Truss robot with Z-axis air cylinder transmission telescopic mechanism

Abstract

The utility model relates to the technical field of truss robots, and provides a truss robot with a Z-axis air cylinder transmission telescopic mechanism. The top end of the first-stage telescopic structural part is connected to the fixed structural part, and a first-stage air cylinder and a first-stage guide rail are arranged on the first-stage telescopic structural part. The top end of the second-stage telescopic structural part is connected to the tail end of a piston rod of the first-stage air cylinder, a first-stage sliding block is arranged on the top of the second-stage telescopic structural part, the first-stage sliding block is connected to the first-stage guide rail in a sliding fit mode, and a second-stage air cylinder and a second-stage guide rail are arranged on the second-stage telescopic structural part; the top end of the third-stage telescopic structural part is connected to the tail end of a piston rod of the second-stage air cylinder, and a second-stage sliding block is arranged at the top of the third-stage telescopic structural part and connected to the second-stage guide rail in a sliding fit mode. The telescopic length of the Z-axis can be adjusted at the same time through the first-stage air cylinder and the second-stage air cylinder, the adjustment stroke of the Z-axis is enlarged, and the structural cost is reduced.

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 cylinder drive telescopic mechanism. Background Art

[0002] Truss robots belong to Cartesian coordinate robots and are based on a right-angle X, Y, Z three-coordinate system for workpiece station adjustment. Truss robots can carry objects and operate tools to complete various operations to meet the needs of actual machine tool production lines.

[0003] Currently, the Z-axis of truss robots mostly adopts a single-stage telescopic structure. And to ensure adjustment accuracy, oil cylinders are usually used as telescopic mechanisms, resulting in high manufacturing costs. Moreover, when such Z-axis structures of truss robots are applied in some low-height spaces and there is a large vertical distance between the grasping point and the placing point, there will be a problem of insufficient stroke.

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

[0005] The purpose of the present application is to provide a truss robot with a Z-axis cylinder drive telescopic mechanism to solve the technical problems of high cost and small stroke of the Z-axis telescopic mechanism of truss robots in the prior art.

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

[0007] A fixed structural member fixedly connected to the Z-axis;

[0008] A first-stage telescopic structural member, the top of the first-stage telescopic structural member is connected to the fixed structural member, a first-stage cylinder is provided on the first-stage telescopic structural member and a first-stage guide rail is provided in the direction along the Z-axis;

[0009] A second-stage telescopic structural member, the top of the second-stage telescopic structural member is connected to the end of the piston rod of the first-stage cylinder, a first-stage slider is provided on the top of the second-stage telescopic structural member, the first-stage slider is slidably connected to the first-stage guide rail, a second-stage cylinder is provided on the second-stage telescopic structural member and a second-stage guide rail is provided in the direction along the Z-axis;

[0010] A third-stage telescopic structural member, the top of the third-stage telescopic structural member is connected to the end of the piston rod of the second-stage cylinder, a second-stage slider is provided on the top of the third-stage telescopic structural member, the second-stage slider is slidably connected to the second-stage guide rail.

[0011] Further, floating joints are provided at the ends of the piston rods of the first-stage cylinder and the second-stage cylinder. The floating joint of the first-stage cylinder is connected to the top end of the second-stage telescopic structure member, and the floating joint of the second-stage cylinder is connected to the top end of the third-stage telescopic structure member.

[0012] Further, a driving assembly is provided on the fixed structure member, and a first-stage lead screw is rotatably provided along the Z-axis direction. A first-stage nut is provided on the first-stage lead screw, and the top end of the first-stage telescopic structure member is connected to the first-stage nut.

[0013] In some embodiments, a third-stage guide rail is provided on the fixed structure member along the Z-axis direction, and a third-stage slider is provided at the top of the first-stage telescopic structure member. The third-stage slider is slidably connected to the third-stage guide rail.

[0014] Further, the first-stage lead screw is a trapezoidal lead screw.

[0015] In some embodiments, a first-stage drag chain is provided between the fixed structure member and the first-stage telescopic structure member. A drag chain groove is provided on the fixed structure member, and a first-stage drag chain bracket is provided on the first-stage telescopic structure member. The fixed end of the first-stage drag chain is connected in the drag chain groove, and the movable end of the first-stage drag chain is connected to the first-stage drag chain bracket.

[0016] Further, a second-stage drag chain is provided between the first-stage telescopic structure and the second-stage telescopic structure. A second-stage drag chain bracket is provided on the second-stage telescopic structure member. The fixed end of the second-stage drag chain is connected to the first-stage drag chain bracket, and the movable end of the second-stage drag chain is connected to the second-stage drag chain bracket.

