Truss robot with Z-axis gear and rack transmission telescopic mechanism

Abstract

The utility model relates to the technical field of truss robots, and provides a truss robot with a Z-axis gear and rack transmission telescopic mechanism, the truss robot comprises a supporting plate provided with a first-stage driving assembly and a first-stage gear connected to an output shaft of the first-stage driving assembly, and the supporting plate is further provided with a first-stage sliding block; the first-stage telescopic structural part is provided with a first-stage guide rail connected with the first-stage sliding block in a sliding fit mode, the first-stage guide rail is provided with a first-stage rack, and the first-stage rack is meshed with the first-stage gear; a second-stage driving assembly and a second-stage gear connected to an output shaft of the second-stage driving assembly are arranged at the bottom of the first-stage telescopic structural part, and a second-stage sliding block is further arranged on the first-stage telescopic structural part; the second-stage telescopic structural part is provided with a second-stage guide rail connected with the second-stage sliding block in a sliding fit mode, the second-stage guide rail is provided with a second-stage rack, and the second-stage rack is meshed with the second-stage gear; the first-stage lubricating assembly is arranged on the supporting plate and used for lubricating the first-stage rack, and the second-stage lubricating assembly is arranged on the first-stage telescopic structural part and used for lubricating the second-stage rack.

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 rack and pinion transmission telescopic mechanism. Background Art

[0002] The gantry robot is also called a rectangular coordinate robot. It is a fully automatic industrial equipment based on the rectangular X, Y, and Z coordinate system, which can adjust the workpiece position or realize the trajectory movement of the workpiece. It can move along the X, Y, and Z axes in three-dimensional space to achieve accurate grasping and placement of the workpiece. The gantry robot can carry objects and operate tools to complete various operations. It has high speed, high precision, good dust and anti-fouling properties. It is designed for the automatic turning, drilling and other processing of bearing workpieces. A complete set of material handling and storage equipment meets the needs of actual machine tool production lines.

[0003] At present, the Z-axis of truss robots mostly adopts a single-stage gear rack telescopic structure. If this type of truss robot Z-axis structure is used in some low-height spaces and the gap between the grab point and the placement point is relatively large, there will be a problem of insufficient travel. In addition, the accuracy of the gear rack is the basis for ensuring the operating accuracy of the Z-axis of the truss robot, and its maintenance is very important. The previous maintenance method was to manually add lubricating oil regularly, but long-term manual correspondence would affect the start-up rate of automated production and increase the workload of personnel.

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

[0005] The purpose of the present application is to propose a truss robot with a Z-axis gear rack transmission telescopic mechanism to solve the technical problems of the existing truss robots having a small Z-axis travel and difficult maintenance.

[0006] To achieve the above purpose, the technical solution adopted in this application is: to provide a truss robot with a Z-axis gear rack transmission telescopic mechanism, the vertical axis of the truss robot is the Z-axis, including:

[0007] A support plate, fixedly connected to the Z axis, a primary drive assembly and a primary gear are provided on the support plate, the primary gear is connected to the output shaft of the primary drive assembly, and a primary slider is also provided on the support plate;

[0008] The first-level telescopic structural member, on which a first-level guide rail is arranged along the Z-axis direction. The first-level guide rail is slidably connected with a first-level slider. A first-level rack is arranged on the first-level guide rail, and the first-level rack meshes with a first-level gear. At the bottom of the first-level telescopic structural member, a second-level driving assembly and a second-level gear are provided. The second-level gear is connected to the output shaft of the second-level driving assembly. A second-level slider is also arranged on the first-level telescopic structural member.

[0009] The second-level telescopic structural member, on which a second-level guide rail is arranged along the Z-axis direction. The second-level guide rail is slidably connected with the second-level slider. A second-level rack is arranged on the second-level guide rail, and the second-level rack meshes with the second-level gear.

[0010] The first-level lubricating assembly and the second-level lubricating assembly. The first-level lubricating assembly is arranged on the pallet and is used for lubricating the first-level rack. The second-level lubricating assembly is arranged on the first-level telescopic structural member and is used for lubricating the second-level rack.

