Telescopic arm of truss robot

Abstract

A telescopic arm of a truss robot comprises a ball screw, a first lifting column and a first-layer upper cover plate, the upper end and the lower end of the first lifting column are open, the first-layer upper cover plate is connected to the upper end of the first lifting column, and a telescopic arm speed reducer mounting plate is connected to the upper side of the first-layer upper cover plate. A telescopic arm speed reducer is installed on the first-layer upper cover plate, an output shaft of the telescopic arm speed reducer penetrates through a telescopic arm speed reducer installation plate and then is connected with a driving belt wheel, an output shaft of a telescopic arm driving motor is connected with the input end of the telescopic arm speed reducer, and the upper end of a ball screw penetrates through the first-layer upper cover plate and then is connected with a driven belt wheel. A driving synchronous belt is wound on the peripheral face of the driving belt wheel and the peripheral face of the driven belt wheel, the lower end of the ball screw is in threaded connection with a multi-stage lifting column assembly, the mechanical arm is connected to the lower end of the multi-stage lifting column assembly, and a synchronous belt driving assembly is connected between the first lifting column and the multi-stage lifting column assembly. According to the design, the structure is simple, using limitation is small, reliability is high, and the working process is stable.

Description

Technical Field

[0001] The utility model relates to the technical field of construction, in particular to a telescopic arm of a truss robot. Background Art

[0002] At present, most of the construction processes in the construction field need to be completed manually. However, completing the various construction processes required for house construction by manual methods is not only inefficient, but also has certain safety risks. Therefore, it is particularly important to use robots to replace manual intelligent construction. For existing construction, truss robots are generally used, and the existing truss robot walking axis and lifting axis are generally driven by linear guides with gear rack transmission. This method has a complex structure and high cost, and the lifting height is greatly affected by the height of the lifting column and the site height. In a space with limited height, it is impossible to achieve a large stroke height operation, resulting in the inability to transport the materials at the bottom layer, and it is impossible to meet the transportation needs in a space with limited height. Summary of the invention

[0003] The utility model aims to overcome the defects and problems of the prior art, such as complex structure and large limitations on use, and to provide a telescopic arm of a truss robot with a simple structure and small limitations on use.

[0004] To achieve the above purpose, the technical solution of the utility model is: a telescopic arm of a truss robot, including a telescopic arm drive motor, a telescopic arm reducer, a telescopic arm reducer mounting plate, a ball screw, a first lifting column and a first upper cover plate, the upper and lower ends of the first lifting column are open, the first upper cover plate is connected to the upper end surface of the first lifting column, the telescopic arm reducer mounting plate is connected to the upper side of the first upper cover plate, the telescopic arm reducer is installed on the first upper cover plate and the output shaft passes through the telescopic arm reducer mounting plate and is connected to an active The belt pulley is connected to the output shaft of the telescopic arm driving motor and the input end of the telescopic arm reducer. The upper end of the ball screw passes through the first upper cover plate and is connected to a driven pulley. The outer circumferences of the active pulley and the driven pulley are wrapped with a driving synchronous belt. The lower end of the ball screw is threadedly connected to a multi-stage lifting column assembly. The mechanical arm is connected to the lower end of the multi-stage lifting column assembly. A synchronous belt driving assembly is connected between the first lifting column and the multi-stage lifting column assembly. The synchronous belt driving assembly is used to drive multiple lifting columns in the multi-stage lifting column assembly to lift and lower respectively.

[0005] The upper side of the telescopic arm reducer mounting plate is provided with a synchronous belt tensioning device, and the synchronous belt tensioning device comprises a fixing plate, an L-shaped mounting plate, a connecting shaft, and a tensioning bolt. The upper side of the first layer of upper cover plate is provided with a tensioning slide groove, and the fixing plate is vertically connected to the upper side of the first layer of upper cover plate, and the L-shaped mounting plate is slidably connected to the upper side of the tensioning slide groove along the length direction of the tensioning slide groove, and the tensioning bolt is threadedly connected to the vertical part of the L-shaped mounting plate. The bottom of the tensioning bolt passes through the fixing plate and is threadedly connected to two tensioning nuts, and the two tensioning nuts abut against the left and right sides of the fixing plate, and the lower end of the connecting shaft passes through the tensioning slide groove and is threadedly connected to a limiting nut, and the limiting nut abuts against the lower side of the first layer of upper cover plate, and the upper end of the connecting shaft is connected with a synchronous belt tensioning wheel, and the synchronous belt tensioning wheel abuts against the outer side of the driving synchronous belt.

[0006] The multi-stage lifting column assembly includes a second lifting column, a third lifting column, a fourth lifting column, a fifth lifting column and a second upper cover plate, the upper and lower ends of the second lifting column, the third lifting column, the fourth lifting column and the fifth lifting column are all open, the second lifting column, the third lifting column, the fourth lifting column and the fifth lifting column are coaxially arranged in sequence from outside to inside, the second upper cover plate is connected to the upper side of the second lifting column, the ball screw is threadedly connected to the second upper cover plate and the lower end is located in the second lifting column, the synchronous belt drive assembly is respectively connected to the first lifting column, the second lifting column, the third lifting column, the fourth lifting column and the fifth lifting column, and the mechanical arm is connected to the lower end of the fifth lifting column.

