Truss robot with Z-axis multi-stage transmission telescopic mechanism

Abstract

The utility model relates to the technical field of truss robots, and provides a truss robot with a Z-axis multi-stage transmission telescopic mechanism, which comprises a supporting plate fixedly connected to a Z axis and provided with a first-stage driving piece; the moving end of the first-stage driving part is connected with a first-stage telescopic structural part and is suitable for driving the first-stage telescopic structural part to move along the Z axis relative to the supporting plate, and a second-stage driving part is arranged on the first-stage telescopic assembly; the moving end of the second-stage driving part is connected with a second-stage telescopic structural part and is suitable for driving the second-stage telescopic structural part to move along the Z axis relative to the first-stage telescopic structural part, and a third-stage driving part is arranged on the second-stage telescopic assembly; the moving end of the third-stage driving part is connected with a third-stage telescopic structural part and is suitable for driving the third-stage telescopic structural part to move along the Z axis relative to the second-stage telescopic structural part; the first-stage driving piece, the second-stage driving piece and the third-stage driving piece are arranged in any one of gear and rack driving pieces, lead screw driving pieces and air cylinder driving pieces. The device has the advantages of large stroke and wide application range.

Description

Technical Field

[0001] The present application relates to the technical field of truss robots, and more specifically, to a truss robot with a Z-axis multi-stage transmission telescopic mechanism. Background Art

[0002] Truss robots are applicable to various different industries and fields. They belong to Cartesian coordinate robots and are a kind of fully automatic industrial equipment based on the right-angle X, Y, Z three-coordinate system, which can perform station adjustment of workpieces or realize functions such as the trajectory movement of workpieces. It can move along the X, Y, and Z axes in three-dimensional space, so as to realize the precise grasping and placement of workpieces. With the continuous development of industrial automation technology, the required performance of truss robots is getting higher and higher, especially the need for a larger working range.

[0003] Currently, the Z-axis of truss robots mostly adopts a single-stage telescopic structure. When such a Z-axis structure of a truss robot is applied in some situations with a low height space and a large gap between the two points of the grasping point and the placing point, there will be a problem that the stroke is not enough.

[0004] Therefore, the existing technology still needs to be improved and developed. Summary of the Utility Model

[0005] The purpose of the present application is to propose a truss robot with a Z-axis multi-stage transmission telescopic mechanism to solve the technical problem of the small stroke of the Z-axis of the truss robot in the process of grasping and placing in the existing technology.

[0006] To achieve the above purpose, the technical solution adopted by the present application is: to provide a truss robot with a Z-axis multi-stage transmission telescopic mechanism, the vertical axis of the truss robot is the Z-axis, including:

[0007] A tray, fixedly connected to the Z-axis, and a primary driving member is provided on the tray;

[0008] A primary telescopic structural member, the moving end of the primary driving member is connected to the primary telescopic structural member and is adapted to drive the primary telescopic structural member to move along the Z-axis relative to the tray, and a secondary driving member is provided on the primary telescopic assembly;

[0009] A secondary telescopic structural member, the moving end of the secondary driving member is connected to the secondary telescopic structural member and is adapted to drive the secondary telescopic structural member to move along the Z-axis relative to the primary telescopic structural member, and a tertiary driving member is provided on the secondary telescopic assembly;

[0010] A tertiary telescopic structural member, the moving end of the tertiary driving member is connected to the tertiary telescopic structural member and is adapted to drive the tertiary telescopic structural member to move along the Z-axis relative to the secondary telescopic structural member, and a distance sensor is provided at the bottom of the tertiary telescopic mechanism member;

[0011] The first-level driving member, the second-level driving member, and the third-level driving member are any one of the arrangement modes composed of a gear-rack driving member, a lead-screw driving member, and a cylinder driving member.

[0012] Further, a first-level guide rail is arranged on the pallet along the direction of the Z axis. A first-level slider is arranged at the top of the first-level telescopic structure member and is slidably connected with the first-level guide rail. The first-level driving member includes a first-level driving motor. The output shaft of the first-level driving motor is connected with a first-level gear. A first-level rack meshing with the first-level gear is arranged on the side wall of the first-level telescopic structure member along the Z-axis direction.

[0013] Further, a second-level guide rail is arranged on the first-level telescopic structure member along the direction of the Z axis. A second-level slider is arranged at the top of the second-level telescopic structure member and is slidably connected with the second-level guide rail. The second-level driving member includes a second-level driving motor. The output shaft of the second-level driving motor is coaxially connected with a second-level lead screw. The second-level lead screw is arranged along the Z-axis direction and is helically connected with a second-level nut. The second-level telescopic structure member is fixedly connected to the second-level nut.

