Lead screw locking device and robot with same

Abstract

The utility model provides a lead screw locking device and a robot with the lead screw locking device, the lead screw locking device comprises a limiting structure, the limiting structure is provided with a plurality of clamping parts which are oppositely arranged, a clamping space is formed among the clamping parts, a lead screw is arranged in the clamping space in a penetrating mode, the clamping parts can move relatively, and the limiting structure is used for limiting the lead screw. The limiting structure has an avoiding state and a locking state which are oppositely arranged, and in the avoiding state, the multiple clamping parts can be far away from one another; in the locking state, the multiple clamping parts are matched with one another to clamp the lead screw. And the first locking structure is arranged among the multiple clamping parts, the first locking structure has a first unlocking state and a first fixing state, and when the first locking structure is in the first fixing state, the first locking structure is used for fixing the relative positions of the multiple clamping parts in the locking state. By means of the technical scheme, the problem that in the prior art, when a robot suddenly stops, the lead screw shakes greatly, and the use precision of the robot is affected can be solved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and in particular to a screw locking device and a robot having the same. Background Art

[0002] A SCARA (Selective Compliance Assembly Robot Arm) robot consists of a robotic arm and a screw assembly mounted on the arm, enabling relative movement. The screw assembly, located at the free end of the arm and consisting of a lead screw and a nut, is positioned perpendicular to the arm's extension. When operating at high speeds, the arm may need to make an abrupt stop due to operating conditions. This can cause the lead screw to wobble significantly relative to the arm, severely impacting the robot's accuracy and significantly reducing work quality. Utility Model Content

[0003] The utility model provides a screw locking device and a robot having the same, so as to solve the problem in the prior art that when the robot stops suddenly, the screw shakes to a large extent, thereby affecting the use accuracy of the robot.

[0004] According to one aspect of the utility model, a screw locking device is provided, which includes: a limiting structure, having a plurality of clamping parts arranged relatively to each other, a clamping space formed between the plurality of clamping parts, the clamping space being used to pass the screw, the plurality of clamping parts being able to move relative to each other, the limiting structure having a relatively set avoidance state and a locking state, in the avoidance state, the plurality of clamping parts being able to move away from each other; in the locking state, the plurality of clamping parts cooperate with each other to clamp the screw; a first locking structure, arranged between the plurality of clamping parts, the first locking structure having a first unlocking state and a first fixed state, and when the first locking structure is in the first fixed state, the first locking structure is used to fix the relative positions of the plurality of clamping parts in the locked state.

[0005] Furthermore, the first locking structure includes a snap-fit ​​structure, and in the locked state, two adjacent clamping parts are fixed together by the snap-fit ​​structure.

[0006] Furthermore, the limiting structure includes a first clamping member and a second clamping member, the extension direction of the first clamping member and the second clamping member is the same as the extension direction of the screw, and the first clamping member and the second clamping member approach or move away from each other to switch between the avoidance state and the locking state.

[0007] Furthermore, a first protrusion is provided on the first clamping member, and a first limiting hole is provided on the second clamping member. The first protrusion is movably provided on the first clamping member, and the first protrusion has an initial position and a clamping position relatively set. When the first protrusion is in the initial position, the first clamping member and the second clamping member can move relative to each other; when the first protrusion is in the clamping position, the first protrusion is engaged with the first limiting hole to limit the relative position of the first clamping member and the second clamping member. The first protrusion and the first limiting hole form a first locking structure.

[0008] Furthermore, the first clamping member and the second clamping member are both arc-shaped plates, and the end faces of the second clamping member arranged along the arc respectively have openings. The second clamping member has a accommodating cavity inside, and the opening is connected to the accommodating cavity. The side wall of the accommodating cavity has a first limiting hole, and the side wall of the first clamping member is provided with a first protrusion. When the first clamping member and the second clamping member are engaged and clamped, the two ends of the first clamping member correspond to the openings of the second clamping member and are inserted into the accommodating cavity.

[0009] Furthermore, the screw locking device also includes a support member, the extension direction of the support member is the same as the extension direction of the screw, the support member has a connecting end and a telescopic end connected to each other, the connecting end is used for hinged fixation, and the telescopic end is hinged to the clamping part.