[0007] A ball screw nut seat is connected to the center of the second upper cover plate, a ball screw fixing seat is connected to the center of the first upper cover plate, the threaded section of the ball screw is threadedly connected to the ball screw nut seat, and the non-threaded section of the ball screw is rotatably connected to the ball screw fixing seat.

[0008] The synchronous belt drive assembly includes a first stretching synchronous belt, a second stretching synchronous belt, a third stretching synchronous belt, a first reset synchronous belt, a second reset synchronous belt, a third reset synchronous belt and a plurality of lifting pulleys. The upper ends and lower ends of the second lifting column, the third lifting column and the fourth lifting column are all provided with mounting grooves. The plurality of lifting pulleys are respectively rotatably connected to the plurality of mounting grooves. One end of the first stretching synchronous belt is connected to the inner side wall of the first lifting column at the top through a synchronous belt pressure plate. The other end of the first stretching synchronous belt is connected to the outer side wall of the third lifting column at the top through a synchronous belt pressure plate. The middle part of the first stretching synchronous belt is connected to the lifting and lowering part of the second lifting column. The pulleys are connected in a coordinated manner, one end of the second stretching synchronous belt is connected to the inner side wall of the second lifting column at the top through a synchronous belt pressure plate, the other end of the second stretching synchronous belt is connected to the outer side wall of the fourth lifting column at the top through a synchronous belt pressure plate, the middle part of the second stretching synchronous belt is connected to the lifting pulley at the lower end of the third lifting column, one end of the third stretching synchronous belt is connected to the inner side wall of the third lifting column at the top through a synchronous belt pressure plate, the other end of the third stretching synchronous belt is connected to the outer side wall of the fifth lifting column at the top through a synchronous belt pressure plate, and the middle part of the third stretching synchronous belt is connected to the lifting pulley at the lower end of the fourth lifting column;

[0009] One end of the first reset synchronous belt is connected to the inner side wall of the first lifting column at the bottom through a synchronous belt pressure plate, and the other end of the first reset synchronous belt is connected to the outer side wall of the third lifting column at the bottom through the synchronous belt pressure plate, and the middle part of the first reset synchronous belt is connected to the lifting pulley at the upper end of the second lifting column, one end of the second reset synchronous belt is connected to the inner side wall of the second lifting column at the bottom through the synchronous belt pressure plate, and the other end of the second reset synchronous belt is connected to the outer side wall of the fourth lifting column at the bottom through the synchronous belt pressure plate, and the middle part of the second reset synchronous belt is connected to the lifting pulley at the upper end of the third lifting column, one end of the third reset synchronous belt is connected to the inner side wall of the third lifting column at the bottom through the synchronous belt pressure plate, and the other end of the third reset synchronous belt is connected to the outer side wall of the fifth lifting column at the bottom through the synchronous belt pressure plate, and the middle part of the third reset synchronous belt is connected to the lifting pulley at the upper end of the fourth lifting column.

[0010] The first lifting column has an inner wall near the lower end connected to a first lifting block, the inner walls near the upper end and the lower end of the second lifting column are both connected to second lifting blocks, the inner walls near the upper end and the lower end of the third lifting column are both connected to third lifting blocks, the inner walls near the upper end and the lower end of the fourth lifting column are both connected to fourth lifting blocks, and the outer side near the upper end of the fifth lifting column is connected to a fifth lifting block, the first lifting block is slidably connected to the outer side of the second lifting column, the second lifting block at the upper end is slidably connected to the inner wall of the first lifting column and is arranged relative to the first lifting block. The second lifting block at the lower end is slidably connected to the outer side of the third lifting column, the third lifting block at the upper end is slidably connected to the inner side wall of the second lifting column and is arranged relative to the second lifting block at the lower end, the third lifting block at the lower end is slidably connected to the outer side of the fourth lifting column, the fourth lifting block at the upper end is slidably connected to the inner side wall of the third lifting column and is arranged relative to the third lifting block at the lower end, the fourth lifting block at the lower end is slidably connected to the outer side of the fifth lifting column, and the fifth lifting block is slidably connected to the outer side of the fourth lifting column.

[0011] A lifting pulley tensioning device is arranged in the installation groove, and the lifting pulley tensioning device comprises a tensioning base, a tensioning plate, and a lifting bolt. The tensioning base is connected to the inner side of the installation groove, the lifting pulley is rotatably connected to the tensioning plate, the tensioning plate is vertically slidably connected to the tensioning base, the lifting bolt is threadedly connected to the tensioning plate, and the bottom of the lifting bolt passes through the tensioning base and is threadedly connected to a lifting nut.

[0012] The tensioning base is U-shaped, the tensioning plate is U-shaped, both side walls of the tensioning base are provided with adjustment slots, and the two side walls of the tensioning plate are respectively slidably connected to the two adjustment slots.

