Z-axis anti-falling device

Abstract

The utility model relates to the technical field of anti-falling, in particular to a Z-axis anti-falling device, which comprises a torque recovery mechanism, an air cylinder and an air cylinder, the torque recovery mechanism is used for recovering the axial torque of a Z axis and comprises a power component and a rotating component, the power component is used for providing torque recovery power, and the rotating component is connected with the air cylinder and used for changing the horizontal rotating direction of the Z axis; the limiting mechanism is connected with the torque recycling mechanism and comprises a fixed restraining assembly which is partially arranged above the rotating assembly and is used for restraining the horizontal position of the Z axis and a kinetic energy recycling assembly which is connected with the fixed restraining assembly and is used for recycling the rotating kinetic energy of the Z axis by converting the rotating kinetic energy of the Z axis into elastic potential energy; the Z-axis anti-falling safety and reliability are improved through the Z-axis anti-falling device.

Description

Technical Field

[0001] This utility model relates to the field of fall protection technology, and in particular to a Z-axis fall protection device. Background Technology

[0002] In existing technologies, robotic arms are driven up and down using a servo motor, reducer, and ball screw. The Z-axis anti-fall mechanism prevents falls when the servo motor brake fails. However, the safety and stability of existing anti-fall structures are at significant risk.

[0003] Chinese Patent Publication No. CN208962048U discloses a Z-axis anti-fall device for gantry robot maintenance, including a vertical beam, a base, a limiting pin, and a connecting block mounted on a support plate. The base is fixed to the support plate, and a groove matching the connecting block is formed on the base. The connecting block is slidably disposed within the groove, and a first limiting hole matching the limiting pin is formed on the connecting block. A second limiting hole is formed on the connecting block, and one end of the limiting pin passes through the first limiting hole and is disposed within the second limiting hole. In use, because the base is fixed to the support plate, and the first limiting mechanism restricts the displacement of the limiting pin on the base, the connecting block is limited to the base. Simultaneously, the second limiting mechanism restricts the displacement between the connecting block and the vertical beam. Therefore, the Z-axis anti-fall device for gantry robot maintenance has a low safety margin in preventing falls. Utility Model Content

[0004] Therefore, this utility model provides a Z-axis fall protection device to overcome the problems of insufficient safety and accuracy of Z-axis fall protection in the prior art.

[0005] To achieve the above objectives, this utility model provides a Z-axis fall protection device, comprising:

[0006] A torque recovery mechanism for recovering the axial torque of the Z-axis includes a power assembly for providing torque recovery power and a rotation assembly connected to the cylinder for changing the horizontal rotation direction of the Z-axis.

[0007] The limiting mechanism, which is connected to the torque recovery mechanism, includes a fixed constraint component partially disposed above the rotating component to constrain the horizontal position of the Z-axis, and a kinetic energy recovery component connected to the fixed constraint component to recover the rotational kinetic energy of the Z-axis by converting the rotational kinetic energy of the Z-axis into elastic potential energy.

[0008] Furthermore, the power assembly includes:

[0009] A piston rod, which is connected to the torque transmission element, is used to drive the torque transmission element to move horizontally along a straight line parallel to the piston rod;

[0010] A cylinder, which is connected to the piston rod, is used to provide power for the piston rod to perform the horizontal movement.

[0011] Furthermore, the rotating assembly includes:

[0012] A locking block, which alters the ratchet's operating state by structurally intersecting with it;

[0013] The rotating connecting block, which is connected to the locking block, is used to drive the locking block to rotate horizontally;

[0014] A torque transmission element, which is connected to the rotating connecting block, is used to transmit torque to the rotating connecting block.

[0015] Furthermore, the torque transmission element includes:

[0016] A support frame, which is connected to the piston rod and the rotating connecting block respectively, is used to define the spatial position of the rotating connecting block;

[0017] The connecting rod is movably sleeved with the support frame and the rotating connecting block respectively, so as to convert the horizontal torque of the support frame into the rotational torque of the rotating connecting block.

[0018] Furthermore, the fixed constraint assembly includes two constraint elements, a first constraint element and a second constraint element, respectively disposed on the Z-axis side near the ratchet and the Z-axis side away from the ratchet.