[0017] In some embodiments, a third-stage drag chain is provided between the second-stage telescopic structure and the third-stage telescopic structure. A third-stage drag chain bracket is provided on the third-stage telescopic structure member. The fixed end of the third-stage drag chain is connected to the second-stage drag chain bracket, and the movable end of the third-stage drag chain is connected to the third-stage drag chain bracket.

[0018] Further, the fixed structure member is provided with a first accommodation groove, and the first-stage telescopic structure member extends into or out of the first accommodation groove when sliding relative to the third-stage guide rail.

[0019] In some embodiments, the first-stage telescopic structure member is provided with a second accommodation groove, and the second-stage telescopic structure member extends into or out of the second accommodation groove when sliding relative to the first-stage guide rail; the second-stage telescopic structure member is provided with a third accommodation groove, and the third-stage telescopic structure member extends into or out of the third accommodation groove when sliding relative to the second-stage guide rail.

[0020] The beneficial effects of the truss robot with a Z-axis cylinder drive telescopic mechanism provided by this application are at least as follows: When adjusting the Z-axis through the Z-axis cylinder drive telescopic mechanism, the primary cylinder and the secondary cylinder can simultaneously adjust the telescopic length of the Z-axis, expanding the stroke of the Z-axis adjustment. It is particularly suitable for scenarios with a low height space and a large gap between the two points of the grasping point and the placement point. And since a cylinder is used as the drive mechanism of the telescopic mechanism, the structural cost is greatly reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of this application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following drawings are only some embodiments of this application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0022] Figure 1 It is a schematic structural diagram of the Z-axis cylinder drive telescopic mechanism in the truss robot with a Z-axis cylinder drive telescopic mechanism provided by the embodiment of this application;

[0023] Figure 2 For Figure 1 the schematic structural diagram of the Z-axis cylinder drive telescopic mechanism in

[0024] Figure 3 For Figure 1 the schematic structural diagram of the Z-axis cylinder drive telescopic mechanism in

[0025] Among them, the reference numerals in the drawings are as follows:

[0026] 1, fixed structural member; 2, primary guide rail; 3, servo motor; 4, reducer; 5, first accommodation groove; 6, second accommodation groove; 7, third accommodation groove; 8, primary lead screw; 9, drag chain groove;

[0027] 10, primary telescopic structural member; 11, primary nut; 16, secondary guide rail; 17, secondary telescopic structural member; 18, primary cylinder; 19, floating joint;

[0028] 20, tertiary guide rail; 21, secondary cylinder; 22, primary drag chain; 23, secondary drag chain; 24, tertiary drag chain; 27, primary drag chain support; 28, secondary drag chain support; 29, tertiary telescopic structural member;

[0029] 31, tertiary drag chain support. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0030] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clear and understandable, the following further details this application in combination with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not used to limit this application.

[0031] 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 accompanying drawings, and are only for the convenience of description and cannot be construed as limitations on this technical solution. The terms "first" and "second" are only used 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.

[0032] The following describes, in combination with the accompanying drawings, a truss robot with a Z-axis cylinder drive telescopic mechanism according to an embodiment of the present application.

[0033] Please refer to Figure 1 , Figure 1 , which shows a structural schematic diagram of the Z-axis cylinder drive telescopic mechanism of the truss robot of the present application. Among them, the Z-axis is the vertical axis of the truss robot, and the Z-axis cylinder drive telescopic mechanism includes a fixed structural member 1, a first-stage telescopic structural member 10, a second-stage telescopic structural member 17, and a third-stage telescopic structural member 29.

[0034] Specifically, referring to Figures 1-3 , the fixed structural member 1 is fixedly connected to the Z-axis, the top end of the first-stage telescopic structural member 10 is connected to the fixed structural member 1, and a first-stage cylinder 18 is provided on the first-stage telescopic structural member 10 and a first-stage guide rail 2 is provided in the direction along the Z-axis.

[0035] The top end of the second-stage telescopic structural member 17 is connected to the end of the piston rod of the first-stage cylinder 18. A first-stage slider is provided at the top of the second-stage telescopic structural member 17. The first-stage slider is slidably and cooperatively connected to the first-stage guide rail 2. A second-stage cylinder 21 is provided on the second-stage telescopic structural member 17 and a second-stage guide rail 16 is provided in the direction along the Z-axis.

[0036] The top end of the third-stage telescopic structural member 29 is connected to the end of the piston rod of the second-stage cylinder 21. A second-stage slider is provided at the top of the third-stage telescopic member. The second-stage slider is slidably and cooperatively connected to the second-stage guide rail 16.

