Truss robot with Z-axis lead screw transmission telescopic mechanism

Abstract

The utility model relates to the technical field of truss robots, and provides a truss robot with a Z-axis lead screw transmission telescopic mechanism, the truss robot comprises a fixed mounting seat, a first-stage lead screw is rotationally arranged on the fixed mounting seat in the Z-axis direction, and a first-stage nut is arranged on the first-stage lead screw; the linkage assembly comprises an adapter shaft and a synchronous belt assembly, one end of the adapter shaft is connected with the first-stage lead screw, and the other end of the adapter shaft is connected with the synchronous belt assembly; the top end of the first-stage telescopic mechanism is connected to the first-stage nut, a servo motor is arranged on the first-stage telescopic structural part, a second-stage lead screw is rotationally arranged on the first-stage telescopic structural part in the Z-axis direction, an output shaft of the servo motor is connected with the top end of the second-stage lead screw through a coupler, and the synchronous belt assembly is used for driving the second-stage lead screw and the first-stage lead screw to rotate synchronously; a second-stage nut is arranged on the second-stage lead screw; and the second-stage telescopic mechanism component is connected with a second-stage nut. The first-stage lead screw and the second-stage lead screw can enlarge the stroke of Z-axis adjustment, through the arranged linkage assembly, driving can be conducted through the same servo motor, and the equipment 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 lead screw transmission telescopic mechanism. Background Art

[0002] A gantry robot, also known as a Cartesian robot or gantry robot, is an automatically controlled, reprogrammable, multifunctional, multi-degree-of-freedom mechanical device. It can move along the X, Y, and Z axes in three dimensions, enabling precise grasping and placement of workpieces.

[0003] Currently, most truss robots feature a single-axis telescopic Z-axis structure. This can lead to insufficient travel when used in low-profile environments with a large gap between the pick-up and placement points. Some truss robots feature multi-stage telescopic Z-axes, but these require more power transmissions, resulting in higher costs.

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

[0005] The purpose of this application is to propose a truss robot with a Z-axis screw drive telescopic mechanism to solve the technical problems of small travel and high cost of existing truss robots.

[0006] To achieve the above objectives, the technical solution adopted in this application is:

[0007] A truss robot with a Z-axis lead screw transmission telescopic mechanism is provided, wherein the vertical axis of the truss robot is the Z-axis, and the Z-axis lead screw transmission telescopic mechanism comprises:

[0008] A fixing module, comprising a fixing mounting base for connecting to the Z axis, wherein a first-level lead screw is provided on the fixing mounting base for rotating along the Z axis direction, and a first-level nut is provided on the first-level lead screw;

[0009] A linkage assembly, comprising a transfer shaft and a synchronous belt assembly, wherein one end of the transfer shaft is connected to the primary lead screw, and the other end is connected to the synchronous belt assembly;

[0010] The first telescopic module includes a first-level telescopic structure, the top end of the first-level telescopic mechanism is connected to the first-level nut, the first-level telescopic structure is provided with a servo motor and is provided with a second-level screw that rotates along the Z-axis direction, the output shaft of the servo motor is connected to the top end of the second-level screw via a coupling, the second-level screw is further connected to the synchronous belt assembly, the synchronous belt assembly is used to drive the second-level screw and the first-level screw to rotate synchronously, and the second-level screw is provided with a second-level nut;

[0011] The second telescopic module includes a secondary telescopic structural component, and the top end of the secondary telescopic structural component is connected to the secondary nut.

[0012] Furthermore, the linkage assembly includes a first synchronous wheel, a synchronous belt and a second synchronous wheel. The first synchronous wheel is arranged at the optical axis end of the secondary screw. The first synchronous wheel rotates synchronously with the secondary screw. The second synchronous wheel is connected to the adapter shaft. The first synchronous wheel and the second synchronous wheel are rotationally connected through the synchronous belt.