[0019] The first constraint element and the second constraint element are identical in size, spatial configuration, and material.

[0020] Further, the first constraint element includes:

[0021] The first fixed connecting block is movably connected to the ball screw along the Z-axis to limit the horizontal position of the ball screw.

[0022] The first fixing plate is connected to the first fixing connecting block and is used to fix the spatial position of the first fixing connecting block.

[0023] Furthermore, the second constraint element includes:

[0024] The second fixed connecting block is movably connected to the ball screw to define the horizontal position of the ball screw end away from the ratchet.

[0025] The second fixing plate is connected to the second fixing connecting block and is used to fix the spatial position of the second fixing connecting block.

[0026] Furthermore, the kinetic energy recovery assembly includes a primary kinetic energy recovery element and a secondary kinetic energy recovery element respectively disposed on the ball screw side near the ratchet and the ball screw side away from the ratchet.

[0027] The primary kinetic energy recovery element and the secondary kinetic energy recovery element are identical in size, spatial configuration, and material.

[0028] Furthermore, the secondary kinetic energy recovery element includes:

[0029] The first fixed block, which is connected to the first fixed connecting block, is used to fix the next starting point of kinetic energy recovery;

[0030] The first buffer block is connected to the first fixed block to buffer the elastic potential energy in a vertically upward direction;

[0031] A first spring is sleeved on the ball screw passing through the area of ​​the first fixed connecting block to recover the rotational kinetic energy of the ball screw.

[0032] A first retainer is disposed above the first spring to compress the vertical distribution area of ​​the first spring inside the first fixed connecting block.

[0033] Furthermore, the primary kinetic energy recovery element includes:

[0034] The second fixing block, which is connected to the second fixing connection block, is used to fix the upper starting point of kinetic energy recovery;

[0035] The second buffer block, which is connected to the second fixed block, is used to buffer the elastic potential energy in a vertically downward direction;

[0036] A second spring is sleeved on the ball screw passing through the area of ​​the second fixed connecting block to recover the rotational kinetic energy of the ball screw.

[0037] The second sleeve is positioned above the second spring to compress the vertical distribution area of ​​the second spring inside the second fixed connecting block.

[0038] Compared with the prior art, the beneficial effects of this utility model are as follows: By setting up a torque recovery mechanism and a limiting mechanism, this utility model recovers the rotational torque along the Z-axis and recovers and reduces the rotational kinetic energy of the Z-axis, thereby achieving accurate Z-axis fall prevention. When the robot arm on the Z-axis falls, the rotation direction of the ratchet can be changed by the rotating component in the torque recovery mechanism to adjust the rotation direction of the ball screw. Furthermore, the kinetic energy recovery component in the limiting mechanism can quickly and effectively recover the rotational kinetic energy of the ball screw, thus accurately limiting the rotation of the ball screw from the perspective of actively restricting rotation, thereby improving the safety of fall prevention. In addition, reversing the rotation direction of the ratchet and locking and fixing its rotational position improves the effectiveness of torque recovery. This utility model achieves improved effectiveness and safety of Z-axis fall prevention.

[0039] Furthermore, this utility model, through the provision of a first buffer block, a second buffer block, a first spring, and a second spring, achieves rapid absorbing of rotational kinetic energy during recovery, thereby quickly stopping the fall. The first and second buffer blocks also provide buffering in the opposite direction of the spring's ejection at the moment of ejection, ensuring the spring's smooth and normal ejection, thus further improving fall protection safety. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the overall structure of the Z-axis anti-fall device according to an embodiment of the present invention;

[0041] Figure 2 This is a partial structural diagram of the Z-axis anti-fall device according to another embodiment of the present invention;

[0042] Explanation of reference numerals in the attached drawings: 1-Second fixed plate, 2-Second fixed connecting block, 3-Ball screw, 4-Mechanical arm connecting slider, 5-First fixed plate, 6-First fixed connecting block, 7-Ratchet, 8-Cylinder, 9-First ferrule, 10-First fixed block, 11-First buffer block, 12-Clamping block, 13-Rotating connecting block, 14-Support frame, 15-Piston rod, 16-Connecting rod. Detailed Implementation

[0043] To make the objectives and advantages of this utility model clearer, the utility model will be further described below with reference to the embodiments; it should be understood that the specific embodiments described herein are only for explaining this utility model and are not intended to limit this utility model.