[0011] Further, the first-level lubricating assembly includes a first-level positioning block arranged on the pallet. A first-level lubricating oil pump group is arranged on the first-level positioning block. A first-level nozzle is arranged on the first-level lubricating oil pump group, and the first-level nozzle faces the first-level rack.

[0012] Further, the second-level lubricating assembly includes a second-level positioning block arranged on the first-level telescopic structural member. A second-level lubricating oil pump group is arranged on the second-level positioning block. A second-level nozzle is arranged on the second-level lubricating oil pump group, and the second-level nozzle faces the second-level rack.

[0013] In some embodiments, both the first-level driving assembly and the second-level driving assembly include a servo motor and a reduction motor. A speed reducer is arranged in the reduction motor. The output shaft of the servo motor is connected to the speed reducer, and the output shaft of the reduction motor is used for connecting the first-level gear and the second-level gear.

[0014] Further, a travel switch and multiple sensors are connected to each other on the first-level telescopic structural member. The sensors on the first-level telescopic structural member are used for calibrating the position information of the first-level telescopic structural member, and the travel switch is used for controlling the start and stop of the first-level driving assembly according to the position information.

[0015] In some embodiments, multiple sensors connected to the travel switch are arranged on the second-level telescopic structural member. The sensors on the second-level telescopic structural member are used for calibrating the position information of the second-level telescopic structural member, and the travel switch is used for controlling the start and stop of the second-level driving assembly according to the position information.

[0016] Further, a first-level drag chain is connected between the pallet and the first-level telescopic structural member, and a second-level drag chain is provided between the first-level telescopic structural member and the second-level telescopic structural member.

[0017] In some embodiments, a third-level telescopic structural member is further included. A third-level driving assembly and a third-level gear are provided at the bottom of the second-level telescopic mechanism. The third-level gear is connected to the output shaft of the third-level driving assembly. A third-level slider is further provided on the second-level telescopic structural member;

[0018] A third-level guide rail is provided on the third-level telescopic structural member along the Z-axis direction. The third-level guide rail is slidably connected to the third-level slider. A third-level rack is provided on the third-level guide rail, and the third-level rack meshes with the third-level gear.

[0019] Further, a fourth-level telescopic structural member is further included. A fourth-level driving assembly and a fourth-level gear are provided at the bottom of the third-level telescopic mechanism. The fourth-level gear is connected to the output shaft of the fourth-level driving assembly. A fourth-level slider is further provided on the third-level telescopic structural member;

[0020] A fourth-level guide rail is provided on the fourth-level telescopic structural member along the Z-axis direction. The fourth-level guide rail is slidably connected to the fourth-level slider. A fourth-level rack is provided on the fourth-level guide rail, and the fourth-level rack meshes with the fourth-level gear.

[0021] In some embodiments, a third-level lubrication assembly and a fourth-level lubrication assembly are further included. The third-level lubrication assembly is provided on the second-level telescopic structural member and is used to lubricate the third-level rack. The fourth-level lubrication assembly is provided on the third-level telescopic structural member and is used to lubricate the fourth-level rack.

[0022] The beneficial effects of the truss robot with a Z-axis gear-rack transmission telescopic mechanism provided by the present application are at least as follows: It can achieve multi-level adjustment of the Z-axis. Compared with single-level adjustment, the adjustable stroke of the Z-axis is increased, which can ensure that the Z-axis of the truss robot is used in some working conditions requiring a large stroke, especially when the height space is low, the advantages of the multi-level telescopic Z-axis of the truss robot can be greatly reflected. Moreover, the gear-rack transmission structure form has high reliability, high repeat positioning accuracy, and basically does not require maintenance.

[0023] At the same time, through the provided first-level lubrication assembly and second-level lubrication assembly, the effect of ensuring the lubrication of the transmission components is achieved, the service life of the first-level gear-rack and second-level gear-rack is increased, the transmission accuracy is improved, and the lubrication and maintenance process is simpler and more convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] 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.

[0025] Figure 1 Structural schematic diagram of the Z-axis gear-rack drive telescopic mechanism provided by the embodiment of the present application;

[0026] Figure 2 For Figure 1 Internal structural schematic diagram of the Z-axis gear-rack drive telescopic mechanism in the A direction in

[0027] Figure 3 For Figure 1 Cross-sectional view of the Z-axis gear-rack drive telescopic mechanism in the D-D direction in

[0028] Figure 4 Structural schematic diagram of the Z-axis gear-rack drive telescopic mechanism provided by the embodiment of the present application from another perspective.