[0013] Furthermore, a tensioning mechanism is provided on the first-level telescopic structure, and a relatively movable adjusting wheel is provided on the tensioning mechanism. When the adjusting wheel moves relatively, it stops at the synchronous belt and adjusts the tension of the synchronous belt.

[0014] In some embodiments, a primary guide rail is provided on the fixed mounting seat, and primary fixing seats are provided at both ends of the primary guide rail, and the primary lead screw is rotatably connected between the two primary fixing seats.

[0015] Furthermore, the primary telescopic structure is provided with a secondary guide rail, both ends of the secondary guide rail are provided with a secondary fixed seat, and the secondary lead screw is rotatably connected between the two secondary fixed seats.

[0016] In some embodiments, a limit block is provided on the fixed mounting seat, and the limit block is located at both ends of the primary guide rail. A primary support seat is provided on the limit block at the bottom end of the primary guide rail, and the primary support seat is used to support the primary telescopic structure to remain vertical.

[0017] Furthermore, the first-level telescopic structure is provided with a limit block, and the limit block is located at both ends of the second-level guide rail. The limit block at the bottom end of the second-level guide rail is provided with a second-level support seat, and the second-level support seat is used to support the second-level telescopic structure to remain vertical.

[0018] In some embodiments, the fixed mounting base is connected to a support plate, the support plate is connected to the Z axis, a primary sensor bracket and a plurality of first sensors are provided on the support plate, and the plurality of first sensors are provided on the primary sensor bracket corresponding to the upper and lower limits of movement of the primary telescopic structure;

[0019] A secondary sensor bracket and a plurality of second sensors are provided on the side of the primary telescopic structure. The plurality of second sensors are arranged on the secondary sensor bracket corresponding to the upper and lower movement limits of the secondary telescopic structure.

[0020] Furthermore, a first-level drag chain bracket is provided on the side of the fixed mounting seat, a common drag chain bracket is provided on the upper end of the first-level telescopic mechanism, and a second-level drag chain bracket is provided on the lower end of the first-level telescopic structure.

[0021] The first drag chain bracket is provided with a first drag chain, the fixed end of the first drag chain is provided on the first drag chain bracket, the common drag chain bracket is provided with a first drag chain slot and a second drag chain slot, the movable end of the first drag chain is provided in the first drag chain slot;

[0022] A second drag chain is further provided on the common drag chain bracket. The fixed end of the second drag chain is arranged in the secondary drag chain groove, and the movable end of the second drag chain is arranged on the secondary drag chain bracket.

[0023] In some embodiments, a holding bracket is provided on the limit block at the bottom end of the secondary guide rail, and a holding wheel and a bolt are provided on the holding bracket. A cylindrical spring is provided on the bolt, and the cylindrical spring is used to support the holding wheel and stop the holding wheel against the secondary telescopic mechanism component.

[0024] The truss robot with a Z-axis lead screw drive telescopic mechanism provided by this application has at least one beneficial effect: the primary and secondary lead screws can simultaneously adjust the Z-axis telescopic length, thereby expanding the Z-axis adjustment range. This is particularly suitable for use in low-profile environments with a large gap between the grasping point and the placement point. Furthermore, through the provision of a linkage assembly, the primary and secondary lead screws can be driven by the same servo motor, reducing equipment costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0026] Figure 1 A schematic structural diagram of a Z-axis lead screw transmission telescopic mechanism in a truss robot having a Z-axis lead screw transmission telescopic mechanism provided in an embodiment of the present application;

[0027] Figure 2 for Figure 1 Schematic diagram of the structure of the Z-axis lead screw transmission telescopic mechanism from another perspective;

[0028] Figure 3 for Figure 2 Cross-sectional view of the middle Z-axis lead screw transmission telescopic mechanism in the BB direction;

[0029] Figure 4 for Figure 3 Magnified view of area A in center.