[0044] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0045] It should be noted that in the description of this utility model, the terms "upper", "lower", "left", "right", "inner", "outer", etc., indicating the direction or positional relationship are based on the direction or positional relationship shown in the drawings. This is only for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this utility model.

[0046] Furthermore, it should be noted that, in the description of this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0047] Please see Figure 1 and Figure 2 The figures shown are a schematic diagram of the overall structure of the Z-axis fall protection device according to an embodiment of the present invention and a partial schematic diagram from another angle. The present invention provides a Z-axis fall protection device, comprising:

[0048] A torque recovery mechanism for recovering the axial torque of the Z-axis includes a power assembly for providing torque recovery power and a rotation assembly connected to the cylinder 8 for changing the horizontal rotation direction of the Z-axis.

[0049] The limiting mechanism, which is connected to the torque recovery mechanism, includes a fixed constraint component partially disposed above the rotating component to constrain the horizontal position of the Z-axis, and a kinetic energy recovery component connected to the fixed constraint component to recover the rotational kinetic energy of the Z-axis by converting the rotational kinetic energy of the Z-axis into elastic potential energy.

[0050] The working process of the Z-axis anti-fall device in this embodiment is as follows: the ratchet 7 is retracted by the cylinder 8, and the rotating component receives the power of the cylinder 8 to lock the ratchet 7. When the power and air are cut off, the spring pushes out and locks the ratchet 7 to prevent the robot from falling suddenly. When the robot is not moving vertically, the ratchet 7 is locked by the spring. The rotating component and the kinetic energy recovery component will only be opened when the program requires the robot to move, so as to realize the up and down movement.

[0051] In implementation, this utility model, through the setting of a torque recovery mechanism and a limiting mechanism, recovers the rotational torque along the Z-axis and recovers and reduces the rotational kinetic energy of the Z-axis, thereby achieving accurate Z-axis fall prevention. When the robot arm on the Z-axis falls, the rotation direction of the ratchet 7 can be changed by the rotation component in the torque recovery mechanism to adjust the rotation direction of the ball screw 3. Furthermore, the kinetic energy recovery component in the limiting mechanism can quickly and effectively recover the rotational kinetic energy of the ball screw 3, thus accurately limiting the rotation of the ball screw 3 from the perspective of actively restricting rotation, thereby improving fall prevention safety. In addition, the reverse rotation direction of the ratchet 7 and the locking and fixing of the ratchet 7's rotational position further improve the effectiveness of torque recovery. This utility model achieves improved effectiveness and safety in Z-axis fall prevention.

[0052] Specifically, the power assembly includes:

[0053] The piston rod 15 is connected to the torque transmission element and is used to drive the torque transmission element to move horizontally along a straight line parallel to the piston rod 15.

[0054] Cylinder 8, which is connected to the piston rod 15, is used to provide power for the piston rod 15 to perform the horizontal movement.

[0055] Specifically, the rotating assembly includes:

[0056] Block 12, which changes the operating state of ratchet 7 by structurally intersecting with ratchet 7;

[0057] Rotate the connecting block 13, which is connected to the locking block 12, to drive the locking block 12 to rotate horizontally;

[0058] A torque transmission element is connected to the rotating connecting block 13 to transmit torque to the rotating connecting block 13.

[0059] Those skilled in the art will understand that the relative positional relationship of the locking block 12, the rotating connecting block 13, and the torque transmission element is a preferred embodiment of this utility model. Those skilled in the art can make adaptive replacements for the size of the locking block 12, the length of the rotating connecting block 13, and the spatial configuration of the torque transmission element in different practical application scenarios. It is only necessary to change the direction of torque transmission by means of linear expansion and contraction of the structure within the basic framework of the locking block 12, the rotating connecting block 13, and the torque transmission element.