[0029] Among them, each reference numeral in the figure:

[0030] 1, support plate; 2, primary telescopic structural member; 3, secondary telescopic structural member; 4, tertiary telescopic structural member; 5, quaternary telescopic structural member; 6, primary drive assembly; 8, secondary drive assembly; 9, secondary lubrication assembly

[0031] 10, tertiary drive assembly; 11, tertiary lubrication assembly; 12, quaternary drive assembly; 13, quaternary lubrication assembly; 14, primary rack; 15, secondary rack; 16, tertiary rack; 17, quaternary rack; 18, primary gear; 19, secondary gear;

[0032] 20, tertiary gear; 21, quaternary gear; 22, primary guide rail; 23, secondary guide rail; 24, tertiary guide rail; 25, quaternary guide rail; 26, primary lubrication assembly; 27, travel switch; 28, sensor; 29, primary cable carrier

[0033] 30, secondary cable carrier. Detailed implementation manners

[0034] 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.

[0035] 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 the convenience of description and should not be construed as a limitation on the technical solution of the present application. The terms "first" and "second" are only for the purpose of convenient 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.

[0036] The following will describe, with reference to the accompanying drawings, a truss robot having a Z-axis rack and pinion drive telescopic mechanism according to an embodiment of the present application.

[0037] Please refer to Figure 1 , Figure 1 , which shows a schematic structural diagram of a truss robot having a Z-axis rack and pinion drive telescopic mechanism according to the present application, and specifically shows the Z-axis rack and pinion drive telescopic mechanism. Among them, the X, Y, and Z axes of the truss robot refer to its movement directions in three-dimensional space, corresponding to the horizontal axis, the longitudinal axis, and the vertical axis respectively. These axes are based on a rectangular coordinate system, that is, the Cartesian coordinate system. Each axis represents an independent movement dimension, allowing the truss robot to accurately position and move objects in three-dimensional space. In the present embodiment, the Z axis refers to the vertical axis of the truss robot.

[0038] Specifically, referring to Figures 1 - 4 , the Z-axis rack and pinion drive telescopic mechanism includes a support plate 1, a first-stage telescopic structural member 2, a second-stage telescopic structural member 3, and a first-stage lubrication assembly 26 and a second-stage lubrication assembly 9.

[0039] The support plate 1 is fixedly connected to the Z axis. A first-stage drive assembly 6 and a first-stage gear 18 are provided on the support plate 1. The first-stage gear 18 is connected to the output shaft of the first-stage drive assembly 6. A first-stage slider is also provided on the support plate 1.

[0040] A first-stage guide rail 22 is provided on the first-stage telescopic structural member 2 along the Z-axis direction. The first-stage guide rail 22 is slidably engaged with the first-stage slider. A first-stage rack 14 is provided on the first-stage guide rail 22. The first-stage rack 14 meshes with the first-stage gear 18. A second-stage drive assembly 8 and a second-stage gear 19 are provided at the bottom of the first-stage telescopic structural member 2. The second-stage gear 19 is connected to the output shaft of the second-stage drive assembly 8. A second-stage slider is also provided on the first-stage telescopic structural member 2.

[0041] On the secondary telescopic structural member 3, a secondary guide rail 23 is arranged along the Z-axis direction. The secondary guide rail 23 is slidably connected with a secondary slider. A secondary rack 15 is arranged on the secondary guide rail 23, and the secondary rack 15 meshes with a secondary gear 19.

[0042] A primary lubrication assembly 26 and a secondary lubrication assembly 9 are provided. The primary lubrication assembly 26 is arranged on the pallet 1 and is used for lubricating the primary rack 14. The secondary lubrication assembly 9 is arranged on the primary telescopic structural member 2 and is used for lubricating the secondary rack 15.