[0014] In some embodiments, a third-level guide rail is arranged on the second-level telescopic structure member along the direction of the Z axis. A third-level slider is arranged at the top of the third-level telescopic structure member and is slidably connected with the third-level guide rail. The third-level driving member includes a third-level cylinder. The third-level telescopic structure member is connected to the piston rod of the third-level cylinder.

[0015] Further, a linkage telescopic structure member is further included. A linkage guide rail is further arranged on the second-level telescopic structure member. A linkage slider is arranged on the linkage telescopic structure member and is slidably connected to the linkage guide rail. A synchronous belt assembly for linkage cooperation with the second-level lead screw is arranged on the linkage telescopic structure member. The linkage telescopic structure member moves synchronously with the second-level telescopic structure member through the synchronous belt assembly.

[0016] In some embodiments, the synchronous belt assembly includes a first-level synchronous pulley, a second-level synchronous pulley, and a first-level synchronous belt. The first-level synchronous pulley is arranged at the upper end of the second-level telescopic structure member. The second-level synchronous pulley is arranged at the lower end of the second-level telescopic structure member. The first-level synchronous belt is sleeved between the first-level synchronous pulley and the second-level synchronous pulley. First fixing pieces and second fixing pieces are respectively fixedly connected to both sides of the first-level synchronous belt along the Z-axis direction. The linkage telescopic structure member is fixedly connected to the first-level synchronous belt through the first fixing piece. The first-level telescopic structure member is fixedly connected to the first-level synchronous belt through the second fixing piece.

[0017] Further, the second-level lead screw includes a trapezoidal lead screw.

[0018] In some embodiments, the first-level telescopic structural member is provided with a first accommodation groove, and when the second-level telescopic structural member slides along the second-level guide rail, it extends into and out of the first accommodation groove; the second-level telescopic structural member is provided with a second accommodation groove, and when the third-level telescopic structural member slides along the third-level guide rail, it extends into and out of the second accommodation groove.

[0019] Furthermore, a lubrication assembly is provided on the pallet. The lubrication assembly includes a positioning block provided on the pallet, a lubricating oil pump group provided on the positioning block, a nozzle provided on the lubricating oil pump group, and the nozzle faces the first-level rack.

[0020] In some embodiments, positioning sensors are provided on the pallet, the first-level telescopic structural member, the second-level telescopic structural member, and the third-level telescopic structural member. The positioning sensors are connected to limit switches, and the limit switches are electrically connected to the first-level driving member, the second-level driving member, and the third-level driving member.

[0021] The beneficial effects of the truss robot with a multi-stage Z-axis transmission telescopic mechanism provided by this application are at least as follows:

[0022] The first-level telescopic structural member, the second-level telescopic structural member, and the third-level telescopic structural member are respectively driven by the first-level driving member, the second-level driving member, and the third-level driving member to achieve three-stage telescoping. Compared with the single-stage telescoping method, the stroke of the Z-axis movement is increased. It can not only be better used in the conventional height space, especially in some scenarios with a low height space and a large vertical distance between the grasping point and the placing point. By controlling the first-level driving member, the second-level driving member, and the third-level driving member to respectively adjust the first-level telescopic structural member, the second-level telescopic structural member, and the third-level telescopic structural member, the picking and placing of objects can be better performed, and the applicable range is wider.

[0023] The multi-stage Z-axis transmission telescopic mechanism can first perform the first-stage adjustment through the cylinder driving member, then perform the second-stage adjustment through the gear-rack driving member, and then perform the third-stage adjustment through the lead screw driving member to achieve the three-stage telescopic adjustment of the Z-axis. It can not only improve the adjustment efficiency but also improve the adjustment accuracy. The costs of the cylinder driving member and the gear-rack driving member are relatively lower than that of the lead screw driving member, and the cost can be reduced while meeting the adjustment accuracy.

[0024] The set linkage telescopic structural member is equivalent to increasing the stroke of the second-level telescopic structural member, and the adjustment accuracy is still the adjustment accuracy of the lead screw driving member. That is, while ensuring the adjustment accuracy, the transmission speed of the lead screw adjustment is increased, and the adjustment efficiency is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0026] Figure 1 It is a schematic structural diagram of the Z-axis multi-stage transmission telescopic mechanism of the truss robot provided by the embodiment of the present application;

[0027] Figure 2 For Figure 1 It is a schematic structural diagram of the Z-axis multi-stage transmission telescopic mechanism in another perspective;

[0028] Figure 3 For Figure 1 It is a schematic structural diagram of the Z-axis multi-stage transmission telescopic mechanism in yet another perspective;

[0029] Figure 4 For Figure 1 It is a three-dimensional schematic diagram of the Z-axis multi-stage transmission telescopic mechanism;

[0030] Figure 5 For Figure 1 It is a sectional view of the Z-axis multi-stage transmission telescopic mechanism in the B-B direction.