[0013] The lower end surface of the fifth lifting column is connected with a flange plate for mounting a mechanical arm, and the flange plate is fixedly connected to the bottom of the first lifting column. The outer sides of the second, third, fourth and fifth lifting columns close to the lower ends are all equipped with cable pipe clamps for clamping electric wires, and the multiple cable pipe clamps are located on the same side and are arranged relative to the lower side of the telescopic arm drive motor.

[0014] The cable tube clamp includes an upper clamp plate, a lower clamp plate, a tube clamp rod, and a tube clamp bolt. One end of the tube clamp rod is connected to the outer sides of the second lifting column, the third lifting column, the fourth lifting column, and the fifth lifting column. The other end of the tube clamp rod is connected to the lower clamp plate. The upper clamp plate and the lower clamp plate are combined to form a tube clamp groove for storing wires. The tube clamp bolt is threadedly connected to the upper clamp plate and the lower clamp plate.

[0015] Compared with the prior art, the beneficial effects of the utility model are:

[0016] 1. In the telescopic arm of a truss robot of the utility model, the driving force of the motor is transmitted to the ball screw through the pulley by means of synchronous belt transmission, so that the ball screw rotates. At the same time, the ball screw rotation drives the multi-stage lifting column assembly to move up and down. Since the multiple lifting columns of the multi-stage lifting column assembly are all located in the first lifting column, the overall height of the telescopic arm is greatly reduced. At the same time, the multiple lifting columns can be lifted and lowered separately by the synchronous belt drive assembly, so that a large stroke height operation can be achieved. Therefore, the utility model has a simple structure and few limitations in use.

[0017] 2. In the telescopic arm of a truss robot of the utility model, by setting a synchronous belt tensioning device, the synchronous belt tensioning wheel can slide on the telescopic arm reducer mounting plate, so that the tension of the driving synchronous belt can be adjusted, so that the synchronous belt transmission is more stable; by setting a ball screw nut seat, when the ball screw rotates, due to the threaded cooperation with the ball screw nut seat, it will drive the ball screw nut seat and the second layer of the upper cover plate to move up and down; by setting a plurality of stretching synchronous belts and reset synchronous belts, each lifting column is interconnected, so that when the second lifting column moves, the other lifting columns move accordingly; by setting a lifting slider, the lifting process of the lifting column is more stable, and at the same time, the lifting slider can limit the lifting column to avoid the lifting column moving too much and being unable to recover. Therefore, the utility model has high reliability and stable working process.

[0018] 3. In the telescopic arm of a truss robot of the utility model, by setting a lifting pulley tensioning device, the height of the lifting pulley can be adjusted, thereby adjusting the tension of the stretching synchronous belt and the reset synchronous belt, so that the synchronous belt transmission is more stable, and by setting a cable pipe clamp, it is convenient for wiring, avoiding the entanglement of wires during the working process, thereby affecting the work of the telescopic arm. Therefore, the utility model has high reliability and stable working process. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of the utility model in use state.

[0020] Figure 2 It is a structural schematic diagram of the telescopic arm and the mechanical arm in the utility model.

[0021] Figure 3 It is a structural schematic diagram of the telescopic arm in the utility model.

[0022] Figure 4 It is a structural schematic diagram of the synchronous belt tensioning device in the utility model.

[0023] Figure 5It is a partial cross-sectional schematic diagram of a synchronous belt drive assembly and a multi-stage lifting column assembly in the utility model.

[0024] Figure 6 It is a cross-sectional schematic diagram of the second lifting slider, the third lifting slider, the fourth lifting slider and the fifth lifting slider in the utility model.

[0025] Figure 7 It is a partial cross-sectional schematic diagram of the first stretching synchronous belt and the lifting pulley in the utility model.

[0026] Figure 8 It is a partial cross-sectional schematic diagram of the second stretching synchronous belt, the third stretching synchronous belt and the lifting pulley in the utility model.

[0027] Fig. 9 It is a partial cross-sectional schematic diagram of the first reset synchronous belt, the second reset synchronous belt, and the lifting pulley in the utility model.

[0028] Fig.10 It is a partial cross-sectional schematic diagram of the second reset synchronous belt, the third reset synchronous belt, and the lifting pulley in the utility model.

[0029] Fig.11 It is a structural schematic diagram of the lifting pulley tensioning device in the utility model.

[0030] Fig.12 It is a structural schematic diagram of the cable pipe clamp in the utility model.

[0031] In the figure: frame 1, mechanical arm 2, multi-stage lifting column assembly 3, second layer upper cover plate 31, second lifting column 32, third lifting column 33, fourth lifting column 34, fifth lifting column 35, mounting groove 36, first lifting slider 37, second lifting slider 38, third lifting slider 39, fourth lifting slider 310, fifth lifting slider 311, synchronous belt drive assembly 4, first stretching synchronous belt 41, second stretching synchronous belt 42, third stretching synchronous belt 43, first reset synchronous belt 44, second reset synchronous belt 45, third reset synchronous belt 46, synchronous belt pressure plate 47, lifting pulley 48, telescopic arm drive motor 5, telescopic arm reducer 6, telescopic Retractable arm reducer mounting plate 7, synchronous belt tensioning device 8, fixing plate 81, L-shaped mounting plate 82, connecting shaft 83, tensioning bolt 84, tensioning nut 85, limiting nut 86, synchronous belt tensioning pulley 87, ball screw 9, first lifting column 10, first layer upper cover plate 11, tensioning slide groove 12, ball screw nut seat 13, ball screw fixing seat 14, lifting pulley tensioning device 15, tensioning base 151, tensioning plate 152, lifting bolt 153, adjusting slide groove 154, lifting nut 155, flange plate 16, cable pipe clamp 17, upper clamp plate 171, lower clamp plate 172, pipe clamp rod 173, pipe clamp bolt 174, pipe clamp groove 175. DETAILED DESCRIPTION

