the second encoding wheel are connected by transmission through the transmission module, and rotate synchronously.

[0006] The preferred scheme of the above technical scheme is: the encoder module and the follower wheel module both include a mounting base plate, a fixed partition plate distributed on the upper side of the mounting base plate, a plurality of connecting shafts fixedly connected between the mounting base plate and the fixed partition plate, a floating assembly, and a floating plate distributed on the upper side of the fixed partition plate, and the floating plate can be installed on the fixed partition plate in a floating manner up and down through the floating assembly; the first rotating shaft of the encoder module can be rotatably installed on the floating plate of the encoder module, and the second rotating shaft of the follower wheel module can be rotatably installed on the floating plate of the follower wheel module.

[0007] The preferred scheme of the above technical scheme is: the floating component includes a floating guide shaft extending up and down, a linear bearing fixed in a fixed partition, a spring sleeved on the floating guide shaft, and a limit block fixed at the lower end of the floating guide shaft, the upper end of the floating guide shaft is fixedly connected to the floating plate, the floating guide shaft is supported in the linear bearing so as to be movably moved up and down, the upper and lower ends of the spring are respectively abutted against the floating plate and the fixed partition, and the limit block is distributed on the lower side of the linear bearing and can abut against the linear bearing.

[0008] A preferred embodiment of the above technical solution is that the spring is a rectangular spring.

[0009] A preferred scheme of the above technical scheme is: the transmission module includes a first transmission shaft rotatably installed on a floating plate in the encoder module, a second transmission shaft rotatably installed on a fixed partition in the encoder module, a third transmission shaft rotatably installed on a floating plate in the follower wheel module, a fourth transmission shaft rotatably installed on a fixed partition in the follower wheel module, a first transmission assembly, a second transmission assembly, a third transmission assembly, a first telescopic universal joint, and a second telescopic universal joint, the first rotating shaft is transmission-connected to the first transmission shaft through the first transmission assembly, the first transmission shaft is connected to the second transmission shaft through the first telescopic universal joint, the second transmission shaft is transmission-connected to the fourth transmission shaft through the second transmission assembly, the fourth transmission shaft is connected to the third transmission shaft through the second telescopic universal joint, and the third transmission shaft is transmission-connected to the second rotating shaft through the third transmission assembly.

[0010] A preferred embodiment of the above technical solution is that the first transmission assembly, the second transmission assembly and the third transmission assembly are all synchronous belt transmission assemblies, or are all chain transmission assemblies.

[0011] A preferred embodiment of the above technical solution is: when the first transmission assembly, the second transmission assembly and the third transmission assembly are all synchronous belt transmission assemblies, the encoder module and the follower wheel module further include an elongated hole opened on the floating plate, a first bearing seat fixed to the floating plate by a fastening bolt tightened in the elongated hole, a tensioning block fixed to the floating plate, and a tensioning bolt threadedly connected to the tensioning block;

[0012] In the encoder module, the first rotating shaft is rotatably supported in the first bearing seat, the elongated hole extends straightly along the parallel direction of the first rotating shaft and the first transmission shaft, and the tensioning bolt abuts against the first bearing seat;

[0013] In the follower wheel module, the second rotating shaft is rotatably supported in the first bearing seat, the elongated hole extends straightly along the parallel direction of the second rotating shaft and the third transmission shaft, and the tensioning bolt abuts against the first bearing seat.

[0014] A preferred embodiment of the above technical solution is that the first rotating shaft and the first encoding wheel, as well as the second rotating shaft and the second encoding wheel are connected by flat keys.

[0015] A preferred embodiment of the above technical solution is that the first encoding wheel and the second encoding wheel are both iron wheels and both have concave cavities, and strong magnetic rings are fixed in the concave cavities of the first encoding wheel and the second encoding wheel.

[0016] A preferred embodiment of the above technical solution is that the encoder comprises a first Kuka encoder and a second Kuka encoder connected end to end, the first Kuka encoder is connected to one end of the first rotating shaft through a diaphragm coupling, and the second Kuka encoder is connected to the other end of the first rotating shaft.