[0037] When the Z-axis is adjusted by the Z-axis cylinder transmission telescopic mechanism, the first-stage cylinder 18 and the second-stage cylinder 21 can simultaneously adjust the telescopic length of the Z-axis, thereby expanding the stroke of the Z-axis adjustment, which is particularly suitable for scenes with low height space and a large gap between the grabbing point and the placement point. In addition, since the cylinder is used as the driving mechanism of the telescopic mechanism, the structural cost is greatly reduced.

[0038] When in use, the secondary telescopic structure 17 can slide relative to the primary telescopic structure 10 through the drive of the primary cylinder 18; the tertiary telescopic structure can slide relative to the secondary telescopic structure 17 through the drive of the secondary cylinder 21, that is, the secondary telescopic structure 17 and the tertiary telescopic structure 29 can be adjusted separately to adjust the grabbing point position of the Z axis, that is, to change the length of the Z axis.

[0039] After the primary cylinder 18 is started, the piston rod of the primary cylinder 18 is extended and retracted, and the piston rod drives the secondary telescopic mechanism components to move during the extension and retraction process. When the secondary telescopic mechanism components move, they slide along the primary guide rail 2 through the primary slider, so that the secondary telescopic mechanism components slide relative to the primary telescopic mechanism components. Similarly, after the secondary cylinder 21 is started, the piston rod of the secondary cylinder 21 is extended and retracted, and the piston rod drives the tertiary telescopic mechanism components to move during the extension and retraction process. When the tertiary telescopic mechanism components move, they slide along the secondary guide rail 16 through the secondary slider, so that the tertiary telescopic mechanism components slide relative to the secondary telescopic mechanism components, thereby achieving the effect of adjusting the Z-axis length in stages.

[0040] 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 can be used in some working conditions that require a large stroke, especially when the height space is low, which can greatly reflect the advantages of the multi-stage telescopic Z axis of the truss robot. In addition, the cost of the cylinder is low, which can greatly reduce the production cost of the equipment.

[0041] In some embodiments, see Figures 1-3 The piston rod ends of the primary cylinder 18 and the secondary cylinder 21 are both provided with floating joints 19. The floating joint 19 of the primary cylinder 18 is connected to the top of the secondary telescopic structure 17, and the floating joint 19 of the secondary cylinder 21 is connected to the top of the tertiary telescopic structure 29.

[0042] Among them, the floating joint 19 is a connecting device used to connect the piston rod of the cylinder to the actuator or load. In this embodiment, the actuator is the secondary telescopic structural member 17 and the tertiary telescopic structural member 29. The design purpose of the floating joint 19 is to allow a certain angular offset and axial offset to reduce stress and wear caused by installation errors or load skews, which helps to reduce the impact of installation errors and load skews on the cylinder, thereby improving the reliability and service life of the Z-axis cylinder drive telescopic mechanism.

[0043] Furthermore, the floating joint 19 can be any one of a spherical floating joint 19, an elastic floating joint 19, or a composite floating joint 19.

[0044] The spherical floating joint 19 is provided with a spherical joint to achieve angular compensation using the spherical joint. The elastic floating joint 19 is provided with elastic elements such as springs or rubber parts to achieve axial and angular compensation using the elastic elements. The composite floating joint 19 combines the advantages of the spherical joint and elastic elements to provide more comprehensive compensation capabilities.

[0045] Furthermore, to improve the accuracy during the Z-axis adjustment, refer to Figures 1-3 , a driving component is provided on the fixed structural member 1 and a first-stage lead screw 8 is rotatably arranged along the Z-axis direction. A first-stage nut 11 is provided on the first-stage lead screw 8, and the top end of the first telescopic structural member 10 is connected to the first-stage nut 11.

[0046] Among them, the lead screw is a mechanism that converts rotational motion into linear motion. Specifically, the lead screw rotates to push the nut cooperating with it to move axially, thereby achieving the linear motion of the nut.

[0047] During use, after the driving component is started, the first-stage lead screw 8 rotates and drives the first-stage nut 11 to move linearly along the Z-axis direction. The first-stage nut 11 simultaneously drives the first telescopic structural member 10 to move linearly along the Z-axis direction, thereby realizing the movement of the first telescopic structural member 10 relative to the fixed structural member 1. The first-stage adjustment and second-stage adjustment of the Z-axis can be performed through the first-stage cylinder 18 and the second-stage cylinder 21, and the third-stage adjustment of the Z-axis can be performed through the first-stage lead screw 8, and the adjustment accuracy of the third-stage adjustment is higher than that of the first-stage adjustment and the second-stage adjustment.