[0032] The present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. Example 1

[0033] See also Figures 1 to 12 A telescopic arm of a truss robot comprises a telescopic arm driving motor 5, a telescopic arm reducer 6, a telescopic arm reducer mounting plate 7, a ball screw 9, a first lifting column 10 and a first upper cover plate 11, wherein the first lifting column 10 has openings at both ends, the first upper cover plate 11 is connected to the upper end surface of the first lifting column 10, the telescopic arm reducer mounting plate 7 is connected to the upper side of the first upper cover plate 11, the telescopic arm reducer 6 is mounted on the first upper cover plate 11 and the output shaft passes through the first upper cover plate 11. The telescopic arm reducer mounting plate 7 is connected to a driving pulley 18, the output shaft of the telescopic arm drive motor 5 is connected to the input end of the telescopic arm reducer 6, the upper end of the ball screw 9 passes through the first upper cover plate 11 and is connected to a driven pulley 19, the outer circumference of the driving pulley 18 and the driven pulley 19 is wound with a driving synchronous belt 20, the lower end of the ball screw 9 is threadedly connected to the multi-stage lifting column assembly 3, the mechanical arm 2 is connected to the lower end of the multi-stage lifting column assembly 3, the first lifting column 10 is connected to the A synchronous belt drive assembly 4 is connected between the multi-stage lifting column assemblies 3, and the synchronous belt drive assembly 4 is used to drive the multiple lifting columns in the multi-stage lifting column assembly 3 to be lifted and lowered respectively. The multi-stage lifting column assembly 3 includes a second lifting column 32, a third lifting column 33, a fourth lifting column 34, a fifth lifting column 35 and a second upper cover plate 31. The upper and lower ends of the second lifting column 32, the third lifting column 33, the fourth lifting column 34, and the fifth lifting column 35 are all open. The second lifting column 32, the third lifting column 33, the fourth lifting column 34, and the fifth lifting column 35 are coaxially arranged from outside to inside in sequence. The second upper cover plate 31 is connected to the upper side of the second lifting column 32, the ball screw 9 is threadedly connected to the second upper cover plate 31 and the lower end is located in the second lifting column 32, the synchronous belt drive assembly 4 is respectively connected to the first lifting column 10, the second lifting column 32, the third lifting column 33, the fourth lifting column 34, and the fifth lifting column 35, and the robot arm 2 is connected to the lower end of the fifth lifting column 35.

[0034] In this embodiment, the truss robot includes a frame 1, on which a lateral moving mechanism is provided. The specific structure and principle of the lateral moving mechanism may refer to the prior art, and the telescopic arm is installed on the lateral moving mechanism. Example 2

[0035] The basic content is the same as that of Example 1, except that:

[0036] See also Figure 4A synchronous belt tensioning device 8 is arranged on the upper side of the telescopic arm reducer mounting plate 7, and the synchronous belt tensioning device 8 includes a fixing plate 81, an L-shaped mounting plate 82, a connecting shaft 83, and a tensioning bolt 84. A tensioning slot 12 is provided on the upper side of the first layer of the upper cover plate 11, and the fixing plate 81 is vertically connected to the upper side of the first layer of the upper cover plate 11. The L-shaped mounting plate 82 is slidably connected to the upper side of the tensioning slot 12 along the length direction of the tensioning slot 12, and the tensioning bolt 84 is threadedly connected to the L-shaped mounting plate 82. The bottom of the tensioning bolt 84 passes through the fixed plate 81 and is threadedly connected to two tensioning nuts 85, and the two tensioning nuts 85 abut against the left and right sides of the fixed plate 81. The lower end of the connecting shaft 83 passes through the tensioning groove 12 and is threadedly connected to a limiting nut 86, and the limiting nut 86 abuts against the lower side of the first layer of upper cover plate 11. The upper end of the connecting shaft 83 is connected to a synchronous belt tensioning wheel 87, and the synchronous belt tensioning wheel 87 abuts against the outer side of the driving synchronous belt 20.