[0017] As described above, the synchronous transmission mechanism of the utility model has the following beneficial effects:

[0018] The present application sets a first encoding wheel and a second encoding wheel distributed side by side along the conveying direction of the conveyor line, and at least one of the first encoding wheel and the second encoding wheel rotates under the contact of the conveyor line, thereby driving the encoder to rotate synchronously to realize the collection of position information. The structural setting of the first encoding wheel and the second encoding wheel effectively expands the position tracking range of the synchronous transmission mechanism, making the present application suitable for conveyor lines that perform long-distance linear motion, and ultimately making the present application applicable to more working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of the synchronous transmission mechanism of the utility model.

[0020] Figure 2 for Figure 1 main view.

[0021] Figure 3 for Figure 1 Top view of the .

[0022] Figure 4 for Figure 1 Schematic diagram of the encoder module.

[0023] Figure 5 for Figure 4Cross-sectional view at the first axis of rotation.

[0024] Figure 6 for Figure 1 Schematic diagram of the structure of the follower wheel module.

[0025] Figure 7 for Figure 6 Cross-sectional view at the second axis of rotation.

[0026] Figure 8 It is a schematic diagram of the working state of the synchronous transmission mechanism of the utility model.

[0027] Component number description

[0028] 10 Flat car

[0029] 20 Encoder module

[0030] 21 First axis

[0031] 22 First coding wheel

[0032] 23 The first KUKA encoder

[0033] 24 Second KUKA encoder

[0034] 30 Follower wheel module

[0035] 31 Second axis

[0036] 32 Second coding wheel

[0037] 40 Transmission module

[0038] 41 First transmission shaft

[0039] 42 Second transmission shaft

[0040] 43 Third transmission shaft

[0041] 44 Fourth transmission shaft

[0042] 45 First transmission assembly

[0043] 451 First pulley

[0044] 452 Second pulley

[0045] 453 First Timing Belt

[0046] 46 Second transmission assembly

[0047] 461 Third Pulley

[0048] 462 Fourth pulley

[0049] 463 Second synchronous belt

[0050] 47 Third transmission assembly

[0051] 471 Fifth Pulley

[0052] 472 Sixth Pulley

[0053] 473 Third synchronous belt

[0054] 48 First telescopic universal joint

[0055] 49 Second telescopic universal joint

[0056] 51 Install the base plate

[0057] 52 Fixed partition

[0058] 53 Connecting shaft

[0059] 54 Floating Plate

[0060] 55 Floating guide shaft

[0061] 56 Linear bearings

[0062] 57 Spring

[0063] 58 Limit block

[0064] 59 First bearing seat

[0065] 510 tension block

[0066] 511 First fixing plate

[0067] 512 Second fixing plate

[0068] 513 Spacer

[0069] 514 Second bearing seat

[0070] 515 Third bearing seat

[0071] 60 strong magnetic ring

[0072] 70 Diaphragm Coupling DETAILED DESCRIPTION

[0073] The following is a description of the implementation of the present invention by means of specific embodiments. People familiar with the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0074] It should be noted that the structures, proportions, sizes, etc. drawn in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the utility model, so they have no substantial technical significance. Any modification of the structure, change of the proportional relationship or adjustment of the size, without affecting the effects and purposes that can be achieved by the utility model, should still fall within the scope of the technical content disclosed by the utility model. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and so on quoted in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the utility model. The change or adjustment of their relative relationship should also be regarded as the scope of the implementation of the utility model without substantial change of the technical content.

[0075] It should also be noted that when an element is referred to as being "fixed on" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element at the same time. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or may be indirectly connected to the other element through an intermediate element.