[0010] Furthermore, the support member includes a sleeve and a telescopic rod, the telescopic rod is movably arranged in the sleeve, one end of the sleeve forms a connecting end, and the end of the telescopic rod connected to the clamping part forms a telescopic end. There is a second locking structure between the sleeve and the telescopic rod, and the second locking structure has a second unlocking state and a second fixed state that are relatively set. When the second locking structure is in the second fixed state, the second locking structure can fix the relative position of the sleeve and the telescopic rod.

[0011] Furthermore, the second locking structure includes a second protrusion and a second limiting hole, the second protrusion is arranged on the telescopic rod, and the second limiting hole is arranged on the sleeve; wherein, when the first locking structure is in the first fixed state, the second locking structure is in the second fixed state, and the second protrusion is engaged with the second limiting hole; when the first locking structure is in the first unlocked state, the second locking structure is in the second unlocked state.

[0012] Furthermore, the limiting structure also includes a base and a driving member, and multiple clamping parts are movably arranged on the base. The base has an avoidance hole, and the avoidance hole is arranged corresponding to the clamping space. The driving member is driven and connected to the multiple clamping parts to enable the multiple clamping parts to switch between the avoidance state and the locking state.

[0013] Furthermore, a guide rail is provided on the base, and a plurality of clamping parts are movably provided on the guide rail.

[0014] Furthermore, a buffer layer is provided on the inner side of the clamping portion.

[0015] According to another aspect of the present invention, a robot is provided, which includes: a driving part; a robotic arm, which is driven and connected to the driving part; a screw nut, which is rotatably arranged at the end of the robotic arm, and is driven and connected to the driving part; a screw locking device, which is arranged on the robotic arm, and the screw locking device is the above-mentioned screw locking device screw, which is inserted into the clamping space between the screw nut and the screw locking device, and the screw is threadedly connected to the screw nut.

[0016] Furthermore, the robot also includes: a sensor for detecting the working state of the driving part; a controller electrically connected to the sensor and the driving part of the screw locking device respectively, and the controller controls the operation of the driving part according to the signal of the sensor.

[0017] By applying the technical solution of the present invention, the limiting structure has a plurality of clamping parts. When the limiting structure is in the avoidance state, the plurality of clamping parts can move relative to each other. In the locked state, the plurality of clamping parts cooperate with each other to clamp and fix the lead screw. This can prevent the lead screw from shaking excessively during an emergency stop of the robot, thereby preventing the robot from affecting normal operation. At the same time, a first locking structure is also provided between the plurality of clamping parts. The first locking structure can fix the relative positions of the plurality of clamping parts in the locked state when in the first fixed state. Through the above arrangement, the clamping parts can reduce the shaking degree of the lead screw, and the first locking structure can also fix the matching position between the clamping parts. The cooperation between the first locking structure and the limiting structure can further enhance the locking effect of the limiting structure on the lead screw, thereby enhancing the stability of the robot operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings constituting part of this application are provided to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are provided to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0019] Figure 1 Shows a schematic structural diagram of the robot provided by the utility model;

[0020] Figure 2 A partial structural diagram of the screw locking device provided by the utility model is shown;

[0021] Figure 3 Shows a schematic structural diagram of the limiting structure provided by the utility model;

[0022] Figure 4 It shows a schematic structural diagram of the first clamping member provided by the utility model;

[0023] Figure 5 It shows a schematic structural diagram of the second clamping member provided by the utility model;

[0024] Figure 6 The figure shows a structural diagram of the support member provided by the present invention.