[0037] In this embodiment, after the drive synchronous belt 20 is installed, the tensioning bolt 84 and the limit nut 86 are loosened to push the tensioning bolt 84 to move, and the distance between the synchronous belt tensioning wheel 87 and the drive synchronous belt 20 is adjusted. After adjustment, the tensioning bolt 84 and the limit nut 86 are tightened to fix the synchronous belt tensioning wheel 87. Example 3

[0038] The basic content is the same as that of Example 1, except that:

[0039] See also Figures 5 to 10, a ball screw nut seat 13 is connected to the center of the second upper cover plate 31, a ball screw fixing seat 14 is connected to the center of the first upper cover plate 11, the threaded section of the ball screw 9 is threadedly connected to the ball screw nut seat 13, and the non-threaded section of the ball screw 9 is rotatably connected to the ball screw fixing seat 14, the synchronous belt drive assembly 4 includes a first stretching synchronous belt 41, a second stretching synchronous belt 42, a third stretching synchronous belt 43, a first reset synchronous belt 44, a second reset synchronous belt 45, a third reset synchronous belt 46 and a plurality of lifting pulleys 48, the upper and lower ends of the second lifting column 32, the third lifting column 33 and the fourth lifting column 34 are all provided with mounting grooves 36, and the plurality of lifting pulleys 48 are respectively rotatably connected to the plurality of mounting grooves 36, one end of the first stretching synchronous belt 41 is connected to the inner side wall of the first lifting column 10 at the top through a synchronous belt pressing plate 47, and the other end of the first stretching synchronous belt 41 is connected to the inner side wall of the first lifting column 10 at the top through a synchronous belt pressing plate 47, and the other end of the first stretching synchronous belt 41 is connected to the inner side wall of the first lifting column 10 at the top through a synchronous belt pressing plate 47. The third lifting column 33 is connected to the outer side wall at the top through a synchronous belt pressure plate 47, the middle part of the first stretching synchronous belt 41 is connected with the lifting pulley 48 at the lower end of the second lifting column 32, one end of the second stretching synchronous belt 42 is connected to the inner side wall at the top of the second lifting column 32 through the synchronous belt pressure plate 47, the other end of the second stretching synchronous belt 42 is connected to the outer side wall at the top of the fourth lifting column 34 through the synchronous belt pressure plate 47, the middle part of the second stretching synchronous belt 42 is connected with the lifting pulley 48 at the lower end of the third lifting column 33, one end of the third stretching synchronous belt 43 is connected to the inner side wall at the top of the third lifting column 33 through the synchronous belt pressure plate 47, the other end of the third stretching synchronous belt 43 is connected to the outer side wall at the top of the fifth lifting column 35 through the synchronous belt pressure plate 47, and the middle part of the third stretching synchronous belt 43 is connected with the lifting pulley 48 at the lower end of the fourth lifting column 34;

[0040] One end of the first reset synchronous belt 44 is connected to the inner side wall of the first lifting column 10 at the bottom through a synchronous belt pressure plate 47, the other end of the first reset synchronous belt 44 is connected to the outer side wall of the third lifting column 33 at the bottom through a synchronous belt pressure plate 47, the middle part of the first reset synchronous belt 44 is connected to the lifting pulley 48 at the upper end of the second lifting column 32, one end of the second reset synchronous belt 45 is connected to the inner side wall of the second lifting column 32 at the bottom through a synchronous belt pressure plate 47, the other end of the second reset synchronous belt 45 is connected to the outer side wall of the fourth lifting column 34 at the bottom through a synchronous belt pressure plate 47, the middle part of the second reset synchronous belt 45 is connected to the lifting pulley 48 at the upper end of the third lifting column 33, one end of the third reset synchronous belt 46 is connected to the inner side wall of the third lifting column 33 at the bottom through a synchronous belt pressure plate 47, and the other end of the third reset synchronous belt 46 is connected to the inner side wall of the third lifting column 33 at the bottom through a synchronous belt pressure plate 47 The fifth lifting column 35 is located on the outer side wall of the bottom, the middle part of the third reset synchronous belt 46 is connected with the lifting pulley 48 at the upper end of the fourth lifting column 34, and a lifting pulley tensioning device 15 is arranged in the installation groove 36. The lifting pulley tensioning device 15 includes a tensioning base 151, a tensioning plate 152, and a lifting bolt 153. The tensioning base 151 is connected to the inner side of the installation groove 36, and the lifting pulley 48 is rotatably connected to the tensioning plate 152. The tightening plate 152 is vertically slidably connected to the tensioning base 151, the lifting bolt 153 is threadedly connected to the tensioning plate 152, the bottom of the lifting bolt 153 passes through the tensioning base 151 and is threadedly connected to a lifting nut 155, the tensioning base 151 is U-shaped, the tensioning plate 152 is U-shaped, both side walls of the tensioning base 151 are provided with adjusting grooves 154, and the two side walls of the tensioning plate 152 are respectively slidably connected to the two adjusting grooves 154.