[0043] During use, the primary telescopic structural member 2 and the secondary telescopic structural member 3 can be adjusted separately to adjust the gripping point position of the Z-axis, that is, to change the length of the Z-axis. After the primary drive assembly 6 is started, the primary drive assembly 6 drives the primary gear 18 to rotate. The primary gear 18 drives the primary rack 14 to rotate. When the primary rack 14 rotates, it drives the primary guide rail 22 to slide relative to the primary slider, thus realizing the relative movement between the primary telescopic structural member 2 and the pallet 1, and further achieving the effect of adjusting the length of the Z-axis. Similarly, after the secondary drive assembly 8 is started, the secondary drive assembly 8 drives the secondary gear 19 to rotate. The secondary gear 19 drives the secondary rack 15 to rotate. When the secondary rack 15 rotates, it drives the secondary guide rail 23 to slide relative to the secondary slider, thus realizing the relative movement between the secondary telescopic structural member 3 and the primary telescopic structural member 2, and further achieving the effect of adjusting the length of the Z-axis.

[0044] In this way, multi-stage adjustment of the Z-axis can be achieved. Compared with single-stage adjustment, the adjustable stroke of the Z-axis is increased, which can ensure that the Z-axis of the truss robot is used in some working conditions requiring a large stroke, especially when the height space is low, the advantage of the multi-stage telescopic Z-axis of the truss robot can be greatly reflected. And the gear-rack transmission structure form has high reliability, high repeat positioning accuracy, and basically does not require maintenance.

[0045] At the same time, through the provided primary lubrication assembly 26 and secondary lubrication assembly 9, the primary rack 14 and the secondary rack 15 can be lubricated. It can be understood that the primary rack 14 meshes with the primary gear 18, and the secondary rack 15 meshes with the secondary gear 19. Then it is equivalent that the primary gear 18 and the secondary gear 19 are also lubricated, achieving the effect of ensuring the lubrication of the transmission components, increasing the service life of the primary gear 18 rack and the secondary gear 19 rack, improving the transmission accuracy, and making the lubrication and maintenance process simpler and more convenient.

[0046] In some embodiments, the primary lubrication assembly 26 includes a primary positioning block arranged on the pallet 1. A primary lubricating oil pump group is arranged on the primary positioning block, and a primary spray head is arranged on the primary lubricating oil pump group. The primary spray head faces the primary rack 14. After the primary lubricating oil pump group is started, lubricating oil is sprayed onto the primary rack 14 through the primary spray head, thereby lubricating the primary rack 14.

[0047] Further, the secondary lubrication assembly 9 includes a secondary positioning block provided on the primary telescopic structural member 2. A secondary lubricating oil pump group is provided on the secondary positioning block, and a secondary spray head is provided on the secondary lubricating oil pump group. The secondary spray head faces the secondary rack 15. After the secondary lubricating oil pump group is started, lubricating oil is sprayed onto the secondary rack 15 through the secondary spray head, thereby lubricating the secondary rack 15.

[0048] Further, both the primary lubricating oil pump group and the secondary lubricating oil pump group are controlled by an electric circuit. In some embodiments, a controller and a control button are provided on the pallet 1. The controller is electrically connected to the primary lubricating oil pump group and the secondary lubricating oil pump group. Through the control button, the start and stop of the primary lubricating oil pump group and the secondary lubricating oil pump group are controlled. Of course, a timing switch can also be provided in the controller. When the preset time interval is reached, the timing switch is automatically started, and at this time, the controller controls the start and stop of the primary lubricating oil pump group and the secondary lubricating oil pump group. Compared with manually adding lubricating oil, it can greatly save manpower.

[0049] In some embodiments, both the primary drive assembly 6 and the secondary drive assembly 8 include a servo motor and a reduction motor. A speed reducer is provided inside the reduction motor. The output shaft of the servo motor is connected to the speed reducer, and the output shaft of the reduction motor is used to connect to the primary gear 18 and the secondary gear 19.

[0050] The drive assembly uses a combination of a servo motor and a reduction motor. Through the servo motor, precise control ability is provided, and the speed reducer increases the output torque, achieving a transmission effect with high precision and large torque.

[0051] In some embodiments, referring to Figures 1 - 4 , a travel switch 27 and a plurality of sensors 28 are connected to each other on the primary telescopic structural member 2. The sensors 28 on the primary telescopic structural member 2 are used to calibrate the position information of the primary telescopic structural member 2, and the travel switch 27 is used to control the start and stop of the primary drive assembly 6 according to the position information.