[0031] Among them, the reference numerals in the figure are as follows:

[0032] 1, pallet; 2, first-stage telescopic structural member; 3, second-stage telescopic structural member; 4, linkage telescopic structural member; 5, third-stage telescopic structural member; 6, first-stage servo motor; 7, first-stage reducer; 8, second-stage servo motor; 9, second-stage reducer;

[0033] 10, first-stage rack; 11, first-stage gear; 12, first-stage guide rail; 13, second-stage guide rail; 14, linkage guide rail; 15, third-stage guide rail; 16, second-stage lead screw; 17, first fixing member; 18, second fixing member; 19, first accommodating groove;

[0034] 20, second-stage nut; 21, second-stage synchronous pulley; 22, first-stage synchronous pulley; 23, first-stage synchronous belt; 24, second accommodating groove; 25, third-stage cylinder. Specific embodiments

[0035] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the following further details the present application in conjunction with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0036] It should be noted that when a component is referred to as "fixed to" or "disposed on" another component, it can be directly or indirectly located on that other component. When a component is referred to as "connected to" another component, it can be directly or indirectly connected to that other component. The orientations or positions indicated by the terms "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientations or positions shown in the drawings, and are only for convenience of description and should not be construed as limiting the technical solution of the present application. The terms "first" and "second" are only for convenience of description and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of technical features. The meaning of "a plurality" is two or more, unless otherwise specifically defined.

[0037] The following describes a truss robot with a Z-axis multi-stage transmission telescopic mechanism according to an embodiment of the present application with reference to the drawings.

[0038] Please refer to Figure 1 , Figure 1 which shows a schematic structural diagram of the Z-axis multi-stage transmission telescopic mechanism in the truss robot of the present application. The Z-axis of the truss robot is a vertical axis. The Z-axis multi-stage transmission telescopic mechanism includes a support plate 1, a first-stage telescopic structural member 2, a second-stage telescopic structural member 3, and a third-stage telescopic structural member 5.

[0039] Specifically, referring to Figures 1 - 5 , the support plate 1 is fixedly connected to the Z-axis, and a first-stage driving member is provided on the support plate 1. The moving end of the first-stage driving member is connected to the first-stage telescopic structural member 2 and is adapted to drive the first-stage telescopic structural member 2 to move relative to the support plate 1 along the Z-axis. A second-stage driving member is provided on the first-stage telescopic assembly. The moving end of the second-stage driving member is connected to the second-stage telescopic structural member 3 and is adapted to drive the second-stage telescopic structural member 3 to move relative to the first-stage telescopic structural member 2 along the Z-axis. A third-stage driving member is provided on the second-stage telescopic assembly. The moving end of the third-stage driving member is connected to the third-stage telescopic structural member 5 and is adapted to drive the third-stage telescopic structural member 5 to move relative to the second-stage telescopic structural member 3 along the Z-axis. A distance sensor is provided at the bottom of the third-stage telescopic mechanism member.

[0040] Moreover, the first-stage driving member, the second-stage driving member, and the third-stage driving member are any one of the arrangement modes composed of a gear-rack driving member, a lead screw driving member, and a cylinder driving member.

[0041] It can be understood that when a single-stage telescopic structure is adopted for the Z-axis of the truss robot, that is, only one telescopic structure is provided, then the stroke of the Z-axis during the telescopic process is limited. When the Z-axis structure of the truss robot is applied in some cases where the height space is low and the height difference between the grasping point and the placing point is relatively large, the problem of insufficient stroke will occur.

[0042] In this embodiment, a first-stage telescopic structural member 2, a second-stage telescopic structural member 3, and a third-stage telescopic structural member 5 are provided, and they are respectively driven by a first-stage driving member, a second-stage driving member, and a third-stage driving member to achieve three-stage telescoping. Compared with the single-stage telescoping method, the stroke of the Z-axis movement is increased. It can be better used not only in the conventional height space, especially in some scenarios with a low height space and a large vertical distance between the grasping point and the placing point. By controlling the first-stage driving member, the second-stage driving member, and the third-stage driving member to respectively adjust the first-stage telescopic structural member 2, the second-stage telescopic structural member 3, and the third-stage telescopic structural member 5, the object can be picked up and placed better, and the applicable range is wider.

[0043] During use, the first-stage driving member can be adjusted to move the first-stage telescopic structural member 2 relative to the pallet 1, or the second-stage driving member can be adjusted to move the second-stage telescopic structural member 3 relative to the first-stage telescopic structural member 2. Of course, the third-stage driving member can also be adjusted to move the third-stage telescopic structural member 5 relative to the second-stage telescopic structural member 3, so as to achieve three-stage adjustment. This is much better than the single-stage telescoping method that can only adjust one stage, and greatly improves the stroke of the Z-axis. In this way, when the height of the Z-axis is the same, the adjustable range of the Z-axis is larger. When the adjustable range of the Z-axis is the same, the Z-axis can be set to a smaller height to adapt to the scenario with a low height space.