[0041] In this embodiment, when the ball screw 9 rotates, the second upper cover plate 31 and the second lifting column 32 are driven to move. Since the second lifting column 32 is connected to the second stretching synchronous belt 42 and the second reset synchronous belt 45, the second stretching synchronous belt 42 and the second reset synchronous belt 45 are driven to move. The second stretching synchronous belt 42 and the second reset synchronous belt 45 are also connected to the fourth lifting column 34, so the fourth lifting column 34 is driven to move. Since the second lifting column 32 and the fourth lifting column 34 are both equipped with lifting pulleys 48, the lifting pulleys 48 are driven to move. The lifting pulleys 48 on the second lifting column 32 are connected to the first lifting column 34. The stretching synchronous belt 41 contacts with the first reset synchronous belt 44, which will drive the first stretching synchronous belt 41 and the first reset synchronous belt 44 to move. The lifting pulley 48 of the fourth lifting column 34 contacts with the third stretching synchronous belt 43 and the third reset synchronous belt 46, which will drive the third stretching synchronous belt 43 and the third reset synchronous belt 46 to move. The first stretching synchronous belt 41 and the first reset synchronous belt 44 are connected to the first lifting column 10 and the third lifting column 33. The third stretching synchronous belt 43 and the third reset synchronous belt 46 are connected to the third lifting column 33 and the fifth lifting column 35, so they will drive the third lifting column 33 and the fifth lifting column 35 to move. Example 4

[0042] The basic content is the same as that of Example 1, except that:

[0043] See also Figure 5 and Figure 6 The first lifting column 10 is connected to a first lifting slider 37 on the inner side wall near the lower end, the second lifting column 32 is connected to a second lifting slider 38 on the inner side walls near the upper end and the lower end, the third lifting column 33 is connected to a third lifting slider 39 on the inner side walls near the upper end and the lower end, the fourth lifting column 34 is connected to a fourth lifting slider 310 on the inner side walls near the upper end and the lower end, the fifth lifting column 35 is connected to a fifth lifting slider 311 on the outer side near the upper end, the first lifting slider 37 is slidably connected to the outer side of the second lifting column 32, the second lifting slider 38 at the upper end is slidably connected to the inner side wall of the first lifting column 10 and is relative to the first lifting slider 37. The second lifting slider 38 at the lower end is slidably connected to the outer side of the third lifting column 33, the third lifting slider 39 at the upper end is slidably connected to the inner side wall of the second lifting column 32 and is arranged relative to the second lifting slider 38 at the lower end, the third lifting slider 39 at the lower end is slidably connected to the outer side of the fourth lifting column 34, the fourth lifting slider 310 at the upper end is slidably connected to the inner side wall of the third lifting column 33 and is arranged relative to the third lifting slider 39 at the lower end, the fourth lifting slider 310 at the lower end is slidably connected to the outer side of the fifth lifting column 35, and the fifth lifting slider 311 is slidably connected to the outer side of the fourth lifting column 34.

[0044] In this embodiment, the first lifting slider 37, the second lifting slider 38, the third lifting slider 39, the fourth lifting slider 310, and the fifth lifting slider 311 are respectively connected to the first lifting column 10, the second lifting column 32, the third lifting column 33, the fourth lifting column 34, and the fifth lifting column 35 by bolts, and the vertices of the first lifting slider 37, the second lifting slider 38, the third lifting slider 39, the fourth lifting slider 310, and the fifth lifting slider 311 are chamfered. Example 5

[0045] The basic content is the same as that of Example 1, except that:

[0046] See also Fig.12 The lower end surface of the fifth lifting column 35 is connected with a flange plate 16 for mounting the mechanical arm 2, and the flange plate 16 is fixedly connected to the bottom of the first lifting column 10. The outer sides of the second lifting column 32, the third lifting column 33, the fourth lifting column 34, and the fifth lifting column 35 near the lower end are all installed with cable pipe clamps 17 for clamping wires. The plurality of cable pipe clamps 17 are located on the same side and are arranged relative to the lower side of the telescopic arm drive motor 5. The cable pipe clamp 17 includes an upper clamping plate 1 71, lower clamping plate 172, tube clamp rod 173, tube clamp bolt 174, one end of the tube clamp rod 173 is connected to the outer side of the second lifting column 32, the third lifting column 33, the fourth lifting column 34, and the fifth lifting column 35, the other end of the tube clamp rod 173 is connected to the lower clamping plate 172, the upper clamping plate 171 and the lower clamping plate 172 are surrounded to form a tube clamp groove 175 for storing electric wires, and the tube clamp bolt 174 is threadedly connected to the upper clamping plate 171 and the lower clamping plate 172.

[0047] In this embodiment, first unscrew the tube clamp bolt 174, put the wire into the lower clamp plate 172, then buckle the upper clamp plate 171, and then screw in the tube clamp bolt 174 to clamp the wire between the upper clamp plate 171 and the lower clamp plate 172.

Claims

1. A telescopic arm of a truss robot, characterized in that: The telescopic arm comprises a telescopic arm drive motor (5), a telescopic arm reducer (6), a telescopic arm reducer mounting plate (7), a ball screw (9), a first lifting column (10) and a first upper cover plate (11); the first lifting column (10) has openings at both ends, the first upper cover plate (11) is connected to the upper end surface of the first lifting column (10), the telescopic arm reducer mounting plate (7) is connected to the upper side of the first upper cover plate (11), the telescopic arm reducer (6) is mounted on the first upper cover plate (11) and the output shaft passes through the telescopic arm reducer mounting plate (7) and is connected to a driving pulley (18); the output shaft of the telescopic arm drive motor (5) The mechanical arm (2) is connected to the input end of the telescopic arm reducer (6); the upper end of the ball screw (9) passes through the first upper cover plate (11) and is connected to a driven pulley (19); the outer circumferences of the driving pulley (18) and the driven pulley (19) are wound with a driving synchronous belt (20); the lower end of the ball screw (9) is threadedly connected to a multi-stage lifting column assembly (3); the mechanical arm (2) is connected to the lower end of the multi-stage lifting column assembly (3); a synchronous belt driving assembly (4) is connected between the first lifting column (10) and the multi-stage lifting column assembly (3); the synchronous belt driving assembly (4) is used to drive a plurality of lifting columns in the multi-stage lifting column assembly (3) to be lifted and lowered respectively.