[0076] In addition, the descriptions of "first", "second", etc. in this application are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0077] The utility model provides a synchronous transmission mechanism, which belongs to non-standard automation equipment, and is used to track the position information of a conveyor line, and send the position information to a robot, so that the robot maintains a state of synchronous operation with the conveyor line, and realizes relative stillness between the robot and the conveyor line and the workpiece on the conveyor line. The synchronous transmission mechanism involved in the utility model can be used in multiple fields, such as automobile manufacturing equipment, building materials automation equipment, etc. In the following embodiments, the synchronous transmission mechanism is used for building materials automation equipment as an example for explanation. In addition, for the convenience of description, the conveying direction of the conveyor line is defined as the forward direction. In the present application, the conveyor line is a movable carrier, and the carrier is preferably a flat car 10.

[0078] like Figures 1 to 3As shown, the synchronous transmission mechanism involved in the utility model includes an encoder module 20, a follower wheel module 30 and a transmission module 40. The encoder module 20 and the follower wheel module 30 are arranged on the path of the flat car 10. The encoder module 20 and the follower wheel module 30 are arranged side by side in the conveying direction of the flat car 10. The transmission module 40 is connected between the encoder module 20 and the follower wheel module 30. Specifically, the encoder module 20 includes a first rotating shaft 21 extending left and right and rotatable, a first encoding wheel 22 fixed on the first rotating shaft 21, and an encoder connected to the first rotating shaft 21; the follower wheel module 30 includes a second rotating shaft 31 extending left and right and rotatable, and a second encoding wheel 32 fixed on the second rotating shaft 31; the first encoding wheel 22 and the second encoding wheel 32 are both used for contacting and matching with the flat car 10, and the first encoding wheel 22 and the second encoding wheel 32 are arranged side by side in the conveying direction of the flat car 10; the first encoding wheel 22 and the second encoding wheel 32 are connected through the transmission module 40 and rotate synchronously.

[0079] During the process of conveying the workpiece by the flat car 10, Figure 8 As shown, when the flat car 10 passes over the encoder module 20, the flat car 10 contacts the first encoder wheel 22, and the friction between the two drives the first encoder wheel 22 to rotate; when the flat car 10 passes over the follower wheel module 30, the flat car 10 contacts the second encoder wheel 32, and the friction between the two drives the second encoder wheel 32 to rotate. When the flat car 10 only drives the first encoder wheel 22 to rotate, the first encoder wheel 22 drives the first rotating shaft 21 and the encoder to rotate synchronously, and at the same time, the first encoder wheel 22 drives the second encoder wheel 32 to rotate synchronously through the transmission module 40; when the flat car 10 only drives the second encoder wheel 32 to rotate, the second encoder wheel 32 drives the first encoder wheel 22 to rotate synchronously through the transmission module 40, and the first encoder wheel 22 drives the first rotating shaft 21 and the encoder to rotate synchronously; when the flat car 10 drives the first encoder wheel 22 and the second encoder wheel 32 to rotate at the same time, the first encoder wheel 22 drives the first rotating shaft 21 and the encoder to rotate synchronously. Therefore, the first encoding wheel 22, the second encoding wheel 32 and the encoder are always in a synchronous rotation state. The encoder is used to collect the real-time position information of the flat car 10 and send the signal to the robot. The robot moves synchronously with the flat car 10 according to the signal of the encoder, thereby realizing the synchronous movement between the robot and the flat car 10.

[0080] The present application arranges the first encoding wheel 22 and the second encoding wheel 32 arranged in a front-to-back manner. When the flat cart 10 moves to the point where it is about to disengage from the first encoding wheel 22 in the encoder module 20, the flat cart 10 will frictionally contact with the second encoding wheel 32 in the follower wheel module 30; or, when the flat cart 10 moves to the point where it is about to disengage from the second encoding wheel 32 in the follower wheel module 30, the flat cart 10 will frictionally contact with the first encoding wheel 22 in the encoder module 20, ensuring that at least one encoding wheel is in frictional contact with the flat cart 10 during the entire movement of the flat cart 10. Combined with the transmission module 40, the encoder can rotate synchronously with the first encoding wheel 22 and the second encoding wheel 32, so that the encoder collects pulse signals throughout the entire process, effectively expanding the position tracking range of the synchronous transmission mechanism, and achieving the effect of extending the following distance of the robot, so that the present application is suitable for the flat cart 10 performing a relatively long distance linear motion, and ultimately the present application can be used in more working conditions.