[0030] Among them, the reference numerals in the figures are:

[0031] 1. Support plate; 2. Fixed mounting base; 4. Primary screw; 5. Primary guide rail; 6. Servo motor; 7. Limit block; 9. Coupling;

[0032] 10. First synchronous pulley; 11. Synchronous belt; 12. Second synchronous pulley; 14. Adapter shaft; 15. First-stage nut; 18. Second-stage lead screw; 19. Tensioning mechanism;

[0033] 20. Secondary nut; 22. Secondary guide rail; 23. Secondary telescopic structure; 24. Secondary support seat; 25. Holding wheel; 26. Cylindrical spring; 27. Holding bracket;

[0034] 30. First-level sensor bracket; 31. First sensor; 32. First drag chain; 33. Second drag chain; 34. Second-level drag chain bracket; 35. Common drag chain bracket; 36. First-level drag chain bracket; 38. Second-level drag chain slot; 39. First-level drag chain slot;

[0035] 40. Bolt; 42. Primary telescopic structure; 43. Secondary sensor bracket; 44. Second sensor. DETAILED DESCRIPTION

[0036] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, the present application is further described in detail below with reference to 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 intended to limit this application.

[0037] It should be noted that when a component is referred to as being "fixed on" or "disposed on" another component, it may be located directly or indirectly on the other component. When a component is referred to as being "connected to" another component, it may be directly or indirectly connected to the other component. The directions or positions indicated by the terms "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. are based on the directions or positions shown in the accompanying drawings and are only for the convenience of description and cannot be understood as limitations on this technical solution. The terms "first" and "second" are only used for the purpose of convenience of description and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features. "Multiple" means two or more, unless otherwise clearly and specifically defined.

[0038] The following describes a truss robot with a Z-axis screw transmission telescopic mechanism according to an embodiment of the present application in conjunction with the accompanying drawings.

[0039] See also Figure 1 , Figure 1A schematic diagram of the structure of a truss robot with a Z-axis screw drive telescopic mechanism is shown. The X, Y, and Z axes of the truss robot refer to its motion directions in three-dimensional space, corresponding to the horizontal, longitudinal, and vertical axes, respectively. These axes are based on a rectangular coordinate system, or Cartesian coordinate system. Each axis represents an independent dimension of motion, allowing the truss robot to precisely position and move objects in three-dimensional space.

[0040] Specifically, see Figures 1-4 The Z-axis screw drive telescopic mechanism includes a fixed module, a linkage assembly, a first telescopic module, and a second telescopic module. The fixed module includes a fixed mounting base 2 for connecting to the Z-axis. A primary screw 4 is mounted on the fixed mounting base 2, which rotates along the Z-axis. A primary nut 15 is installed on the primary screw 4.

[0041] The linkage assembly includes an adapter shaft 14 and a synchronous belt 11 assembly. One end of the adapter shaft 14 is connected to the primary lead screw 4, and the other end is connected to the synchronous belt 11 assembly. The first telescopic module includes a primary telescopic structure 42, the top of which is connected to the primary nut 15. The primary telescopic structure 42 is equipped with a servo motor 6 and is equipped with a secondary lead screw 18 that rotates along the Z axis. The output shaft of the servo motor 6 is connected to the top of the secondary lead screw 18 via a coupling 9. The secondary lead screw 18 is also connected to the synchronous belt 11 assembly, which is used to drive the secondary lead screw 18 and the primary lead screw 4 to rotate synchronously. The secondary lead screw 18 is equipped with a secondary nut 20. The second telescopic module includes a secondary telescopic structure 23, the top of which is connected to the secondary nut 20.

[0042] When adjusting the Z-axis via the Z-axis screw drive telescopic mechanism, the primary screw 4 and secondary screw 18 can simultaneously adjust the Z-axis's telescopic length, extending the Z-axis's adjustable travel. This is particularly suitable for applications with low headroom and a large gap between the gripping and placement points. Furthermore, through the provision of a linkage assembly, the primary screw 4 and secondary screw 18 can be driven by the same servo motor 6, reducing equipment costs.