[0044] Furthermore, the first-stage driving member, the second-stage driving member, and the third-stage driving member respectively adopt a gear-rack driving member, a lead screw driving member, and a cylinder driving member. That is to say, when the first-stage driving member adopts a gear-rack driving member, the second-stage driving member is one of a lead screw driving member or a cylinder driving member, and the third-stage driving member is the other of a lead screw driving member or a cylinder driving member; when the first-stage driving member adopts a lead screw driving member, the second-stage driving member is one of a gear-rack driving member or a cylinder driving member, and the third-stage driving member is the other of a gear-rack driving member or a cylinder driving member; when the first-stage driving member adopts a cylinder driving member, the second-stage driving member is one of a gear-rack driving member or a lead screw driving member, and the third-stage driving member is the other of a gear-rack driving member or a lead screw driving member.

[0045] It can be understood that taking the Z-axis of the current single-stage telescoping method as an example, the driving methods of the gear-rack driving member, the lead screw driving member, and the cylinder driving member respectively adopt the following methods.

[0046] At present, the single-stage gear-rack drive has a row of racks installed along the Z-axis. Then the entire Z-axis is hung on the Z-axis support plate 1, and a motor reducer is installed on the Z-axis support plate 1. A gear is installed on the output shaft of the reducer, and this gear meshes with the rack. When the motor reducer rotates, the lifting of the Z-axis is realized. The cylinder drive uses the cylinder directly as the Z-axis, and the telescopic principle of the output shaft of the cylinder realizes the telescoping of the Z-axis. The lead screw drive installs a motor reducer on the mounting plate at the top of the Z-axis. The connection end between the output shaft of the motor and the lead screw is connected by a coupling. When the motor reducer rotates, the nut of the lead screw realizes linear motion, that is, the lifting motion is realized.

[0047] Furthermore, the gear-rack drive has the following advantages: large load-bearing capacity; relatively high transmission accuracy, up to 0.1 mm; it can achieve a very long linear stroke because the rack can be butt-jointed and continued infinitely; high transmission speed.

[0048] The lead screw drive has the following advantages: very high transmission accuracy, suitable for precise positioning; small friction loss and high transmission efficiency; it can withstand a large axial load; long life and high reliability.

[0049] The cylinder drive has the following advantages: simple structure, easy to install and maintain; fast response speed, quick start and stop; low cost, suitable for short-stroke and light-load applications.

[0050] In this embodiment, the gear-rack drive, the lead screw drive, and the cylinder drive are respectively used as the drives of three telescopic structural members alone. This is not only reflected in realizing the three-stage telescopic adjustment of the Z-axis, but also fully combines the advantages of each drive with the actual requirements of the Z-axis adjustment, upgrading the simple three-stage telescopic adjustment of the Z-axis to a three-stage telescopic adjustment in a planned order.

[0051] Specifically, when performing the telescopic adjustment of the Z-axis, there are actually three stages from the start of adjustment to the end of adjustment. The first stage is at the start of adjustment, and at this time, more emphasis is placed on rapid adjustment, that is, fast response speed and fast start, so as to improve the adjustment efficiency. Therefore, the cylinder drive is used as the drive in the first stage; the second stage is the middle stage of the telescopic adjustment. At this time, certain requirements are placed on both the adjustment accuracy and the adjustment speed. Therefore, the gear-rack drive is used as the drive in the second stage to ensure the adjustment speed while improving the adjustment accuracy; the third stage is the final stage of finishing and calibration. At this time, particular emphasis is placed on the adjustment accuracy to ensure the accuracy of the Z-axis telescopic adjustment. Therefore, the lead screw drive is used as the drive in the third stage.

[0052] Thus, regardless of which combination of driving components is adopted for the first-stage telescopic structural member 2, the second-stage telescopic structural member 3, and the third-stage telescopic structural member 5, it is possible to first perform the first-stage adjustment through the cylinder driving component, then perform the second-stage adjustment through the rack and pinion driving component, and then perform the third-stage adjustment through the lead screw driving component to achieve the three-stage telescopic adjustment of the Z-axis, which can not only improve the adjustment efficiency but also improve the adjustment accuracy.

[0053] Moreover, the costs of the cylinder driving component and the rack and pinion driving component are relatively lower than those of the lead screw driving component, and the cost can be reduced while meeting the adjustment accuracy.