[0081] Furthermore, the encoder module 20 and the follower wheel module 30 are both capable of floating adjustment in the up and down directions, so that the first encoder wheel 22 and the second encoder wheel 32 can rise and fall, and adapt to uneven and unstable working conditions. The following describes the preferred structures of the encoder module 20, the follower wheel module 30 and the transmission module 40 in the synchronous transmission mechanism.

[0082] Encoder module 20

[0083] like Figure 4 and Figure 5 As shown, the encoder module 20 includes a mounting base plate 51, a fixed partition plate 52 distributed on the upper side of the mounting base plate 51, a plurality of connecting shafts 53 fixedly connected between the mounting base plate 51 and the fixed partition plate 52, a floating assembly, and a floating plate 54 distributed on the upper side of the fixed partition plate 52. The mounting base plate 51 is fixed to the workshop floor by anchor bolts, the floating plate 54 can be installed on the fixed partition plate 52 in a floating manner up and down through the floating assembly, and the first rotating shaft 21 can be rotatably installed on the floating plate 54, thereby installing the encoder and the first encoding wheel 22 on the floating plate 54. In the process of frictional contact between the flat car 10 and the first encoding wheel 22, when encountering unevenness or unstable operation, under the action of the floating assembly, the floating plate 54 and the first encoding wheel 22 on the floating plate 54 are allowed to float up and down to achieve floating adjustment.

[0084] like Figure 4 and Figure 5As shown, there are two groups of floating components. The structure of each group of floating components is preferably as follows: the floating component includes a floating guide shaft 55 extending up and down, a linear bearing 56 fixed in the fixed partition 52, a spring 57 sleeved on the floating guide shaft 55, and a stopper 58 fixed to the lower end of the floating guide shaft 55 by screws. The upper end of the floating guide shaft 55 is fixedly connected to the floating plate 54 by screws. The floating guide shaft 55 is supported in the linear bearing 56 so as to be movable up and down. The upper and lower ends of the spring 57 are respectively in contact with the floating plate 54 and the fixed partition 52. The stopper 58 is distributed on the lower side of the linear bearing 56 and can be in contact with the linear bearing 56. Preferably, the spring 57 is a rectangular spring. Under the action of the flat car 10, the first encoding wheel 22 is pressed down, and the floating plate 54 and the floating guide shaft 55 move down; after the flat car 10 leaves the first encoding wheel 22, under the action of the spring 57, the first encoding wheel 22, the floating plate 54 and the floating guide shaft 55 move up and reset. Therefore, under the action of the spring 57 and the linear bearing 56, the floating guide shaft 55 is allowed to float up and down, thereby realizing the floating plate 54. The limit block 58 limits the upper limit position of the floating guide shaft 55, that is, limits the upper limit position of the floating plate 54.

[0085] Furthermore, if Figure 5 As shown, the first encoding wheel 22 is an iron wheel and has a concave cavity, and a strong magnetic ring 60 is fixed in the concave cavity of the first encoding wheel 22 by screws. The strong magnetic ring 60 magnetizes the iron first encoding wheel 22, making the first encoding wheel 22 magnetic, and the flat car 10 is also an iron component, so that the first encoding wheel 22 and the flat car 10 are in reliable contact, avoiding slipping, and improving the accuracy of the flat car 10 driving the first encoding wheel 22 to rotate.

[0086] Furthermore, if Figure 4 and Figure 5 As shown, the encoder includes a first Kuka encoder 23 and a second Kuka encoder 24 connected end to end. The first Kuka encoder 23 is connected to the left end of the first rotating shaft 21 through a diaphragm coupling 70, and the second Kuka encoder 24 is connected to the right end of the first rotating shaft 21. The first fixed plate 511 and the second fixed plate 512 are fixed to the left and right edges of the floating plate 54, respectively. The first Kuka encoder 23 is fixedly mounted on the left end side of the first fixed plate 511, and the second Kuka encoder 24 is fixedly mounted on the right end side of the second fixed plate 512, so that the first Kuka encoder 23 and the second Kuka encoder 24 are installed on the floating plate 54.