[0052] In some embodiments, a plurality of sensors 28 connected to the travel switch 27 are provided on the secondary telescopic structural member 3. The sensors 28 on the secondary telescopic structural member 3 are used to calibrate the position information of the secondary telescopic structural member 3, and the travel switch 27 is used to control the start and stop of the secondary drive assembly 8 according to the position information.

[0053] Further, three sensors 28 are provided on both the primary telescopic structural member 2 and the secondary telescopic structural member 3. Two are used to mark the upper and lower extreme positions, and one is used to mark the origin position. It can prevent the primary telescopic structural member 2 and the secondary telescopic structural member 3 from moving beyond the travel range and better reset after use.

[0054] Further, referring to Figures 1 - 4, a first-level drag chain 29 is connected between the pallet 1 and the first-level telescopic structural member 2, and a second-level drag chain 30 is provided between the first-level telescopic structural member 2 and the second-level telescopic structural member 3.

[0055] The provided first-level drag chain 29 can move along with the first-level telescopic structural member 2 and achieve expansion and contraction to prevent the first-level telescopic structural member 2 from falling apart. Similarly, the provided second-level drag chain 30 can move along with the second-level telescopic structural member 3 and achieve expansion and contraction to prevent the second-level telescopic structural member 3 from falling apart, improving the safety during use.

[0056] Further, referring to Figures 2 - 4 , it further includes a third-level telescopic structural member 4. A third-level driving assembly 10 and a third-level gear 20 are provided at the bottom of the second-level telescopic mechanism. The third-level gear 20 is connected to the output shaft of the third-level driving assembly 10, and a third-level slider is also provided on the second-level telescopic structural member 3.

[0057] A third-level guide rail 24 is provided on the third-level telescopic structural member 4 along the Z-axis direction. The third-level guide rail 24 is slidably connected to the third-level slider. A third-level rack 16 is provided on the third-level guide rail 24, and the third-level rack 16 meshes with the third-level gear 20.

[0058] In some embodiments, referring to Figures 2 - 4 , it further includes a fourth-level telescopic structural member 5. A fourth-level driving assembly 12 and a fourth-level gear 21 are provided at the bottom of the third-level telescopic mechanism. The fourth-level gear 21 is connected to the output shaft of the fourth-level driving assembly 12, and a fourth-level slider is also provided on the third-level telescopic structural member 4.

[0059] A fourth-level guide rail 25 is provided on the fourth-level telescopic structural member 5 along the Z-axis direction. The fourth-level guide rail 25 is slidably connected to the fourth-level slider. A fourth-level rack 17 is provided on the fourth-level guide rail 25, and the fourth-level rack 17 meshes with the fourth-level gear 21.

[0060] Further, it further includes a third-level lubrication assembly 11 and a fourth-level lubrication assembly 13. The third-level lubrication assembly 11 is provided on the second-level telescopic structural member 3 and is used to lubricate the third-level rack 16. The fourth-level lubrication assembly 13 is provided on the third-level telescopic structural member 4 and is used to lubricate the fourth-level rack 17.

[0061] Of course, this embodiment is not limited to setting four telescopic structural members. According to actual needs, five, six or more telescopic structural members can also be set to better achieve the Z-axis stroke adjustment and make the truss robot more convenient and efficient during use.

[0062] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. A truss robot with a Z-axis rack and pinion drive telescopic mechanism, wherein the vertical axis of the truss robot is the Z-axis, characterized in that, Including: A pallet, fixedly connected to the Z-axis. A primary drive assembly and a primary gear are provided on the pallet. The primary gear is connected to the output shaft of the primary drive assembly. A primary slider is also provided on the pallet. A primary telescopic structure member. A primary guide rail is provided on the primary telescopic structure member along the Z-axis direction. The primary guide rail is slidably connected to the primary slider. A primary rack is provided on the primary guide rail. The primary rack meshes with the primary gear. A secondary drive assembly and a secondary gear are provided at the bottom of the primary telescopic structure member. The secondary gear is connected to the output shaft of the secondary drive assembly. A secondary slider is also provided on the primary telescopic structure member. A secondary telescopic structure member. A secondary guide rail is provided on the secondary telescopic structure member along the Z-axis direction. The secondary guide rail is slidably connected to the secondary slider. A secondary rack is provided on the secondary guide rail. The secondary rack meshes with the secondary gear. A primary lubrication assembly and a secondary lubrication assembly. The primary lubrication assembly is provided on the pallet and is used to lubricate the primary rack. The secondary lubrication assembly is provided on the primary telescopic structure member and is used to lubricate the secondary rack.