[0054] Furthermore, a distance sensor is provided at the bottom of the third-stage telescopic structural member 5, and the distance sensor is electrically connected to the lead screw driving component. The distance sensor is used to detect the instantaneous distance between the bottom of the third-stage telescopic structural member 5 and the bottom surface and the distance change, and thereby obtain the telescopic distance of the Z-axis. And on the basis of the above-described embodiment, when performing the third stage, the lead screw driving component is used for high-precision adjustment. Errors may occur in the first stage and the second stage performed previously. At this time, it is necessary to accurately obtain the length that the Z-axis has telescoped and the length that still needs to be telescoped actually. The provided distance sensor can obtain the instantaneous telescopic change. Even if large errors occur in the first stage and the second stage, the lead screw driving component can obtain the instantaneous telescopic distance through the distance sensor, so as to correct the distance that needs to be telescoped in the third stage and improve the adjustment accuracy.

[0055] And it can be understood that the third-stage telescopic structural member 5 is the telescopic end at the bottommost of the Z-axis. By arranging the distance sensor at the bottom of the third-stage telescopic structural member 5, the distance sensor is closer to the ground or the operating table, which is more convenient for obtaining the distance change from the ground or the operating table, and the distance detection is more accurate.

[0056] In some embodiments, referring to Figures 1 - 5 , a first-stage guide rail 12 is arranged on the pallet 1 along the Z-axis direction. A first-stage slider is provided at the top of the first-stage telescopic structural member 2 and is slidably connected to the first-stage guide rail 12. The first-stage driving component includes a first-stage driving motor, and the output shaft of the first-stage driving motor is connected with a first-stage gear 11. A first-stage rack 10 meshing with the first-stage gear 11 is arranged on the side wall of the first-stage telescopic structural member 2 along the Z-axis direction.

[0057] During use, the first-stage telescopic structural member 2 can be adjusted independently to adjust the grasping point position of the Z-axis, that is, to change the length of the Z-axis. After the first-stage driving motor is started, the first-stage driving motor drives the first-stage gear 11 to rotate. The first-stage gear 11 drives the first-stage rack 10 to rotate. When the first-stage rack 10 rotates, it drives the first-stage telescopic structural member 2 to move relative to the pallet 1 along the first-stage guide rail 12. At this time, the first-stage slider on the first-stage telescopic structural member 2 slides in the first-stage guide rail 12, thereby achieving the effect of adjusting the length of the Z-axis.

[0058] Further, the primary drive motor includes a primary servo motor 6 and a primary reduction motor 7. The output shaft of the primary servo motor 6 is coaxially connected to the primary reduction motor 7, and the output shaft of the primary reduction motor 7 is connected to the primary gear 11.

[0059] Further, a secondary guide rail 13 is provided on the primary telescopic member 2 along the Z-axis direction. A secondary slider is provided at the top of the secondary telescopic member 3 and is slidably connected to the secondary guide rail 13. The secondary drive member includes a secondary drive motor. The output shaft of the secondary drive motor is coaxially connected to a secondary lead screw 16. The secondary lead screw 16 is arranged along the Z-axis direction and is threadedly connected to a secondary nut 20. The secondary telescopic member 3 is fixedly connected to the secondary nut 20.

[0060] During use, when the secondary drive motor rotates to drive the secondary lead screw 16 to rotate, after the secondary lead screw 16 drives the secondary nut 20 to rotate, the secondary nut 20 moves linearly along the secondary lead screw 16, that is, the secondary nut 20 will move linearly along the Z-axis direction and drive the secondary telescopic member 3 to move along the Z-axis direction, thereby realizing the telescoping of the secondary telescopic member 3.

[0061] Further, the secondary drive motor includes a secondary servo motor 8 and a secondary reduction motor 9. The output shaft of the secondary servo motor 8 is coaxially connected to the secondary reduction motor 9, and the output shaft of the secondary reduction motor 9 is connected to the secondary lead screw 16.

[0062] In some embodiments, a tertiary guide rail 15 is provided on the secondary telescopic member 3 along the Z-axis direction. A tertiary slider is provided at the top of the tertiary telescopic member 5 and is slidably connected to the tertiary guide rail 15. The tertiary drive member includes a tertiary cylinder 25. The tertiary telescopic member 5 is connected to the piston rod of the tertiary cylinder 25.

[0063] During use, after being driven by the tertiary cylinder 25, the piston rod of the tertiary cylinder 25 extends and retracts along the Z direction, thereby driving the tertiary telescopic member 5 to slide relative to the secondary telescopic member 3 to adjust the grasping point position of the Z-axis, that is, to change the length of the Z-axis, thereby realizing the telescopic adjustment of the tertiary telescopic member 5.