[0087] Furthermore, if Figure 4 and Figure 5As shown, a first bearing seat 59 is installed on the top surface of the floating plate 54, and the first shaft 21 is rotatably supported in the first bearing seat 59. A spacer sleeve 513 is also provided between the first shaft 21 and the first bearing seat 59. In addition, the first shaft 21 and the first encoding wheel 22 are connected by a flat key.

[0088] Follower wheel module 30

[0089] like Figure 4 and Figure 6 As shown, the difference between the follower wheel module 30 and the encoder module 20 is that the follower wheel module 30 omits the encoder in the encoder module 20. Based on this, Figure 6 and Figure 7 As shown, the follower wheel module 30 includes a mounting base plate 51, a fixed partition plate 52 distributed on the upper side of the mounting base plate 51, a plurality of connecting shafts 53 fixedly connected between the mounting base plate 51 and the fixed partition plate 52, a floating assembly, and a floating plate 54 distributed on the upper side of the fixed partition plate 52. The mounting base plate 51 is fixed to the workshop floor by anchor bolts, the floating plate 54 can be installed on the fixed partition plate 52 in an up-and-down floating manner by the floating assembly, and the second rotating shaft 31 can be rotatably installed on the floating plate 54, thereby installing the second encoding wheel 32 on the floating plate 54. In the process of frictional contact between the flat car 10 and the second encoding wheel 32, when encountering unevenness or unstable operation, the floating plate 54 and the second encoding wheel 32 on the floating plate 54 are allowed to float up and down under the action of the floating assembly to achieve floating adjustment.

[0090] like Figure 6 and Figure 7 As shown, there are two groups of floating components. The structure of each group of floating components is preferably as follows: the floating component includes a floating guide shaft 55 extending up and down, a linear bearing 56 fixed in the fixed partition 52, a spring 57 sleeved on the floating guide shaft 55, and a stopper 58 fixed to the lower end of the floating guide shaft 55 by screws. The upper end of the floating guide shaft 55 is fixedly connected to the floating plate 54 by screws. The floating guide shaft 55 is supported in the linear bearing 56 so as to be movable up and down. The upper and lower ends of the spring 57 are respectively in contact with the floating plate 54 and the fixed partition 52. The stopper 58 is distributed on the lower side of the linear bearing 56 and can be in contact with the linear bearing 56. Preferably, the spring 57 is a rectangular spring. Under the action of the flat car 10, the second encoding wheel 32 is pressed down, and the floating plate 54 and the floating guide shaft 55 move down; after the flat car 10 leaves the second encoding wheel 32, under the action of the spring 57, the second encoding wheel 32, the floating plate 54 and the floating guide shaft 55 move up and reset. Therefore, under the action of the spring 57 and the linear bearing 56, the floating guide shaft 55 is allowed to float up and down, thereby realizing the floating plate 54. The limit block 58 limits the upper limit position of the floating guide shaft 55, that is, limits the upper limit position of the floating plate 54.

[0091] Furthermore, if Figure 7 As shown, the second encoding wheel 32 is an iron wheel and has a concave cavity, and a strong magnetic ring 60 is fixed in the concave cavity of the second encoding wheel 32 by screws. The strong magnetic ring 60 magnetizes the iron second encoding wheel 32, making the second encoding wheel 32 magnetic, and the flat car 10 is also an iron component, so that the second encoding wheel 32 can contact the flat car 10 reliably, avoid slipping, and improve the accuracy of the flat car 10 driving the second encoding wheel 32 to rotate.

