ZR actuating mechanism

Abstract

The utility model relates to the technical field of industrial instruments, in particular to a ZR executing mechanism which comprises a Z-axis assembly, the Z-axis assembly is composed of a lead screw module, a servo motor and a sliding seat, the sliding seat is fixed to a nut block of the lead screw module, and the servo motor is installed at the top end of the lead screw module. The surface of the sliding seat is fixedly connected with an R-axis assembly, and the surface of the R-axis assembly is connected with a bunching assembly. The surface of the R-axis assembly is connected with an original point sensing assembly. The ZR actuating mechanism is suitable for high-precision assembling, mounting, taking and placing of materials, the main working mode of the ZR actuating mechanism is that the ZR actuating mechanism can be assembled on a mechanical arm or a robot, and the mechanical arm or the robot is controlled by a control system to cooperatively move with the ZR actuating mechanism to complete the work; and meanwhile, the precision is higher, the speed is high, and the mechanism volume and the mass are smaller.

Description

Technical Field

[0001] This utility model relates to the field of industrial machinery technology, specifically a ZR actuator. Background Technology

[0002] In industrial production processes, products are often moved along the Z-axis or R-axis. However, current technologies rely on manual operation or simple fixtures to assist manual operation, resulting in low precision, slow speed, and large size and weight of the mechanism, which causes great inconvenience to users. Therefore, a ZR actuator is needed. Utility Model Content

[0003] The purpose of this utility model is to provide a ZR actuator to solve the problems mentioned in the background art, which are low precision, slow speed, large size and weight of the existing technology, which is manual operation or uses simple fixtures to assist manual operation.

[0004] To achieve the above objectives, this utility model provides the following technical solution: a ZR actuator, comprising a Z-axis assembly, which is composed of a lead screw module, a servo motor, and a slide block. The slide block is fixed on the nut block of the lead screw module, and a servo motor is mounted on the top of the lead screw module, with the output end of the servo motor fixedly connected to the lead screw of the lead screw module. An R-axis assembly is fixedly connected to the surface of the slide block, and a wire harness assembly is connected to the surface of the R-axis assembly to facilitate wire routing. An origin sensing assembly is connected to the surface of the R-axis assembly to sense the origin when the R-axis assembly rotates.

[0005] Preferably, an R-axis motor is fixedly connected to the top of the R-axis support, and a rotating shaft is installed at the output end of the R-axis motor. The bottom end of the rotating shaft passes through the R-axis support and is equipped with an R-axis suction nozzle.

[0006] Preferably, an R-axis motor is fixedly connected to the top of the R-axis support, and a rotating shaft is installed at the output end of the R-axis motor. The bottom end of the rotating shaft passes through the R-axis support and is equipped with an R-axis suction nozzle.

[0007] Preferably, the wiring assembly consists of wiring sheet metal, wire clips, and a motor connector, wherein the wiring sheet metal is fixed to the surface of the R-axis motor.

[0008] Preferably, a wire clip is installed at the top of the wiring sheet metal to facilitate the routing of the power cord, and a motor connector is also installed on the surface of the wiring sheet metal to facilitate the wiring of the R-axis motor.

[0009] Preferably, the origin sensing component includes a mounting plate, an origin sensor, and a sensing plate, wherein the mounting plate is fixed to the surface of the R-axis support by bolts.

[0010] Preferably, an origin sensor is fixedly connected to the surface of the mounting plate, and the sensing plate is fixedly connected to the surface of the rotating shaft. The sensing plate and the origin sensor work together to sense the origin when the R-axis nozzle rotates.

[0011] Compared with the prior art, the advantages of this utility model are: the ZR actuator realizes ZR axis movement by setting up a Z-axis assembly, an R-axis assembly, and an origin sensing assembly; this utility model is suitable for high-precision assembly, placement, and picking of materials. Its main working method is to assemble the ZR actuator onto a robot or robotic arm, and control the robot or robotic arm and the ZR actuator to work together to complete the task through the control system; at the same time, this utility model uses a wiring assembly to constrain the power line with wiring sheet metal and wire clips, avoiding the tangling of the wires, while the origin sensing assembly can sense the origin of the rotation of the R-axis assembly; this utility model has high precision, high speed, and small size and weight. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the three-dimensional left-side structure of this utility model;

[0013] Figure 2 This is a schematic diagram of the three-dimensional right-side structure of this utility model;

[0014] Figure 3 This is a schematic diagram of the partial explosion structure of this utility model.