[0064] Further, in the above-described embodiment, the top-level driving member is set as a rack and pinion driving member, the middle-level secondary driving member is set as a lead screw driving member, and the bottom-level tertiary driving member is set as a cylinder driving member. The present application is not limited to the above setting method. The rack and pinion driving member as the primary driving member can also be set in the middle position, the lead screw driving member as the secondary driving member can be set at the bottom, and the cylinder driving member as the tertiary driving member can be set at the top. Of course, in addition to the setting methods and orientations described above, the setting orientations of the three driving members can also be other combinations. The present application does not specifically limit the corresponding relationship between the primary driving member, the secondary driving member, the tertiary driving member and the primary telescopic structural member 2, the secondary telescopic structural member 3 and the tertiary telescopic structural member 5.

[0065] In some embodiments, referring to Figure 1 , Figure 3 , Figure 4 and Figure 5 , the secondary telescopic structural member 3 further includes a linkage telescopic structural member 4. A linkage guide rail 14 is also provided on the secondary telescopic structural member 3. A linkage slider is provided on the linkage telescopic structural member 4 and is slidably and matingly connected to the linkage guide rail 14. A synchronous belt assembly that is linked and mated with the secondary lead screw 16 is provided on the linkage telescopic structural member 4. The linkage telescopic structural member 4 moves synchronously with the secondary telescopic structural member 3 through the synchronous belt assembly.

[0066] It can be understood that the secondary telescopic structural member 3 is driven by a lead screw driving member. The lead screw driving member has the advantage of high precision, but its transmission speed is relatively slow compared with the cylinder driving member and the rack and pinion driving member. To increase the transmission speed of the secondary telescopic structural member 3, a linkage telescopic structural member 4 is additionally provided. That is, the part driven by the lead screw driving member includes the secondary telescopic structural member 3 and the linkage telescopic structural member 4. This part is called the secondary telescopic assembly. In this way, when the lead screw driving member drives the secondary telescopic structural member 3 to move and expand relative to the primary telescopic structural member 2, the linkage telescopic structural member 4 can synchronously expand and contract relative to the secondary telescopic structural member 3, which is equivalent to increasing the stroke of the secondary telescopic assembly, and the adjustment accuracy is still the adjustment accuracy of the lead screw driving member. That is, while ensuring the adjustment accuracy, the transmission speed of the lead screw adjustment is increased, and the adjustment efficiency is improved.

[0067] Further, the linkage telescopic structure member 4 moves synchronously with the secondary telescopic structure member 3 through a synchronous belt assembly. The synchronous belt assembly includes a primary synchronous pulley 22, a secondary synchronous pulley 21, and a primary synchronous belt 23. The primary synchronous pulley 22 is arranged at the upper end of the secondary telescopic structure member 3, the secondary synchronous pulley 21 is arranged at the lower end of the secondary telescopic structure member 3, the primary synchronous belt 23 is sleeved between the primary synchronous pulley 22 and the secondary synchronous pulley 21. First fixing members 17 and second fixing members 18 are respectively fixedly connected to both sides of the primary synchronous belt 23 along the Z-axis direction. The linkage telescopic structure member 4 is fixedly connected to the primary synchronous belt 23 through the first fixing member 17, and the primary telescopic structure member 2 is fixedly connected to the primary synchronous belt 23 through the second fixing member 18.

[0068] During use, when the lead screw driving member is started, the secondary driving motor rotates to drive the secondary lead screw 16 to rotate. After the secondary lead screw 16 drives the secondary nut 20 to rotate, the secondary nut 20 moves linearly along the secondary lead screw 16, that is, the secondary nut 20 will move linearly along the Z-axis direction and drive the secondary telescopic structure member 3 to move along the Z-axis direction, thereby realizing the telescoping of the secondary telescopic structure member 3. At the same time, since the secondary telescopic structure member 3 telescopes relative to the primary telescopic structure member 2, the secondary telescopic structure member 3 will drive the primary synchronous belt 23 to move synchronously through the first fixing member 17. Since the fixed end of the primary synchronous belt 23 is arranged on the primary telescopic structure member, the primary synchronous belt 23 will pull the second fixing member 18 to move synchronously while following the secondary telescopic structure member, and the linkage telescopic structure member 4 connected to the second fixing member 18 will also move synchronously.

[0069] In this way, when the lead screw driving member is started, the secondary telescopic structure member 3 is driven to move relative to the primary telescopic structure member 2 through the transmission cooperation of the secondary lead screw 16 and the secondary nut 20, and the secondary telescopic structure member 3 drives the linkage telescopic structure member 4 to move synchronously relative to the secondary telescopic structure member 3 through the synchronous belt assembly. With one lead screw driving member cooperating with the synchronous belt assembly, the relative movement of the secondary telescopic structure member 3 and the linkage telescopic structure member 4 can be completed, increasing the stroke of the secondary telescopic assembly, ensuring the adjustment accuracy while improving the transmission speed of the lead screw adjustment and enhancing the adjustment efficiency.