[0025] The above drawings include the following reference numerals:

[0026] 10. Limiting structure; 101. Clamping portion; 102. Clamping space;

[0027] 11. First clamping member; 110. First protrusion;

[0028] 111, first locking ring;

[0029] 12. Second clamping member; 120. First limiting hole; 121. Opening;

[0030] 122, second locking ring;

[0031] 13. Base;

[0032] 14. Driving member; 141. First driving block; 142. Second driving block;

[0033] 20. First locking structure;

[0034] 30. Support member; 301. Lock;

[0035] 31. Sleeve; 32. Telescopic rod;

[0036] 40. Second locking structure;

[0037] 41. Second protrusion; 42. Second limiting hole;

[0038] 100, screw;

[0039] 200, robot;

[0040] 2011, first drive motor; 2012, second drive motor;

[0041] 202. Robotic arm;

[0042] 203, screw nut;

[0043] 204. Sensor; 206. Signal transmission line. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0045] like Figure 1 and Figure 2 As shown, an embodiment of the present invention provides a screw locking device, which includes: a limiting structure 10 and a first locking structure 20. The limiting structure 10 has a plurality of clamping parts 101 arranged relatively to each other, and a clamping space 102 is formed between the plurality of clamping parts 101. The clamping space 102 is used to pass the screw 100, and the plurality of clamping parts 101 can move relative to each other. The limiting structure 10 has a relatively arranged avoidance state and a locking state. In the avoidance state, the plurality of clamping parts 101 can move away from each other; in the locking state, the plurality of clamping parts 101 cooperate with each other to clamp the screw 100; the first locking structure 20 is arranged between the plurality of clamping parts 101, and the first locking structure 20 has a first unlocking state and a first fixing state. When the first locking structure 20 is in the first fixing state, the first locking structure 20 is used to fix the relative positions of the plurality of clamping parts 101 in the locking state.

[0046] By applying the technical solution of the present invention, the limiting structure has a plurality of clamping parts 101. When the limiting structure is in the avoidance state, the plurality of clamping parts 101 can move relative to each other. In the locked state, the plurality of clamping parts 101 cooperate with each other to clamp and fix the lead screw, thereby preventing the lead screw from shaking excessively during an emergency stop of the robot, thereby affecting normal operation. At the same time, a first locking structure 20 is also provided between the plurality of clamping parts 101. The first locking structure can fix the relative positions of the plurality of clamping parts 101 in the locked state when in the first fixed state. Through the above arrangement, the clamping parts 101 can reduce the degree of shaking of the lead screw 100, and the first locking structure can also fix the matching position between the clamping parts 101. The cooperation between the first locking structure 20 and the limiting structure 10 can further enhance the locking effect of the lead screw locking device on the lead screw 100, thereby enhancing the working stability of the robot 200.

[0047] In this embodiment, there is no limitation on the specific structure of the first locking structure 20 and the number of the clamping parts 101, as long as the relative positions of the multiple clamping parts 101 in the locked state can be fixed. The clamping parts 101 can be set to 2, 3 or 5, etc. In this solution, the clamping parts 101 are set to 2. The first locking structure 20 can be set to wedge-shaped matching locking, and the wedge blocks are respectively set on adjacent clamping parts 101; or magnetic poles can be set on adjacent clamping parts 101, and the relative positions between adjacent clamping parts 101 are fixed by controlling the power on and off of the magnetic poles, and multiple magnetic poles form the first locking structure 20.

[0048] Specifically, the first locking structure 20 includes a snap-fit ​​structure. In the locked state, two adjacent clamping portions 101 are secured together by the snap-fit ​​structure. This arrangement results in a simple structure, ease of manufacture, and low processing costs. The snap-fit ​​structure also simplifies switching between the first unlocked state and the first secured state, reducing the risk of jamming or other unexpected situations during the switching process. This ensures smooth switching between the different states of the first locking structure 20, thereby improving the efficiency and stability of the switching between the different states of the position-limiting structure.

[0049] like Figure 1 and Figure 2 As shown, the limiting structure 10 includes a first clamping member 11 and a second clamping member 12, and the extension direction of the first clamping member 11 and the second clamping member 12 is the same as the extension direction of the lead screw 100. This can increase the contact area between the first clamping member 11 and the second clamping member 12 and the lead screw 100, thereby improving the clamping effect of the limiting structure 10 on the lead screw 100 and further reducing the degree of shaking of the lead screw 100. The first clamping member 11 and the second clamping member 12 move closer to or farther away from each other to switch between the avoidance state and the locking state. The setting of the first clamping member 11 and the second clamping member 12 improves the flexibility of the limiting structure 10 in switching between the avoidance state and the locking state. Among them, the first clamping member 11 and the second clamping member 12 can be in contact or not in contact when they are close to each other, and can clamp the lead screw 100. Among them, the first clamping member 11 and the second clamping member 12 are made of metal, and can be set to steel, iron or alloy.