[0092] Furthermore, if Figure 6 and Figure 7 As shown, a first bearing seat 59 is installed on the top surface of the floating plate 54, and the second shaft 31 is rotatably supported in the first bearing seat 59. A spacer sleeve 513 is also provided between the second shaft 31 and the first bearing seat 59. In addition, the second shaft 31 and the second encoding wheel 32 are connected by a flat key.

[0093] Transmission module 40

[0094] like Figure 1 , Figure 3 , Figure 4 and Figure 6 As shown, the transmission module 40 includes a first transmission shaft 41, a second transmission shaft 42, a third transmission shaft 43, a fourth transmission shaft 44, a first transmission assembly 45, a second transmission assembly 46, a third transmission assembly 47, a first telescopic universal joint 48, and a second telescopic universal joint 49. The first transmission shaft 41, the second transmission shaft 42, the third transmission shaft 43, and the fourth transmission shaft 44 all extend left and right. Among them, the first transmission shaft 41 is rotatably mounted on the floating plate 54 of the encoder module 20, the second transmission shaft 42 is rotatably mounted on the fixed partition plate 52 of the encoder module 20, the third transmission shaft 43 is rotatably mounted on the floating plate 54 of the follower wheel module 30, and the fourth transmission shaft 44 is rotatably mounted on the fixed partition plate 52 of the follower wheel module 30. The first rotating shaft 21 is connected to the first transmission shaft 41 through the first transmission assembly 45, the first transmission shaft 41 is connected to the second transmission shaft 42 through the first telescopic universal joint 48, the second transmission shaft 42 is connected to the fourth transmission shaft 44 through the second transmission assembly 46, the fourth transmission shaft 44 is connected to the third transmission shaft 43 through the second telescopic universal joint 49, and the third transmission shaft 43 is connected to the second rotating shaft 31 through the third transmission assembly 47, thereby realizing the synchronous rotation between the first encoding wheel 22 and the second encoding wheel 32. In addition, in the process of the first encoding wheel 22 and the second encoding wheel 32 being pressed down and floating up and down, the second transmission shaft 42, the second transmission assembly 46, and the fourth transmission shaft 44 will not float up and down, and the position remains unchanged, which does not affect the transmission effect.

[0095] Preferably, if Figure 3 , Figure 4 and Figure 6 As shown, the second bearing seat 514 is fixed on the floating plate 54 of the encoder module 20 and the floating plate 54 of the follower wheel module 30, the first transmission shaft 41 is rotatably supported in the second bearing seat 514 of the encoder module 20, and the third transmission shaft 43 is rotatably supported in the second bearing seat 514 of the follower wheel module 30. The third bearing seat 515 is fixed on the fixed partition plate 52 of the encoder module 20 and the fixed partition plate 52 of the follower wheel module 30, the second transmission shaft 42 is rotatably supported in the third bearing seat 515 of the encoder module 20, and the fourth transmission shaft 44 is rotatably supported in the third bearing seat 515 of the follower wheel module 30. In this way, the first transmission shaft 41 and the second transmission shaft 42 are installed in the encoder module 20, and the third transmission shaft 43 and the fourth transmission shaft 44 are installed in the follower wheel module 30. The first bearing seat 59, the second bearing seat 514 and the third bearing seat 515 all have bearings inside.

[0096] Further, the first transmission assembly 45, the second transmission assembly 46 and the third transmission assembly 47 are all synchronous belt transmission assemblies, or are all chain transmission assemblies. Figure 1 , Figure 3 , Figure 4 and Figure 6 As shown, the first transmission assembly 45, the second transmission assembly 46 and the third transmission assembly 47 are all synchronous belt transmission assemblies. Thus, the first transmission assembly 45 includes a first pulley 451 fixed on the first rotating shaft 21, a second pulley 452 fixed on the first transmission shaft 41, and a first synchronous belt 453 connected to the periphery of the first pulley 451 and the second pulley 452; the second transmission assembly 46 includes a third pulley 461 fixed on the second transmission shaft 42, a fourth pulley 462 fixed on the fourth transmission shaft 44, and a second synchronous belt 463 connected to the periphery of the third pulley 461 and the fourth pulley 462; the third transmission assembly 47 includes a fifth pulley 471 fixed on the second rotating shaft 31, a sixth pulley 472 fixed on the third transmission shaft 43, and a third synchronous belt 473 connected to the periphery of the fifth pulley 471 and the sixth pulley 472. The first pulley 451 and the first rotating shaft 21, as well as the fifth pulley 471 and the second rotating shaft 31 are all connected by flat keys and fixed with screws, the second pulley 452 and the first transmission shaft 41, the third pulley 461 and the second transmission shaft 42, the fourth pulley 462 and the fourth transmission shaft 44, and the sixth pulley 472 and the third transmission shaft 43 are all fixed with screws.