[0070] Further, the secondary lead screw 16 includes a trapezoidal lead screw.

[0071] It can be understood that the lead screw includes a ball screw and a trapezoidal lead screw. The trapezoidal lead screw has a thread with a trapezoidal cross-section and a lower cost. Setting the primary lead screw as a trapezoidal lead screw with a lower cost can further reduce the manufacturing cost.

[0072] Certainly, when higher adjustment accuracy is required, the secondary lead screw 16 also includes a ball screw. The ball screw only differs from the trapezoidal lead screw in the thread part, and its connection method between the telescopic structure members is the same as that of the trapezoidal lead screw, which will not be elaborated here.

[0073] Further, the first-stage telescopic structural member 2 is provided with a first accommodation groove 19, and when the second-stage telescopic structural member 3 slides along the second-stage guide rail 13, it extends into and out of the first accommodation groove 19; the second-stage telescopic structural member 3 is provided with a second accommodation groove 24, and when the third-stage telescopic structural member 5 slides along the third-stage guide rail 15, it extends into and out of the second accommodation groove 24.

[0074] Wherein, both the first-stage telescopic structural member 2 and the second-stage telescopic structural member 3 are formed by enclosing with plates, and the first accommodation groove 19 and the second accommodation groove 24 are respectively formed during the enclosing process. And the first-stage telescopic structural member 2 can be received into the first accommodation groove 19, and the second-stage telescopic structural member 3 can be received into the second accommodation groove 24, so that the Z-axis multi-stage transmission telescopic mechanism can finally be contracted to the length of the first-stage telescopic structural member 2 in the Z-axis direction, further improving the stroke size of the Z-axis adjustment.

[0075] In some embodiments, a lubrication assembly (not shown in the figure) is provided on the pallet 1. The lubrication assembly includes a positioning block provided on the pallet 1, a lubricating oil pump group is provided on the positioning block, and a nozzle is provided on the lubricating oil pump group, and the nozzle faces the first-stage rack 10.

[0076] Further, the lubrication assembly includes a first-stage positioning block provided on the pallet 1, a first-stage lubricating oil pump group is provided on the first-stage positioning block, a first-stage nozzle is provided on the first-stage lubricating oil pump group, and the first-stage nozzle faces the first-stage rack 10. After the first-stage lubricating oil pump group is started, lubricating oil is sprayed onto the first-stage rack 10 through the first-stage nozzle, thereby lubricating the first-stage rack 10. The first-stage rack 10 and the first-stage gear 11 are engaged, so that the first-stage gear 11 is equivalently lubricated, achieving the effect of ensuring the lubrication of the transmission assembly, increasing the service life of the first-stage gear 11 and the rack, improving the transmission accuracy, and making the lubrication and maintenance process simpler and more convenient.

[0077] Further, positioning sensors (not shown in the figure) are provided on the pallet 1, the first-stage telescopic structural member 2, the second-stage telescopic structural member 3 and the third-stage telescopic structural member 5. The positioning sensors are connected to limit switches (not shown in the figure), and the limit switches are electrically connected to the first-stage driving member, the second-stage driving member and the third-stage driving member.

[0078] Further, a limit switch and a plurality of sensors are connected to each other on the first-stage telescopic structural member 2. The sensors on the first-stage telescopic structural member 2 are used to calibrate the position information of the first-stage telescopic structural member 2, and the travel switch is used to control the start and stop of the first-stage driving assembly according to the position information. Specifically, two of the plurality of sensors are used to mark the upper and lower extreme positions, and at least one is used to mark the origin position. It can avoid the first-stage telescopic structural member 2 and the second-stage telescopic structural member 3 from moving beyond the stroke range and better perform reset after use.

[0079] The setting methods and functions of the limit switches and sensors on the secondary telescopic structural member 3 and the tertiary telescopic structural member 5 are the same as those of the primary telescopic structural member 2, and will not be elaborated here.

[0080] The above are only the preferred embodiments of the present application, and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A truss robot with a Z-axis multi-stage transmission telescopic mechanism, wherein the vertical axis of the truss robot is the Z-axis, and is characterized in that, Comprising: A pallet, fixedly connected to the Z-axis, and a primary driving member is provided on the pallet; A primary telescopic structural member, the moving end of the primary driving member is connected to the primary telescopic structural member and is adapted to drive the primary telescopic structural member to move relative to the pallet along the Z-axis, and a secondary driving member is provided on the primary telescopic structural member; A secondary telescopic structural member, the moving end of the secondary driving member is connected to the secondary telescopic structural member and is adapted to drive the secondary telescopic structural member to move relative to the primary telescopic structural member along the Z-axis, and a tertiary driving member is provided on the secondary telescopic structural member; A tertiary telescopic structural member, the moving end of the tertiary driving member is connected to the tertiary telescopic structural member and is adapted to drive the tertiary telescopic structural member to move relative to the secondary telescopic structural member along the Z-axis, and a distance sensor is provided at the bottom of the tertiary telescopic structural member; The primary driving member, the secondary driving member, and the tertiary driving member are any one of the arrangement modes composed of a gear-rack driving member, a lead screw driving member, and a cylinder driving member.