[0043] Specifically, during use, the servo motor 6 rotates to drive the secondary lead screw 18, which in turn drives the secondary nut 20 to rotate and then move linearly, thereby achieving the extension and retraction of the secondary telescopic structure 23. Furthermore, when the servo motor 6 drives the secondary lead screw 18 to rotate, the synchronous belt 11 assembly, which assembles the primary lead screw 4 and the secondary lead screw 18, rotates synchronously, thereby achieving the extension and retraction of the primary telescopic structure 42.

[0044] In some embodiments, see Figures 1-4The linkage assembly includes a first synchronous wheel 10, a synchronous belt 11 and a second synchronous wheel 12. The first synchronous wheel 10 is arranged at the optical axis end of the secondary screw 18. The first synchronous wheel 10 rotates synchronously with the secondary screw 18. The second synchronous wheel 12 is connected to the adapter shaft 14. The first synchronous wheel 10 and the second synchronous wheel 12 are rotationally connected through the synchronous belt 11.

[0045] When the servo motor 6 drives the secondary lead screw 18 to rotate, the first synchronous wheel 10 rotates with the secondary lead screw 18, while the synchronous belt 11 rotates and drives the second synchronous wheel 12 to rotate, and then the second synchronous wheel 12 drives the primary lead screw 4 to rotate, realizing the extension and retraction of the primary telescopic structure 42.

[0046] Further, see Figures 1-4 A tensioning mechanism 19 is provided on the first-level telescopic structure 42 , and a relatively movable adjusting wheel is provided on the tensioning mechanism. When the adjusting wheel moves relatively, it stops at the synchronous belt 11 and adjusts the tension of the synchronous belt 11 .

[0047] Specifically, two tensioning mechanisms 19 can be provided, and both tensioning mechanisms 19 are provided on the first-level telescopic structure 42, and the two are symmetrically distributed on both sides of the synchronous belt 11. The adjustment on the two tensioning mechanisms 19 is close to the synchronous belt 11, and the contact pressure between the adjusting wheel and the synchronous belt 11 is adjusted through the mounting strip hole of the tensioning mechanism 19, thereby adjusting the tensioning degree of the synchronous belt 11, thereby avoiding the synchronous belt 11 from being too loose or too tight, and reducing the risk of decreased linkage effect of the first-level screw 4 and the second-level screw 18.

[0048] In some embodiments, see Figures 1-4 The fixed mounting base 2 is provided with a primary guide rail 5, with primary mounting bases at both ends. The primary lead screw 4 is rotatably connected between the two primary mounting bases. The primary guide rail 5 ensures that the primary lead screw 4 is stably mounted on the fixed mounting base 2 and provides rotation space and position limit for the primary lead screw 4.

[0049] In some embodiments, see Figures 1-4 The primary telescopic structure is provided with a secondary guide rail 22, with secondary mounting brackets at each end. The secondary lead screw 18 is rotatably connected between the two mounting brackets. Similarly, the secondary guide rail 22 ensures that the secondary lead screw 18 is stably mounted on the primary telescopic structure 42, and provides rotational space and positional restraint for the secondary lead screw 18.

[0050] In some embodiments, a limit block 7 is provided on the fixed mounting seat 2, and the limit block 7 is located at both ends of the primary guide rail 5. A primary support seat is provided on the limit block 7 at the bottom end of the primary guide rail 5, and the primary support seat is used to support the primary telescopic structure 42 to remain vertical.

[0051] Furthermore, a limit block 7 is provided on the primary telescopic structure 42, and the limit block 7 is located at both ends of the secondary guide rail 22. A secondary support seat 24 is provided on the limit block 7 at the bottom end of the secondary guide rail 22, and the secondary support seat 24 is used to support the secondary telescopic structure 23 to remain vertical.

[0052] The limit block 7 can provide limiting protection for the primary screw 4 and the secondary screw 18. The primary support seat and the secondary support seat 24 can respectively support the primary telescopic structure 42 and the secondary telescopic structure 23 to avoid the primary telescopic structure 42 and the secondary telescopic structure 23 from tilting.