[0097] After the present application adopts a synchronous belt drive assembly, by replacing the length of the first synchronous belt 453, the second synchronous belt 463 and the third synchronous belt 473, the spacing between the encoder wheel module and the follower wheel module 30 can be easily adjusted, that is, the spacing between the first encoder wheel 22 and the second encoder wheel 32 can be adjusted, and then the synchronous following distance of the robot following the flat car 10 for synchronous movement can be adjusted.

[0098] Furthermore, based on the structure of the synchronous belt transmission assembly, the encoder module 20 and the follower wheel module 30 also include a tension block 510 fixed on the floating plate 54 in each module, and a tension bolt threadedly connected to the tension block 510. The floating plate 54 of each module is provided with a long hole extending straightly forward and backward, and the first bearing seat 59 is fixed to the floating plate 54 by tightening the fastening bolts in the long hole; the tension bolt in the encoder module 20 abuts against the first bearing seat 59, so that the first synchronous belt 453 is in a tensioned state; the tension bolt in the follower wheel module 30 abuts against the first bearing seat 59, so that the third synchronous belt 473 is in a tensioned state. Finally, the reliability and accuracy of the transmission are guaranteed.

[0099] In summary, the present invention can not only realize the synchronous transmission between the flat car 10 and the robot, but also has a certain floating adjustment capability, and can adapt to the uneven and unstable working conditions of the flat car 10. Therefore, the present invention effectively overcomes various shortcomings of the prior art and has a high industrial utilization value.

[0100] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the technology may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed in the present invention shall still be covered by the claims of the present invention.

Claims

1. A synchronous transmission mechanism, characterized in that: The invention comprises an encoder module (20), a follower wheel module (30) and a transmission module (40), wherein the encoder module (20) comprises a rotatable first rotating shaft (21), a first encoding wheel (22) fixed on the first rotating shaft (21), and an encoder connected to the first rotating shaft (21); the follower wheel module (30) comprises a rotatable second rotating shaft (31) and a second encoding wheel (32) fixed on the second rotating shaft (31); the first encoding wheel (22) and the second encoding wheel (32) are both used for contacting and cooperating with a conveying line, and the two are arranged side by side along the conveying direction of the conveying line; the first encoding wheel (22) and the second encoding wheel (32) are connected by transmission through the transmission module (40) and rotate synchronously.

2. The synchronous transmission mechanism according to claim 1, characterized in that: The encoder module (20) and the follower wheel module (30) both include a mounting base plate (51), a fixed partition plate (52) disposed on the upper side of the mounting base plate (51), a plurality of connecting shafts (53) fixedly connected between the mounting base plate (51) and the fixed partition plate (52), a floating assembly, and a floating plate (54) disposed on the upper side of the fixed partition plate (52); the floating plate (54) can be mounted on the fixed partition plate (52) in a floating manner up and down through the floating assembly; the first rotating shaft (21) of the encoder module (20) can be rotatably mounted on the floating plate (54) of the encoder module (20), and the second rotating shaft (31) of the follower wheel module (30) can be rotatably mounted on the floating plate (54) of the follower wheel module (30).