2. The truss robot with a Z-axis multi-stage transmission telescopic mechanism according to claim 1, characterized in that, A primary guide rail is arranged on the pallet along the direction of the Z-axis, a primary slider is provided at the top of the primary telescopic structural member and is slidably and cooperatively connected to the primary guide rail, the primary driving member includes a primary driving motor, an output shaft of the primary driving motor is connected with a primary gear, and a primary rack meshing with the primary gear is arranged on the side wall of the primary telescopic structural member along the Z-axis direction.

3. The truss robot with a Z-axis multi-stage transmission telescopic mechanism according to claim 2, characterized in that A secondary guide rail is arranged on the primary telescopic structural member along the Z-axis direction, a secondary slider is provided at the top of the secondary telescopic structural member and is slidably and cooperatively connected to the secondary guide rail, the secondary driving member includes a secondary driving motor, an output shaft of the secondary driving motor is coaxially connected with a secondary lead screw, the secondary lead screw is arranged along the Z-axis direction and is helically connected with a secondary nut, and the secondary telescopic structural member is fixedly connected to the secondary nut.

4. The truss robot with a Z-axis multi-stage transmission telescopic mechanism according to claim 3, characterized in that, A tertiary guide rail is arranged on the secondary telescopic structural member along the Z-axis direction, a tertiary slider is provided at the top of the tertiary telescopic structural member and is slidably and cooperatively connected to the tertiary guide rail, the tertiary driving member includes a tertiary cylinder, and the tertiary telescopic structural member is connected to a piston rod of the tertiary cylinder.

5. The truss robot with a Z-axis multi-stage transmission telescopic mechanism according to claim 4, characterized in that, It further includes a linkage telescopic structural member, a linkage guide rail is further provided on the secondary telescopic structural member, a linkage slider is provided on the linkage telescopic structural member and is slidably and cooperatively connected to the linkage guide rail, a synchronous belt assembly for linkage cooperation with the secondary lead screw is provided on the linkage telescopic structural member, and the linkage telescopic structural member moves synchronously with the secondary telescopic structural member through the synchronous belt assembly.

6. The truss robot with a Z-axis multi-stage transmission telescopic mechanism according to claim 5, characterized in that, The synchronous belt assembly includes a primary synchronous pulley, a secondary synchronous pulley, and a primary synchronous belt. The primary synchronous pulley is disposed at the upper end of the secondary telescopic structural member, the secondary synchronous pulley is disposed at the lower end of the secondary telescopic structural member, the primary synchronous belt is sleeved between the primary synchronous pulley and the secondary synchronous pulley, a first fixing member and a second fixing member are fixedly connected to both sides of the primary synchronous belt along the Z-axis direction respectively, the linkage telescopic structural member is fixedly connected to the primary synchronous belt through the first fixing member, and the primary telescopic structural member is fixedly connected to the primary synchronous belt through the second fixing member.

7. The truss robot with a Z-axis multi-stage transmission telescopic mechanism according to claim 3, characterized in that, The secondary lead screw includes a trapezoidal lead screw.

8. The truss robot with a Z-axis multi-stage transmission telescopic mechanism according to claim 4, characterized in that, The primary telescopic structural member is provided with a first accommodation groove, and when the secondary telescopic structural member slides along the secondary guide rail, it extends into and out of the first accommodation groove; the secondary telescopic structural member is provided with a second accommodation groove, and when the tertiary telescopic structural member slides along the tertiary guide rail, it extends into and out of the second accommodation groove.

9. The truss robot with a Z-axis multi-stage transmission telescopic mechanism according to claim 2, characterized in that, A lubrication assembly is provided on the pallet. The lubrication assembly includes a positioning block disposed on the pallet, a lubricating oil pump group is provided on the positioning block, a nozzle is provided on the lubricating oil pump group, and the nozzle faces the primary rack.

10. The truss robot with a Z-axis multi-stage transmission telescopic mechanism according to claim 1, characterized in that, Positioning sensors are provided on the pallet, the primary telescopic structural member, the secondary telescopic structural member, and the tertiary telescopic structural member. The positioning sensors are connected to limit switches, and the limit switches are electrically connected to the primary drive member, the secondary drive member, and the tertiary drive member.

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