[0048] In this way, the adjustment of the first-stage cylinder 18 and the second-stage cylinder 21 can be compensated for accuracy through the first-stage lead screw 8. During use, the first-stage cylinder 18 and the second-stage cylinder 21 can be used for adjustment first, and then precise adjustment can be performed through the first-stage lead screw 8 to improve the overall adjustment accuracy of the Z-axis.

[0049] Furthermore, the driving assembly includes a servo motor 3 and a reduction motor 4. The output shaft of the servo motor 3 is coaxially connected to the reduction motor 4, and the output shaft of the reduction motor 4 is connected to a first-stage lead screw 8.

[0050] In some embodiments, referring to Figures 1-3 , a third-stage guide rail 20 is provided on the fixed structural member 1 along the Z-axis direction. A third-stage slider is provided at the top of the first-stage telescopic structural member 10, and the third-stage slider is slidably connected to the third-stage guide rail 20.

[0051] Similar to the first-stage guide rail 2 and the second-stage guide rail 16, a third-stage guide rail 20 is provided on the fixed structural member 1. When the first-stage lead screw 8 drives the first-stage telescopic member to move, the first-stage telescopic structural member 10 slides along the third-stage guide rail 20 through the third-stage slider, thereby realizing the relative sliding between the first-stage telescopic member and the fixed structural member 1.

[0052] In some embodiments, the first-stage lead screw 8 is a trapezoidal lead screw.

[0053] 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 first-stage lead screw 8 as a trapezoidal lead screw with a lower cost can further reduce the manufacturing cost of the Z-axis cylinder drive telescopic mechanism.

[0054] In some embodiments, referring to Figures 1-3 , a first-stage cable carrier 22 is provided between the fixed structural member 1 and the first-stage telescopic structural member 10. A cable carrier groove 9 is provided on the fixed structural member 1, and a first-stage cable carrier bracket 27 is provided on the first-stage telescopic structural member 10. The fixed end of the first-stage cable carrier 22 is connected in the cable carrier groove 9, and the movable end of the first-stage cable carrier 22 is connected to the first-stage cable carrier bracket 27.

[0055] When the first-stage telescopic structural member 10 retracts, the movable end of the first-stage cable carrier 22 moves with the first-stage telescopic structural member 10 and is flexed to prevent the first-stage telescopic structural member 10 from falling apart, and the first-stage cable carrier 22 is received in the cable carrier groove 9 when retracting.

[0056] Furthermore, referring to Figure 2 , a second-stage cable carrier 23 is provided between the first-stage telescopic structure and the second-stage telescopic structure. A second-stage cable carrier bracket 28 is provided on the second-stage telescopic structure. The fixed end of the second-stage cable carrier 23 is connected to the first-stage cable carrier bracket 27, and the movable end of the second-stage cable carrier 23 is connected to the second-stage cable carrier bracket 28.

[0057] Similarly, the provided second-stage cable carrier 23 can move with the second-stage telescopic structural member 17 and be flexed to prevent the second-stage telescopic structural member 17 from falling apart, improving the safety during use.

[0058] Furthermore, referring to Figure 2, a third-level drag chain 24 is provided between the second-level telescopic structure and the third-level telescopic structure. A third-level drag chain bracket 31 is provided on the third-level telescopic structure. The fixed end of the third-level drag chain 24 is connected to the second-level drag chain bracket 28, and the movable end of the third-level drag chain 24 is connected to the third-level drag chain bracket 31.

[0059] Similarly, the provided third-level drag chain 24 can move along with the third-level telescopic structure member 29 and achieve bending, so as to prevent the third-level telescopic structure member 29 from falling apart and improve the safety during use.

[0060] In some embodiments, refer to Figure 2 , the fixed structure member 1 is provided with a first receiving groove 5. When the first-level telescopic structure member 10 slides relatively along the third-level guide rail 20, it extends into or out of the first receiving groove 5.

[0061] Furthermore, the first-level telescopic structure member 10 is provided with a second receiving groove 6. When the second-level telescopic structure member 17 slides relatively along the first-level guide rail 2, it extends into or out of the second receiving groove 6; the second-level telescopic structure member 17 is provided with a third receiving groove 7. When the third-level telescopic structure member 29 slides relatively along the second-level guide rail 16, it extends into or out of the third receiving groove 7.