2. The telescopic arm of a truss robot according to claim 1, characterized in that: A synchronous belt tensioning device (8) is arranged on the upper side of the telescopic arm reducer mounting plate (7), and the synchronous belt tensioning device (8) comprises a fixing plate (81), an L-shaped mounting plate (82), a connecting shaft (83), and a tensioning bolt (84). A tensioning groove (12) is provided on the upper side of the first layer of upper cover plate (11), the fixing plate (81) is vertically connected to the upper side of the first layer of upper cover plate (11), the L-shaped mounting plate (82) is slidably connected to the upper side of the tensioning groove (12) along the length direction of the tensioning groove (12), and the tensioning bolt (84) is threadedly connected to the L-shaped mounting plate. The bottom of the tensioning bolt (84) passes through the fixing plate (81) and is threadedly connected to two tensioning nuts (85), and the two tensioning nuts (85) abut against the left and right sides of the fixing plate (81). The lower end of the connecting shaft (83) passes through the tensioning groove (12) and is threadedly connected to a limiting nut (86), and the limiting nut (86) abuts against the lower side of the first layer of upper cover plate (11). The upper end of the connecting shaft (83) is connected to a synchronous belt tensioning wheel (87), and the synchronous belt tensioning wheel (87) abuts against the outer side of the driving synchronous belt (20).

3. The telescopic arm of a truss robot according to claim 1, characterized in that: The multi-stage lifting column assembly (3) comprises a second lifting column (32), a third lifting column (33), a fourth lifting column (34), a fifth lifting column (35) and a second upper cover plate (31); the upper and lower ends of the second lifting column (32), the third lifting column (33), the fourth lifting column (34) and the fifth lifting column (35) are all open; the second lifting column (32), the third lifting column (33), the fourth lifting column (34) and the fifth lifting column (35) are coaxially arranged in sequence from outside to inside; the second upper cover plate (31) is connected to the upper side of the second lifting column (32); the ball screw (9) is threadedly connected to the second upper cover plate (31) and the lower end is located in the fifth lifting column (35); the synchronous belt drive assembly (4) is respectively connected to the first lifting column (10), the second lifting column (32), the third lifting column (33), the fourth lifting column (34) and the fifth lifting column (35); and the mechanical arm (2) is connected to the lower end of the fifth lifting column (35).

4. The telescopic arm of a truss robot according to claim 3, characterized in that: A ball screw nut seat (13) is connected at the center of the second upper cover plate (31), a ball screw fixing seat (14) is connected at the center of the first upper cover plate (11), a threaded section of the ball screw (9) is threadedly connected to the ball screw nut seat (13), and a non-threaded section of the ball screw (9) is rotatably connected to the ball screw fixing seat (14).

5. The telescopic arm of a truss robot according to claim 3, characterized in that: The synchronous belt driving assembly (4) comprises a first stretching synchronous belt (41), a second stretching synchronous belt (42), a third stretching synchronous belt (43), a first reset synchronous belt (44), a second reset synchronous belt (45), a third reset synchronous belt (46) and a plurality of lifting pulleys (48); the upper ends and lower ends of the second lifting column (32), the third lifting column (33) and the fourth lifting column (34) are provided with mounting grooves (36); the plurality of lifting pulleys (48) are rotatably connected to the plurality of mounting grooves (36) respectively; one end of the first stretching synchronous belt (41) is connected to the inner side wall of the first lifting column (10) at the top through a synchronous belt pressing plate (47); the other end of the first stretching synchronous belt (41) is connected to the outer side wall of the third lifting column (33) at the top through a synchronous belt pressing plate (47); the middle part of the first stretching synchronous belt (41) is connected to the second lifting column (32); The lifting pulley (48) at the lower end of the third lifting column (33) is connected with the lifting pulley (48) at the lower end thereof, one end of the second stretching synchronous belt (42) is connected to the inner side wall of the second lifting column (32) at the top through a synchronous belt pressure plate (47), the other end of the second stretching synchronous belt (42) is connected to the outer side wall of the fourth lifting column (34) at the top through a synchronous belt pressure plate (47), the middle part of the second stretching synchronous belt (42) is connected with the lifting pulley (48) at the lower end of the third lifting column (33), one end of the third stretching synchronous belt (43) is connected to the inner side wall of the third lifting column (33) at the top through a synchronous belt pressure plate (47), the other end of the third stretching synchronous belt (43) is connected to the outer side wall of the fifth lifting column (35) at the top through a synchronous belt pressure plate (47), the middle part of the third stretching synchronous belt (43) is connected with the lifting pulley (48) at the lower end of the fourth lifting column (34); One end of the first reset synchronous belt (44) is connected to the inner side wall of the first lifting column (10) at the bottom through a synchronous belt pressure plate (47), the other end of the first reset synchronous belt (44) is connected to the outer side wall of the third lifting column (33) at the bottom through a synchronous belt pressure plate (47), the middle part of the first reset synchronous belt (44) is connected to the lifting pulley (48) at the upper end of the second lifting column (32), one end of the second reset synchronous belt (45) is connected to the inner side wall of the second lifting column (32) at the bottom through a synchronous belt pressure plate (47), the other end of the second reset synchronous belt (45) is connected to the outer side wall of the third lifting column (33) at the bottom through a synchronous belt pressure plate (47). The plate (47) is connected to the outer side wall of the fourth lifting column (34) at the bottom, the middle part of the second reset synchronous belt (45) is connected to the lifting pulley (48) at the upper end of the third lifting column (33), one end of the third reset synchronous belt (46) is connected to the inner side wall of the third lifting column (33) at the bottom through a synchronous belt pressure plate (47), the other end of the third reset synchronous belt (46) is connected to the outer side wall of the fifth lifting column (35) at the bottom through a synchronous belt pressure plate (47), and the middle part of the third reset synchronous belt (46) is connected to the lifting pulley (48) at the upper end of the fourth lifting column (34).