[0053] Furthermore, the fixed mounting base 2 is connected to a support plate 1, which is connected to the Z-axis. A primary sensor bracket 30 and multiple first sensors 31 are provided on the support plate 1. These multiple first sensors 31 are provided on the primary sensor bracket 30, corresponding to the upper and lower limits of movement of the primary telescopic structure 42. During the movement of the primary telescopic structure 42, the first sensors 31 serve as upper and lower limit detection devices and also serve as a calibration point for the origin.

[0054] Furthermore, a secondary sensor 44 bracket 43 and multiple second sensors are provided on the side of the primary telescopic structure 42. The multiple second sensors are arranged on the secondary sensor 44 bracket 43, corresponding to the upper and lower movement limits of the secondary telescopic structure 23. Similarly, during the movement of the secondary telescopic structure 23, the second sensors serve to detect the upper and lower limit limits and also serve to calibrate the origin position.

[0055] In some embodiments, see Figures 1-4 A first-level drag chain bracket 36 is provided on the side of the fixed mounting seat 2, a common drag chain bracket 35 is provided on the upper end of the first-level telescopic mechanism, and a second-level drag chain bracket 34 is provided on the lower end of the first-level telescopic structure.

[0056] A first drag chain 32 is provided on the first drag chain bracket 36, with the fixed end of the first drag chain 32 disposed on the first drag chain bracket 36. A first drag chain slot 39 and a second drag chain slot 38 are provided on the common drag chain bracket 35, with the movable end of the first drag chain 32 disposed in the first drag chain slot 39. A second drag chain 33 is also provided on the common drag chain bracket 35, with the fixed end of the second drag chain 33 disposed in the second drag chain slot 38 and the movable end of the second drag chain 33 disposed on the second drag chain bracket 34.

[0057] The first drag chain 32 is capable of following the movement of the primary telescopic structure 42 and achieving flexure to prevent the primary telescopic structure 42 from falling apart. Similarly, the second drag chain 33 is capable of following the movement of the secondary telescopic structure 23 and achieving flexure to prevent the secondary telescopic structure 23 from falling apart, thereby improving safety during use.

[0058] Furthermore, a holding bracket 27 is provided on the limit block 7 at the bottom end of the secondary guide rail 22, and a holding wheel 25 and a bolt 40 are provided on the holding bracket 27. A cylindrical spring 26 is sleeved on the bolt 40, and the cylindrical spring 26 is used to support the holding wheel 25 and stop the holding wheel 25 against the secondary telescopic mechanism component.

[0059] The cylindrical spring 26 applies pressure to the holding bracket 27 to press the holding wheel 25 on the holding bracket 27 onto the secondary telescopic structure 23, which can prevent the secondary telescopic structure 23 from being crushed and ensure the normal expansion and contraction of the secondary telescopic structure 23.

[0060] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A truss robot with a Z-axis lead screw transmission telescopic mechanism, wherein the vertical axis of the truss robot is the Z-axis, characterized in that: The Z-axis screw transmission telescopic mechanism includes: A fixing module, comprising a fixing mounting base for connecting to the Z axis, wherein a first-level lead screw is provided on the fixing mounting base for rotating along the Z axis direction, and a first-level nut is provided on the first-level lead screw; A linkage assembly, comprising a transfer shaft and a synchronous belt assembly, wherein one end of the transfer shaft is connected to the primary lead screw, and the other end is connected to the synchronous belt assembly; The first telescopic module includes a first-level telescopic structure, the top end of the first-level telescopic structure is connected to the first-level nut, the first-level telescopic structure is provided with a servo motor and is provided with a second-level screw for rotation along the Z-axis direction, the output shaft of the servo motor is connected to the top end of the second-level screw via a coupling, the second-level screw is further connected to the synchronous belt assembly, the synchronous belt assembly is used to drive the second-level screw and the first-level screw to rotate synchronously, and the second-level screw is provided with a second-level nut; The second telescopic module includes a secondary telescopic structural member, and the top end of the secondary telescopic structural member is connected to the secondary nut.