3. The synchronous transmission mechanism according to claim 2, characterized in that: The floating assembly includes a floating guide shaft (55) extending up and down, a linear bearing (56) fixed in a fixed partition (52), a spring (57) sleeved on the floating guide shaft (55), and a limit block (58) fixed at the lower end of the floating guide shaft (55). The upper end of the floating guide shaft (55) is fixedly connected to the floating plate (54), and the floating guide shaft (55) is supported in the linear bearing (56) so as to be movable up and down. The upper and lower ends of the spring (57) are respectively in contact with the floating plate (54) and the fixed partition (52). The limit block (58) is distributed on the lower side of the linear bearing (56) and can be in contact with the linear bearing (56).

4. The synchronous transmission mechanism according to claim 3, characterized in that: The spring (57) is a rectangular spring.

5. The synchronous transmission mechanism according to claim 2, characterized in that: The transmission module (40) comprises a first transmission shaft (41) rotatably mounted on a floating plate (54) in an encoder module (20), a second transmission shaft (42) rotatably mounted on a fixed partition (52) in the encoder module (20), a third transmission shaft (43) rotatably mounted on a floating plate (54) in a follower wheel module (30), a fourth transmission shaft (44) rotatably mounted on the fixed partition (52) in the follower wheel module (30), a first transmission assembly (45), a second transmission assembly (46), a third transmission assembly (47), a first telescopic universal joint (48), and a plurality of transmission components. and a second telescopic universal joint (49), the first rotating shaft (21) is connected to the first transmission shaft (41) through a first transmission assembly (45), the first transmission shaft (41) is connected to the second transmission shaft (42) through a first telescopic universal joint (48), the second transmission shaft (42) is connected to the fourth transmission shaft (44) through a second transmission assembly (46), the fourth transmission shaft (44) is connected to the third transmission shaft (43) through a second telescopic universal joint (49), and the third transmission shaft (43) is connected to the second rotating shaft (31) through a third transmission assembly (47).

6. The synchronous transmission mechanism according to claim 5, characterized in that: The first transmission assembly (45), the second transmission assembly (46) and the third transmission assembly (47) are all synchronous belt transmission assemblies, or are all chain transmission assemblies.

7. The synchronous transmission mechanism according to claim 6, characterized in that: When the first transmission assembly (45), the second transmission assembly (46) and the third transmission assembly (47) are all synchronous belt transmission assemblies, the encoder module (20) and the follower wheel module (30) also include an elongated hole formed on the floating plate (54), a first bearing seat (59) fixed to the floating plate (54) by fastening bolts tightened in the elongated hole, a tensioning block (510) fixed to the floating plate (54), and a tensioning bolt threadedly connected to the tensioning block (510); In the encoder module (20), the first rotating shaft (21) is rotatably supported in a first bearing seat (59), the elongated hole extends straightly along the parallel direction of the first rotating shaft (21) and the first transmission shaft (41), and the tensioning bolt abuts against the first bearing seat (59); In the follower wheel module (30), the second rotating shaft (31) is rotatably supported in the first bearing seat (59), the elongated hole extends straightly along the parallel direction of the second rotating shaft (31) and the third transmission shaft (43), and the tensioning bolt abuts against the first bearing seat (59).

8. The synchronous transmission mechanism according to claim 1, characterized in that: The first rotating shaft (21) and the first encoding wheel (22), as well as the second rotating shaft (31) and the second encoding wheel (32) are all connected by a flat key.

9. The synchronous transmission mechanism according to claim 1, characterized in that: The first encoding wheel (22) and the second encoding wheel (32) are both iron wheels and are provided with concave cavities. Strong magnetic rings (60) are fixed in the concave cavities of the first encoding wheel (22) and the second encoding wheel (32).

10. The synchronous transmission mechanism according to claim 1, characterized in that: The encoder comprises a first Kuka encoder (23) and a second Kuka encoder (24) connected end to end, wherein the first Kuka encoder (23) is connected to one end of the first rotating shaft (21) via a diaphragm coupling (70), and the second Kuka encoder (24) is connected to the other end of the first rotating shaft (21).

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