[0050] In this embodiment, the specific structures of the first clamping member 11 and the second clamping member 12 are not limited and may be arc-shaped, rectangular, polygonal or other structures as long as they can clamp and fix the lead screw 100 .

[0051] In this embodiment, the first clamping member 11 and the second clamping member 12 are located on the same horizontal plane, which can improve the clamping effect of the limiting structure 10 on the lead screw 100. In other embodiments of the present application, the first clamping member 11 and the second clamping member 12 may not be on the same horizontal plane.

[0052] like Figure 2 and Figure 3 As shown, the first clamping member 11 is provided with a first protrusion 110, and the second clamping member 12 is provided with a first limiting hole 120. The first protrusion 110 is movably provided on the first clamping member 11. The first protrusion 110 has an initial position and a locking position that are relatively set. When the first protrusion 110 is in the initial position, the first clamping member 11 and the second clamping member 12 can move relative to each other. When the first protrusion 110 is in the locking position, the first protrusion 110 and the first limiting hole 120 are engaged to limit the relative position of the first clamping member 11 and the second clamping member 12. The above arrangement has a simple structure, the arrangement of the protrusion and the limiting hole facilitates locking and mating, and is easy to process.

[0053] like Figures 3 to 5 As shown, the first clamping member 11 and the second clamping member 12 are both arc-shaped plates. In this way, the structure of the limiting structure 10 is more compatible with the shape of the screw 100, which can further increase the effective contact area between the limiting structure 10 and the screw 100. While improving the clamping effect on the screw 100, compared with clamps of other shapes, this improves the effective utilization rate of materials and avoids material waste. The end faces of the second clamping member 12 arranged along the arc respectively have openings 121, and the second clamping member 12 has a accommodating cavity. The opening 121 is connected to the accommodating cavity. The side wall of the accommodating cavity has a first limiting hole 120. The side wall of the first clamping member 11 is provided with a first protrusion 110. When the first clamping member 11 and the second clamping member 12 are engaged and connected, the two ends of the first clamping member 11 corresponding to the openings 121 of the second clamping member 12 are inserted into the accommodating cavity. Through the above arrangement, the first clamping member 11 and the second clamping member 12 are plugged into each other, which can make the fit between the first clamping member 11 and the second clamping member 12 tighter, and the strength of the portion where the first clamping member 11 and the second clamping member 12 are plugged into each other is increased, thereby further improving the clamping effect on the lead screw 100. At the same time, the accommodating cavity can also guide the movement direction of the first clamping member 11 relative to the second clamping member 12, ensuring smooth plugging of the first clamping member 11 and the second clamping member 12.

[0054] In addition, the above design also improves the visibility of the screw locking device on the locking process of the screw 100. The staff can clearly observe the real-time status of the limiting structure 10 and the first locking structure 20, and can make corresponding adjustments and operations in time when jamming or other situations occur.

[0055] The first clamping member 11 is provided with two first protrusions 110, with the end faces of the first protrusions 110 facing the opening 121, thus facilitating the insertion and mating of the first clamping member 11 and the second clamping member 12. The second clamping member 12 is provided with two first limiting holes 120, thus enhancing the fixing effect of the first clamping member 11 and the second clamping member 12.

[0056] Furthermore, in this embodiment, the accommodating cavity is provided circumferentially through the openings 121 on the end surfaces of the second clamping member 12, which facilitates processing. In other embodiments of the present application, the circumferential depth of the openings 121 of the second clamping member 12 can also be designed according to the insertion length of the two ends of the first clamping member 11.