6. The telescopic arm of a truss robot according to claim 3, characterized in that: The first lifting column (10) is connected to a first lifting slider (37) on an inner side wall near the lower end, the second lifting column (32) is connected to a second lifting slider (38) on inner side walls near the upper end and the lower end, the third lifting column (33) is connected to a third lifting slider (39) on inner side walls near the upper end and the lower end, the fourth lifting column (34) is connected to a fourth lifting slider (310) on inner side walls near the upper end and the lower end, and the fifth lifting column (35) is connected to a fifth lifting slider (311) on the outer side near the upper end, the first lifting slider (37) is slidably connected to the outer side of the second lifting column (32), and the second lifting slider (38) at the upper end is slidably connected to the inner side wall of the first lifting column (10) and is relative to the first lifting slider (37). The second lifting slider (38) at the lower end is slidably connected to the outer side of the third lifting column (33), the third lifting slider (39) at the upper end is slidably connected to the inner side wall of the second lifting column (32) and is arranged relative to the second lifting slider (38) at the lower end, the third lifting slider (39) at the lower end is slidably connected to the outer side of the fourth lifting column (34), the fourth lifting slider (310) at the upper end is slidably connected to the inner side wall of the third lifting column (33) and is arranged relative to the third lifting slider (39) at the lower end, the fourth lifting slider (310) at the lower end is slidably connected to the outer side of the fifth lifting column (35), and the fifth lifting slider (311) is slidably connected to the outer side of the fourth lifting column (34).

7. The telescopic arm of a truss robot according to claim 5, characterized in that: A lifting pulley tensioning device (15) is arranged in the installation groove (36), and the lifting pulley tensioning device (15) comprises a tensioning base (151), a tensioning plate (152), and a lifting bolt (153). The tensioning base (151) is connected to the inner side of the installation groove (36), the lifting pulley (48) is rotatably connected to the tensioning plate (152), the tensioning plate (152) is vertically slidably connected to the tensioning base (151), the lifting bolt (153) is threadedly connected to the tensioning plate (152), and the bottom of the lifting bolt (153) passes through the tensioning base (151) and is threadedly connected to a lifting nut (155).

8. The telescopic arm of a truss robot according to claim 7, characterized in that: The tensioning base (151) is U-shaped, the tensioning plate (152) is U-shaped, both side walls of the tensioning base (151) are provided with adjustment slots (154), and the two side walls of the tensioning plate (152) are respectively slidably connected to the two adjustment slots (154).

9. The telescopic arm of a truss robot according to claim 3, characterized in that: The lower end surface of the fifth lifting column (35) is connected to a flange plate (16) for mounting the mechanical arm (2), and the flange plate (16) is fixedly connected to the bottom of the first lifting column (10). The outer sides of the second lifting column (32), the third lifting column (33), the fourth lifting column (34), and the fifth lifting column (35) near the lower ends are all equipped with cable pipe clamps (17) for clamping electric wires, and the plurality of cable pipe clamps (17) are located on the same side and are all arranged relative to the lower side of the telescopic arm drive motor (5).

10. The telescopic arm of a truss robot according to claim 9, characterized in that: The cable tube clamp (17) comprises an upper clamp plate (171), a lower clamp plate (172), a tube clamp rod (173), and a tube clamp bolt (174); one end of the tube clamp rod (173) is connected to the outer sides of the second lifting column (32), the third lifting column (33), the fourth lifting column (34), and the fifth lifting column (35); the other end of the tube clamp rod (173) is connected to the lower clamp plate (172); the upper clamp plate (171) and the lower clamp plate (172) are combined to form a tube clamp groove (175) for storing electric wires; and the tube clamp bolt (174) is threadedly connected to the upper clamp plate (171) and the lower clamp plate (172).

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