2. The truss robot with a Z-axis rack and pinion drive telescopic mechanism according to claim 1, characterized in that, The primary lubrication assembly includes a primary positioning block provided on the pallet. A primary lubricating oil pump group is provided on the primary positioning block. A primary spray head is provided on the primary lubricating oil pump group. The primary spray head faces the primary rack.

3. The truss robot with a Z-axis rack and pinion drive telescopic mechanism according to claim 2, characterized in that, The secondary lubrication assembly includes a secondary positioning block provided on the primary telescopic structure member. A secondary lubricating oil pump group is provided on the secondary positioning block. A secondary spray head is provided on the secondary lubricating oil pump group. The secondary spray head faces the secondary rack.

4. The truss robot with a Z-axis rack and pinion drive telescopic mechanism according to any one of claims 1-3, characterized in that, Both the primary drive assembly and the secondary drive assembly include a servo motor and a reduction motor. A speed reducer is provided inside the reduction motor. The output shaft of the servo motor is connected to the speed reducer. The output shaft of the reduction motor is used to connect the primary gear and the secondary gear.

5. The truss robot with a Z-axis rack and pinion drive telescopic mechanism according to claim 4, characterized in that, A travel switch and multiple sensors are connected to each other on the primary telescopic structure member. The sensors on the primary telescopic structure member are used to calibrate the position information of the primary telescopic structure member. The travel switch is used to control the start and stop of the primary drive assembly according to the position information.

6. The truss robot with a Z-axis rack and pinion drive telescopic mechanism according to claim 5, wherein, Multiple sensors connected to the travel switch are provided on the secondary telescopic structure member. The sensors on the secondary telescopic structure member are used to calibrate the position information of the secondary telescopic structure member. The travel switch is used to control the start and stop of the secondary drive assembly according to the position information.

7. The truss robot with a Z-axis rack and pinion drive telescopic mechanism according to claim 6, characterized in that, A primary cable carrier is connected between the pallet and the primary telescopic structure member. A secondary cable carrier is provided between the primary telescopic structure member and the secondary telescopic structure member.

8. The truss robot with a Z-axis rack and pinion drive telescopic mechanism according to claim 4, characterized in that, It further includes a tertiary telescopic structure member. A tertiary drive assembly and a tertiary gear are provided at the bottom of the secondary telescopic structure member. The tertiary gear is connected to the output shaft of the tertiary drive assembly. A tertiary slider is also provided on the secondary telescopic structure member. A three - stage telescopic structure member is provided with a three - stage guide rail along the Z - axis direction. The three - stage guide rail is slidably and cooperatively connected with a three - stage slider. A three - stage rack is provided on the three - stage guide rail, and the three - stage rack meshes with a three - stage gear.

9. The truss robot with a Z-axis rack and pinion drive telescopic mechanism according to claim 8, characterized in that, It further includes a four - stage telescopic structure member. A four - stage driving assembly and a four - stage gear are provided at the bottom of the three - stage telescopic structure member. The four - stage gear is connected to the output shaft of the four - stage driving assembly. A four - stage slider is also provided on the three - stage telescopic structure member. The four - stage telescopic structure member is provided with a four - stage guide rail along the Z - axis direction. The four - stage guide rail is slidably and cooperatively connected with the four - stage slider. A four - stage rack is provided on the four - stage guide rail, and the four - stage rack meshes with the four - stage gear.

10. The truss robot with a Z-axis rack and pinion drive telescopic mechanism according to claim 9, characterized in that, It further includes a three - stage lubrication assembly and a four - stage lubrication assembly. The three - stage lubrication assembly is arranged on the two - stage telescopic structure member and is used for lubricating the three - stage rack. The four - stage lubrication assembly is arranged on the three - stage telescopic structure member and is used for lubricating the four - stage rack.

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