[0060] Specifically, the torque transmission element includes:

[0061] The support frame 14 is connected to the piston rod 15 and the rotating connecting block 13 respectively, and is used to define the spatial position of the rotating connecting block 13;

[0062] The connecting rod 16 is movably sleeved with the support frame 14 and the rotating connecting block 13 respectively, so as to convert the horizontal torque of the support frame 14 into the rotational torque of the rotating connecting block 13.

[0063] Specifically, the fixed constraint assembly includes two constraint elements, a first constraint element and a second constraint element, respectively disposed on the Z-axis side near the ratchet 7 and the Z-axis side away from the ratchet 7.

[0064] The first constraint element and the second constraint element are identical in size, spatial configuration, and material.

[0065] In practice, those skilled in the art can make adaptive adjustments to the vertical distance between the first constraint element and the second constraint element, as long as the rotation of the ball screw 3 can be stopped under the premise of the basic relative positional relationship.

[0066] Specifically, the first constraint element includes:

[0067] The first fixed connecting block 6 is movably connected to the ball screw 3 along the Z-axis to limit the horizontal position of the ball screw.

[0068] The first fixing plate 5 is connected to the first fixing connecting block 6 and is used to fix the spatial position of the first fixing connecting block 6.

[0069] Specifically, the second constraint element includes:

[0070] The second fixed connecting block 2 is movably connected to the ball screw 3 to limit the horizontal position of the ball screw end away from the ratchet 7.

[0071] The second fixing plate 1 is connected to the second fixing connecting block 2 and is used to fix the spatial position of the second fixing connecting block 2.

[0072] Specifically, the kinetic energy recovery assembly includes a primary kinetic energy recovery element and a secondary kinetic energy recovery element respectively disposed on the side of the ball screw 3 near the ratchet 7 and the side of the ball screw 3 away from the ratchet 7.

[0073] The primary kinetic energy recovery element and the secondary kinetic energy recovery element are identical in size, spatial configuration, and material.

[0074] Specifically, the secondary kinetic energy recovery element includes:

[0075] The first fixing block 10 is connected to the first fixing connection block 6 and is used to fix the next starting point of kinetic energy recovery;

[0076] The first buffer block 11 is connected to the first fixed block 10 and is used to buffer the elastic potential energy in the vertically upward direction.

[0077] A first spring is sleeved on the ball screw passing through the area of ​​the first fixed connecting block 6, in order to recover the rotational kinetic energy of the ball screw 3.

[0078] The first sleeve 9 is disposed above the first spring to compress the vertical distribution area of ​​the first spring inside the first fixed connecting block 6.

[0079] Those skilled in the art will understand that the relative positional relationship of the first fixing block 10, the first buffer block 11, the first spring, and the first retaining sleeve 9 in this utility model is a preferred embodiment of this utility model. When applying this utility model, those skilled in the art can make adaptive adjustments to the size of the first fixing block 10, the thickness of the first buffer block 11, the length of the first spring, and the thickness of the first retaining sleeve 9 according to different usage scenarios, as long as the function of recovering rotational kinetic energy and stopping the ball screw 3 is achieved.

[0080] Specifically, the primary kinetic energy recovery element includes:

[0081] The second fixing block is connected to the second fixing connection block 2 and is used to fix the upper starting point of kinetic energy recovery;

[0082] The second buffer block, which is connected to the second fixed block, is used to buffer the elastic potential energy in a vertically downward direction;

[0083] The second spring is sleeved on the ball screw 3 that passes through the area of ​​the second fixed connecting block 2, in order to recover the rotational kinetic energy of the ball screw 3.

[0084] The second sleeve is positioned above the second spring to compress the vertical distribution area of ​​the second spring inside the second fixed connecting block 2.

[0085] In practice, this utility model, through the setting of a first buffer block 11 and a second buffer block, as well as a first spring and a second spring, achieves rapid absorbing of rotational kinetic energy during recovery of rotational kinetic energy, thereby quickly stopping the fall. Through the setting of the first buffer block 11 and the second buffer block, when the spring is ejected to absorb rotational kinetic energy, the buffering in the opposite direction of ejection at the moment of ejection is achieved by the buffer block, which also ensures the normal and smooth ejection of the spring, further improving the safety of fall prevention.