[0062] Among them, the fixed structure member 1, the first-level telescopic structure member 10, and the second-level telescopic structure member 17 are all formed by enclosing with plates. During the enclosing process, the first receiving groove 5, the second receiving groove 6, and the third receiving groove 7 are respectively formed. And the first-level telescopic structure member 10 can be received into the first receiving groove 5, the second telescopic structure member can be received into the second receiving groove 6, and the third telescopic structure member can be received into the third receiving groove 7, so that the Z-axis cylinder drive telescopic mechanism can finally be contracted to the length of the fixed structure member 1 in the Z-axis direction, further increasing the stroke size of the Z-axis adjustment.

[0063] 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 cylinder drive telescopic mechanism, where the vertical axis of the truss robot is the Z-axis, characterized in that, Including: A fixed structural member, fixedly connected to the Z-axis; A first-level telescopic structural member, the top end of the first-level telescopic structural member is connected to the fixed structural member, a first-level cylinder is provided on the first-level telescopic structural member, and a first-level guide rail is arranged in the direction along the Z-axis; A second-level telescopic structural member, the top end of the second-level telescopic structural member is connected to the end of the piston rod of the first-level cylinder, a first-level slider is provided on the top of the second-level telescopic structural member, the first-level slider is slidably connected to the first-level guide rail, a second-level cylinder is provided on the second-level telescopic structural member, and a second-level guide rail is arranged in the direction along the Z-axis; A third-level telescopic structural member, the top end of the third-level telescopic structural member is connected to the end of the piston rod of the second-level cylinder, a second-level slider is provided on the top of the third-level telescopic structural member, the second-level slider is slidably connected to the second-level guide rail.

2. The truss robot with a Z-axis cylinder drive telescopic mechanism according to claim 1, wherein Floating joints are provided at the ends of the piston rods of the first-level cylinder and the second-level cylinder. The floating joint of the first-level cylinder is connected to the top end of the second-level telescopic structural member, and the floating joint of the second-level cylinder is connected to the top end of the third-level telescopic structural member.

3. The truss robot with a Z-axis cylinder drive telescopic mechanism according to claim 2, characterized in that, A driving assembly is provided on the fixed structural member, a first-level lead screw is rotatably arranged in the direction along the Z-axis, a first-level nut is provided on the first-level lead screw, and the top end of the first-level telescopic structural member is connected to the first-level nut.

4. The truss robot with a Z-axis cylinder drive telescopic mechanism according to claim 3, characterized in that, A third-level guide rail is arranged on the fixed structural member in the direction along the Z-axis, a third-level slider is provided on the top of the first-level telescopic structural member, and the third-level slider is slidably connected to the third-level guide rail.

5. The truss robot with a Z-axis cylinder drive telescopic mechanism according to claim 4, characterized in that, The first-level lead screw is a trapezoidal lead screw.

6. The truss robot with a Z-axis cylinder drive telescopic mechanism according to claim 1, characterized in that, A first-level cable carrier is provided between the fixed structural member and the first-level telescopic structural member. A cable carrier groove is provided on the fixed structural member, a first-level cable carrier bracket is provided on the first-level telescopic structural member, the fixed end of the first-level cable carrier is connected in the cable carrier groove, and the movable end of the first-level cable carrier is connected to the first-level cable carrier bracket.

7. The truss robot with a Z-axis cylinder drive telescopic mechanism according to claim 6, characterized in that, A second-level cable carrier is provided between the first-level telescopic structure and the second-level telescopic structure. A second-level cable carrier bracket is provided on the second-level telescopic structure, the fixed end of the second-level cable carrier is connected to the first-level cable carrier bracket, and the movable end of the second-level cable carrier is connected to the second-level cable carrier bracket.

8. The truss robot with a Z-axis cylinder drive telescopic mechanism according to claim 7, characterized in that, A third-level cable carrier is provided between the second-level telescopic structure and the third-level telescopic structure. A third-level cable carrier bracket is provided on the third-level telescopic structure, the fixed end of the third-level cable carrier is connected to the second-level cable carrier bracket, and the movable end of the third-level cable carrier is connected to the third-level cable carrier bracket.

9. The truss robot with a Z-axis cylinder drive telescopic mechanism according to claim 4, characterized in that, The fixed structural member is provided with a first accommodation groove, and when the first-level telescopic structural member slides relative to the third-level guide rail, it extends into or out of the first accommodation groove.

10. The truss robot with a Z-axis cylinder drive telescopic mechanism according to claim 9, characterized in that, The first-level telescopic structural member is provided with a second accommodation groove, and when the second-level telescopic structural member slides relative to the first-level guide rail, it extends into or out of the second accommodation groove; the second-level telescopic structural member is provided with a third accommodation groove, and when the third-level telescopic structural member slides relative to the second-level guide rail, it extends into or out of the third accommodation groove.

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