[0057] Specifically, the location of the first protrusion 110 on the first clamping member 11 is not limited. It can be located inside or outside the first clamping member 11. In this embodiment, the first protrusion 110 is located outside the first clamping member 11. This arrangement does not interfere with the state of the lead screw 100 inside the first clamping member 11, and facilitates operation and observation by the operator.

[0058] like Figure 1 As shown, the screw locking device further includes a support member 30, which extends in the same direction as the screw 100. This allows the support member 30 to support the clamping portion 101 when the limiting structure 10 is switched to the locked state, further enhancing the clamping effect of the clamping portion 101 on the screw 100. The support member 30 has a connecting end and a telescopic end that are interconnected. The connecting end is hingedly fixed, and the telescopic end is hingedly connected to the clamping portion 101. This allows the telescopic end of the support member 30 to extend and retract as the clamping portion 101 moves, enhancing the flexibility of the support provided by the support member 30.

[0059] The support member 30 may be configured as a piston rod, a cylinder, a hydraulic cylinder or other retractable structures.

[0060] like Figure 6As shown, the support member 30 includes a sleeve 31 and a telescopic rod 32. This design simplifies the structure of the support member 30 and reduces production costs. The telescopic rod 32 is movably disposed within the sleeve 31. One end of the sleeve 31 forms a connecting end, while the end of the telescopic rod 32 connected to the clamping portion 101 forms a telescopic end. A second locking structure 40 is disposed between the sleeve 31 and the telescopic rod 32. The second locking structure 40 has a second unlocked state and a second fixed state relative to each other. When the second locking structure 40 is in the second fixed state, the second locking structure 40 can fix the relative position of the sleeve 31 and the telescopic rod 32. The provision of the second locking structure 40 thus ensures support for the clamping portion 101, preventing the telescopic rod 32 from being displaced too much relative to the sleeve 31, thereby increasing the degree of shaking of the lead screw 100, or preventing the telescopic rod 32 from being displaced too little relative to the sleeve 31, thereby preventing the clamping portion 101 from effectively clamping the lead screw 100.

[0061] In this embodiment, the number of support members 30 is not limited, as long as they can provide support for the clamping portion 101. The number can be one, three, or five. In this embodiment, four support members 30 are provided, and the connection ends of the four support members 30 are centrally and symmetrically arranged on the periphery of the limiting structure. Two of the support members 30 are hinged to the first clamping member 11, and the other two support members 30 are hinged to the second clamping member 12.

[0062] Specifically, a first locking ring 111 is provided on the outer wall of the first clamping member 11, a second locking ring 122 is provided on the outer wall of the second clamping member 12, and locking buckles 301 are provided at both ends of the support member 30. The locking buckles 301 can be opened or closed and can cooperate with the first locking ring 111 or the second locking ring 122. The support member 30 is hingedly connected to the first clamping member 11 or the second clamping member 12 via the locking buckles 301 at both ends.

[0063] In this embodiment, the specific structure of the second locking structure 40 is not limited, as long as it can fix the relative position of the sleeve 31 and the telescopic rod 32. In this embodiment, two clamping portions 101 are provided. The second locking structure 40 can be configured as a wedge-shaped locking mechanism, with wedge blocks provided on the sleeve 31 and telescopic rod 32, respectively. Alternatively, magnetic poles can be provided on the sleeve 31 and telescopic rod 32, and the relative position between the sleeve 31 and the telescopic rod 32 can be fixed by controlling the power supply of the magnetic poles. Multiple magnetic poles form the second locking structure 40.

[0064] like Figure 6As shown, the second locking structure 40 includes a second protrusion 41 and a second limiting hole 42. The second protrusion 41 is provided on the telescopic rod 32, and the second limiting hole 42 is provided on the sleeve 31. When the first locking structure 20 is in the first fixed state, the second locking structure 40 is in the second fixed state, and the second protrusion 41 engages with the second limiting hole 42. When the first locking structure 20 is in the first unlocked state, the second locking structure 40 is in the second unlocked state. With this arrangement, by synchronizing the states of the first locking structure 20 and the second locking structure 40, the state of the support member 30 can be synchronized with the state of the limiting structure 10, thereby ensuring the fixing effect of the lead screw 100 and avoiding interference between the limiting structure 10 and the support member 30.