2. The truss robot with a Z-axis screw transmission telescopic mechanism according to claim 1, characterized in that: The linkage assembly includes a first synchronous wheel, a synchronous belt and a second synchronous wheel. The first synchronous wheel is arranged at the optical axis end of the secondary screw. The first synchronous wheel rotates synchronously with the secondary screw. The second synchronous wheel is connected to the adapter shaft. The first synchronous wheel and the second synchronous wheel are rotationally connected through the synchronous belt.

3. The truss robot with a Z-axis screw transmission telescopic mechanism according to claim 2, characterized in that: The first-level telescopic structure is provided with a tensioning mechanism, and the tensioning mechanism is provided with a relatively movable adjusting wheel. When the adjusting wheel moves relatively, it stops at the synchronous belt and adjusts the tension of the synchronous belt.

4. The truss robot with a Z-axis screw transmission telescopic mechanism according to any one of claims 1 to 3, characterized in that: A primary guide rail is provided on the fixed mounting seat, and both ends of the primary guide rail are provided with a primary fixing seat, and the primary lead screw is rotatably connected between the two primary fixing seats.

5. The truss robot with a Z-axis screw transmission telescopic mechanism according to claim 4, characterized in that: The primary telescopic structure is provided with a secondary guide rail, both ends of the secondary guide rail are provided with a secondary fixing seat, and the secondary lead screw is rotatably connected between the two secondary fixing seats.

6. The truss robot with a Z-axis screw transmission telescopic mechanism according to claim 5, characterized in that: The fixed mounting seat is provided with a limit block, and the limit block is located at both ends of the primary guide rail. The limit block at the bottom end of the primary guide rail is provided with a primary support seat, and the primary support seat is used to support the primary telescopic structure to remain vertical.

7. The truss robot with a Z-axis screw transmission telescopic mechanism according to claim 6, characterized in that: The first-level telescopic structure is provided with a limit block, and the limit block is located at both ends of the second-level guide rail. The limit block at the bottom end of the second-level guide rail is provided with a second-level support seat, and the second-level support seat is used to support the second-level telescopic structure to keep it vertical.

8. The truss robot with a Z-axis screw transmission telescopic mechanism according to claim 4, characterized in that: The fixed mounting seat is connected to a support plate, which is connected to the Z axis. A primary sensor bracket and a plurality of first sensors are provided on the support plate. The plurality of first sensors are provided on the primary sensor bracket corresponding to the upper and lower limits of movement of the primary telescopic structure. A secondary sensor bracket and a plurality of second sensors are provided on the side of the primary telescopic structure. The plurality of second sensors are arranged on the secondary sensor bracket corresponding to the upper and lower movement limits of the secondary telescopic structure.

9. The truss robot with a Z-axis screw transmission telescopic mechanism according to claim 4, characterized in that: A first-level drag chain bracket is provided on the side of the fixed mounting seat, a common drag chain bracket is provided on the upper end of the first-level telescopic structure, and a second-level drag chain bracket is provided on the lower end of the first-level telescopic structure. The first drag chain bracket is provided with a first drag chain, the fixed end of the first drag chain is provided on the first drag chain bracket, the common drag chain bracket is provided with a first drag chain slot and a second drag chain slot, the movable end of the first drag chain is provided in the first drag chain slot; A second drag chain is further provided on the common drag chain bracket. The fixed end of the second drag chain is arranged in the secondary drag chain groove, and the movable end of the second drag chain is arranged on the secondary drag chain bracket.

10. The truss robot with a Z-axis screw transmission telescopic mechanism according to claim 5, characterized in that: A holding bracket is provided on the limit block at the bottom end of the secondary guide rail, and a holding wheel and a bolt are provided on the holding bracket. A cylindrical spring is sleeved on the bolt, and the cylindrical spring is used to support the holding wheel and stop the holding wheel against the secondary telescopic structure.

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