[0086] The technical solution of this utility model has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the protection scope of this utility model is obviously not limited to these specific embodiments. Without departing from the principle of this utility model, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the protection scope of this utility model.

Claims

1. A Z-axis fall arrest device, characterized in that, The torque recovery mechanism comprises a power assembly for providing torque recovery power and a rotating assembly connected with the cylinder for changing the horizontal rotating direction of the Z-axis. The rotating assembly comprises: a clamping block for changing the operating state of the ratchet wheel by structural intersection with the ratchet wheel; a rotating adapter block connected with the clamping block for driving the clamping block to rotate horizontally; a torque transmission element connected with the rotating adapter block for transmitting torque to the rotating adapter block; The power assembly comprises: a piston rod connected with the torque transmission element for driving the torque transmission element to move horizontally along a straight line parallel to the piston rod; a cylinder connected with the piston rod for providing power for the horizontal movement of the piston rod; a limiting mechanism connected with the torque recovery mechanism, comprising a fixed constraint assembly arranged above the rotating assembly for constraining the horizontal position of the Z-axis and a kinetic energy recovery assembly connected with the fixed constraint assembly for recovering the rotational kinetic energy of the Z-axis by converting the rotational kinetic energy of the Z-axis into elastic potential energy. The torque transmission element comprises:

2. The Z-axis fall arrest device of claim 1, wherein, a support frame connected with the piston rod and the rotating adapter block respectively for defining the spatial position of the rotating adapter block; a connecting rod movably sleeved with the support frame and the rotating adapter block respectively for converting the horizontal torque of the support frame into the rotating torque of the rotating adapter block. The fixed constraint assembly comprises two first and second constraint elements arranged on the side of the Z-axis close to the ratchet wheel and the side of the Z-axis away from the ratchet wheel respectively, 3. The Z-axis fall arrest device of claim 2, wherein, wherein the size, spatial configuration and material of the first and second constraint elements are the same. The first constraint element comprises:

4. The Z-axis fall arrest device of claim 3, wherein, a first fixed connecting block movably connected with the Z-axis axial ball screw for defining the horizontal position of the ball screw; a first fixed plate connected with the first fixed connecting block for fixing the spatial position of the first fixed connecting block. The second constraint element comprises:

5. The Z-axis fall arrest device of claim 4, wherein, a second fixed connecting block movably connected with the ball screw for defining the horizontal position of the end of the ball screw away from the ratchet wheel; a second fixed plate connected with the second fixed connecting block for fixing the spatial position of the second fixed connecting block. The kinetic energy recovery assembly comprises a primary and secondary kinetic energy recovery element arranged on the side of the ball screw close to the ratchet wheel and the side of the ball screw away from the ratchet wheel respectively, 6. The Z-axis fall arrest device of claim 5, wherein, wherein the size, spatial configuration and material of the primary and secondary kinetic energy recovery elements are the same. The secondary kinetic energy recovery element comprises:

7. The Z-axis fall arrest device of claim 6, wherein, a first fixed block connected with the first fixed connecting block for fixing the lower starting point of kinetic energy recovery; a first buffer block connected with the first fixed block for buffering the elastic potential energy in the vertically upward direction; a first spring sleeved on the ball screw passing through the area of the first fixed connecting block for recovering the rotational kinetic energy of the ball screw; ​ A first sleeve is arranged above the first spring to compress the vertical distribution area of the first spring inside the first fixed connecting block.

8. The Z-axis fall arrest device of claim 7, wherein, The primary kinetic energy recovery element comprises: A second fixed block is connected with the second fixed connecting block to fix the upper starting point of kinetic energy recovery; A second buffer block is connected with the second fixed block to buffer the elastic potential energy in the vertically downward direction; A second spring is sleeved on the ball screw passing through the second fixed connecting block area to recover the rotational kinetic energy of the ball screw; A second sleeve is arranged above the second spring to compress the vertical distribution area of the second spring inside the second fixed connecting block.

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