[0065] In this embodiment, the first protrusion 110 and the second protrusion 41 are both spring blocks. In this way, when the first locking structure 20 is in the first unlocked state, the first protrusion 110 can be compressed in the accommodating cavity, which will not affect the switching of the state of the first locking structure 20. When the first locking structure 20 switches to the first fixed state, the first protrusion 110 will pop out from the first limiting hole 120; when the second locking structure 40 is in the second unlocked state, the second protrusion 41 can be compressed between the sleeve 31 and the telescopic rod 32, which will not affect the switching of the state of the second locking structure 40. When the second locking structure 40 switches to the second fixed state, the second protrusion 41 will pop out from the second limiting hole 42.

[0066] In other embodiments, sensors and drive components may also be provided in the first protrusion 110 and the second protrusion 41. The sensors sense the states of the first locking structure 20 and the second locking structure 40, and the drive component controls the extension or avoidance of the first protrusion 110 and the second protrusion 41 to switch between a fixed state and an unlocked state.

[0067] like Figure 1 As shown, the limiting structure 10 also includes a base 13 and a driving member 14. Multiple clamping parts 101 are movably arranged on the base 13. The base 13 has an avoidance hole. The avoidance hole is correspondingly arranged with the clamping space 102 to pass through the lead screw 100. The driving member 14 is driven and connected to the multiple clamping parts 101 to switch the multiple clamping parts 101 between the avoidance state and the locking state. Through the above arrangement, the driving member 14 drives the clamping parts 101, improving the accuracy of the switching between different states of the limiting structure 10, thereby ensuring the clamping effect of the limiting structure 10 on the lead screw 100.

[0068] like Figure 2As shown, the driving member 14 includes a first driving block 141 and a second driving block 142. The first driving block 141 is fixedly connected to the first clamping member 11, and the second driving block 142 is fixedly connected to the second clamping member 12. The first driving block 141 and the second driving block 142 each have a driver, a sensor, a controller, and a power supply. The driver, sensor, controller, and power supply are electrically connected. The sensor monitors whether the first driving block 141 and the second driving block 142 have moved into position. The controller and the driver control the movement of the first driving block 141 and the second driving block 142. The power supply provides energy for the above components.

[0069] Specifically, a guide rail is provided on the base 13, and the plurality of clamping parts 101 are movably provided on the guide rail. In this way, the guide rail can guide the moving direction of the clamping parts 101, thereby ensuring the accuracy of switching the limiting structure 10 between the avoidance state and the locking state.

[0070] The extension direction of the guide rail is not limited, as long as the clamping parts 101 can cooperate with each other to clamp the lead screw 100. The guide rail can be set to a straight line, arc or broken line shape, and the appropriate guide rail shape can be selected according to the actual working conditions and the required clamping effect.

[0071] In the present application, a buffer layer is provided inside the clamping portion 101. The buffer layer can cushion the shaking of the lead screw 100, dissipate the kinetic energy of the lead screw 100, and thereby reduce the shaking degree of the lead screw 100. At the same time, it can prevent the limiting structure 10 from damaging the lead screw 100 when in the locked state.

[0072] Specifically, a buffer layer is provided on the inner side of the first clamping member 11 and the second clamping member 12 . The buffer layer can be made of rubber, silicone or foam material.

[0073] In another embodiment of the present application, a robot 200 is provided, which includes: a driving unit, a robotic arm 202, a screw nut 203, a screw locking device and a screw 100. The driving unit includes a first driving motor 2011 and a second driving motor 2012. The second driving motor 2012 is electrically connected via a signal transmission line 206. The robotic arm 202 is drive-connected to the driving unit via the second driving motor 2012. The screw nut 203 is rotatably disposed at the end of the robotic arm 202, and the screw nut 203 is drive-connected to the driving unit. The screw locking device is disposed on the robotic arm 202, and the screw locking device is the screw locking device mentioned in the above embodiment. The screw 100 is inserted into the clamping space 102 between the screw nut 203 and the screw locking device, and the screw 100 is threadedly connected to the screw nut 203. The above-mentioned screw locking device can effectively solve the problem in the prior art that when the robot stops suddenly, the screw shakes to a large extent, affecting the robot's operating accuracy. The screw 100 is clamped by the limiting structure 10 and the support member 30, thereby reducing the shaking degree of the screw 100. The robot with the above-mentioned screw locking device also has the above-mentioned advantages.

[0074] Specifically, the robot further includes a sensor 204 and a controller. The sensor 204 is configured to detect the operating status of the drive unit. The controller is electrically connected to the sensor 204 and the drive member 14 of the lead screw locking device, respectively. The controller controls the operation of the drive member 14 based on signals from the sensor 204. Thus, when the robot 200 moves to a predetermined position and stops suddenly, the sensor 204 detects that the speed of the corresponding second drive motor 2012 is 0 mm / s. This information is then transmitted to the first drive motor 2011 via the signal transmission line 206. The first drive motor 2011 is then turned on, thereby driving the first drive block 141 and the second drive block 142 to move the first clamping member 11 and the second clamping member 12. When the first drive block 141 and the second drive block 142 reach the predetermined end point of the guide rail and stop, the first protrusion 110 of the first clamping member 11 reaches the first stop hole 120 of the second clamping member 12 and is in a spring-up state, thereby locking the first clamping member 11 and the second clamping member 12, thereby securing the lead screw 100. At the same time, the buffer layer inside the first clamping member 11 and the second clamping member 12 is in direct contact with the lead screw 100, dissipating the kinetic energy of the lead screw 100. The technical solution of the present application can greatly reduce the shaking degree of the lead screw 100 when the robot 200 stops at high speed, improve the accuracy of the operating position of the robot 200, and enable the robot 200 to meet the requirements of precise occasions.

[0075] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0076] Unless otherwise specifically stated, the relative arrangement of the parts and steps, the numerical expressions and the numerical values ​​set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The techniques, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods and equipment should be considered as part of the authorization specification. In all examples shown and discussed here, any specific values ​​should be interpreted as being merely exemplary and not as limitations. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following figures, and therefore, once an item is defined in one figure, it does not need to be further discussed in subsequent figures.

[0077] In the description of the present invention, it needs to be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention; the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0078] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0079] In addition, it should be noted that the use of words such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above words have no special meaning and therefore cannot be understood as limiting the scope of protection of this utility model.

[0080] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A screw locking device, characterized in that: The screw locking device comprises: The limiting structure (10) has a plurality of clamping parts (101) arranged relatively to each other, a clamping space (102) is formed between the plurality of clamping parts (101), a lead screw is passed through the clamping space (102), and the plurality of clamping parts (101) can move relatively to each other. The limiting structure (10) has a relatively arranged avoidance state and a locking state. In the avoidance state, the plurality of clamping parts (101) can move away from each other; in the locking state, the plurality of clamping parts (101) cooperate with each other to clamp the lead screw. A first locking structure (20) is provided between the plurality of clamping portions (101), wherein the first locking structure (20) has a first unlocking state and a first fixing state. When the first locking structure (20) is in the first fixing state, the first locking structure (20) is used to fix the relative positions of the plurality of clamping portions (101) in the locking state.

2. The screw locking device according to claim 1, characterized in that: The first locking structure (20) comprises a buckle structure, and in the locked state, two adjacent clamping portions (101) are fixed together by the buckle structure.

3. The screw locking device according to claim 1, characterized in that: The limiting structure (10) comprises a first clamping member (11) and a second clamping member (12), wherein the extension direction of the first clamping member (11) and the second clamping member (12) is the same as the extension direction of the lead screw, and the first clamping member (11) and the second clamping member (12) move closer to or farther from each other to switch between the avoidance state and the locking state.

4. The screw locking device according to claim 3, characterized in that: A first protrusion (110) is provided on the first clamping member (11), and a first limiting hole (120) is provided on the second clamping member (12). The first protrusion (110) is movably provided on the first clamping member (11). The first protrusion (110) has an initial position and a clamping position that are relatively set. When the first protrusion (110) is located at the initial position, the first clamping member (11) and the second clamping member (12) can move relative to each other; when the first protrusion (110) is located at the clamping position, the first protrusion (110) is clamped and matched with the first limiting hole (120) to limit the relative position of the first clamping member (11) and the second clamping member (12). The first protrusion (110) and the first limiting hole (120) form the first locking structure (20).

5. The screw locking device according to claim 4, characterized in that: The first clamping member (11) and the second clamping member (12) are both arc-shaped plates, and the end faces of the second clamping member (12) arranged along the arc respectively have openings (121). The second clamping member (12) has an accommodating cavity, and the opening (121) is connected to the accommodating cavity. The side wall of the accommodating cavity has the first limiting hole (120). The side wall of the first clamping member (11) is provided with a first protrusion (110). When the first clamping member (11) and the second clamping member (12) are engaged and snap-fitted, the two ends of the first clamping member (11) corresponding to the openings (121) of the second clamping member (12) are inserted into the accommodating cavity.

6. The screw locking device according to claim 1, characterized in that: The screw locking device further comprises a support member (30), the extension direction of the support member (30) being the same as the extension direction of the screw, the support member (30) comprising a connecting end and a telescopic end connected to each other, the connecting end being used for hinged fixation, and the telescopic end being hinged to the clamping portion (101).

7. The screw locking device according to claim 6, characterized in that: The support member (30) comprises a sleeve (31) and a telescopic rod (32), wherein the telescopic rod (32) is movably arranged in the sleeve (31), one end of the sleeve (31) forms the connecting end, and one end of the telescopic rod (32) connected to the clamping portion (101) forms the telescopic end, and a second locking structure (40) is provided between the sleeve (31) and the telescopic rod (32), wherein the second locking structure (40) has a second unlocking state and a second fixed state which are relatively arranged, and when the second locking structure (40) is in the second fixed state, the second locking structure (40) can fix the relative position of the sleeve (31) and the telescopic rod (32).

8. The screw locking device according to claim 7, characterized in that: The second locking structure (40) comprises a second protrusion (41) and a second limiting hole (42), wherein the second protrusion (41) is provided on the telescopic rod (32), and the second limiting hole (42) is provided on the sleeve (31); Wherein, when the first locking structure (20) is in the first fixed state, the second locking structure (40) is in the second fixed state, and the second protrusion (41) is engaged with the second limiting hole (42); when the first locking structure (20) is in the first unlocked state, the second locking structure (40) is in the second unlocked state.

9. The screw locking device according to claim 1, characterized in that: The limiting structure (10) further comprises a base (13) and a driving member (14); the plurality of clamping portions (101) are movably arranged on the base (13); the base (13) has an avoidance hole, and the avoidance hole is arranged corresponding to the clamping space (102); the driving member (14) is drivingly connected to the plurality of clamping portions (101) so that the plurality of clamping portions (101) can switch between the avoidance state and the locking state.

10. The screw locking device according to claim 9, characterized in that: A guide rail is provided on the base (13), and a plurality of the clamping parts (101) are movably provided on the guide rail.

11. The screw locking device according to claim 1, characterized in that: A buffer layer is provided on the inner side of the clamping portion (101).

12. A robot, characterized in that: The robot comprises: Drive unit; A mechanical arm (202) is drivingly connected to the driving unit; A lead screw nut (203) is rotatably arranged at the end of the mechanical arm (202), and the lead screw nut (203) is drivingly connected to the driving part; A screw locking device, arranged on the mechanical arm (202), wherein the screw locking device is the screw locking device according to any one of claims 1 to 11; The lead screw (100) is inserted into the clamping space (102) between the lead screw nut (203) and the lead screw locking device, and the lead screw (100) is threadedly connected to the lead screw nut (203).

13. The robot according to claim 12, characterized in that The screw locking device is the screw locking device according to claim 9, and the robot further comprises: a sensor (204) for detecting the operating state of the driving unit; A controller is electrically connected to the sensor (204) and the driving member (14) of the screw locking device, respectively, and the controller controls the driving member (14) to operate according to a signal from the sensor (204).

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