[0015] In the diagram: 1. Z-axis assembly; 11. Lead screw module; 12. Servo motor; 13. Slide; 2. R-axis assembly; 21. R-axis support; 22. R-axis motor; 23. Rotary shaft; 24. R-axis nozzle; 3. Cable harness assembly; 31. Cable routing sheet metal; 32. Wire clip; 33. Motor connector; 4. Origin sensing assembly; 41. Mounting plate; 42. Origin sensor; 43. Sensing plate. Detailed Implementation

[0016] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, not all embodiments. In addition, the terms "first", "second", "third", "upper", "lower", "left", "right", etc. are used for descriptive purposes only and should not be construed as indicating or implying relative importance. At the same time, in the description of the present utility model, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present utility model.

[0017] The present invention provides a structure for a ZR actuator as follows: Figure 1 as well as Figure 3 As shown, it includes a Z-axis assembly 1, which is composed of a lead screw module 11, a servo motor 12, and a slide block 13. The slide block 13 is fixed on the nut block of the lead screw module 11. The lead screw module 11 is composed of a module shell, a lead screw, and a feed nut. The slide block 13 and the module shell of the lead screw module 11 are slidably connected to each other. The servo motor 12 is installed at the top of the lead screw module 11, and the output end of the servo motor 12 is fixedly connected to the lead screw of the lead screw module 11. The surface of the slide 13 is fixedly connected to the R-axis assembly 2. The top end of the R-axis support 21 is fixedly connected to the R-axis motor 22. The output end of the R-axis motor 22 is equipped with a rotating shaft 23. The bottom end of the rotating shaft 23 passes through the R-axis support 21 and is equipped with an R-axis suction nozzle 24. The top end of the R-axis support 21 is fixedly connected to the R-axis motor 22. The output end of the R-axis motor 22 is equipped with a rotating shaft 23. The bottom end of the rotating shaft 23 passes through the R-axis support 21 and is equipped with an R-axis suction nozzle 24.

[0018] During implementation, the R-axis motor 22 drives the rotating shaft 23 to rotate, and the rotation of the rotating shaft 23 will drive the R-axis suction nozzle 24 to rotate, thereby realizing the movement of the R-axis.

[0019] Furthermore, such as Figure 2 as well as Figure 3 As shown, a cable harness assembly 3 is connected to the surface of the R-axis assembly 2. The cable harness assembly 3 facilitates the routing of the cable. The cable harness assembly 3 consists of a cable routing sheet metal 31, a cable clip 32, and a motor connector 33. The cable routing sheet metal 31 is fixed to the surface of the R-axis motor 22. A cable clip 32 is installed at the top of the cable routing sheet metal 31. The cable clip 32 facilitates the routing of the power cable. A motor connector 33 is also installed on the surface of the cable routing sheet metal 31. The motor connector 33 facilitates the wiring of the R-axis motor 22.

[0020] During implementation, the power lines are constrained by the wiring sheet metal 31 and the wire clips 32 to avoid the occurrence of wire tangles.

[0021] Furthermore, such as Figure 2 as well as Figure 3 As shown, an origin sensing component 4 is connected to the surface of the R-axis assembly 2. The origin sensing component 4 is used to sense the origin when the R-axis assembly 2 rotates. The origin sensing component 4 includes a mounting plate 41, an origin sensor 42, and a sensing plate 43. The mounting plate 41 is fixed to the surface of the R-axis support 21 by bolts. The origin sensor 42 is fixedly connected to the surface of the mounting plate 41. The sensing plate 43 is fixedly connected to the surface of the rotating shaft 23. The sensing plate 43 and the origin sensor 42 cooperate to sense the origin when the R-axis nozzle 24 rotates.

[0022] In practice, the origin is sensed by the cooperation of the origin sensor 42 on the surface of the mounting plate 41 and the sensing plate 43 on the surface of the rotating shaft 23.

[0023] This utility model is applicable to high-precision assembly, mounting, and handling of materials. Its main working method is to assemble the ZR actuator onto a robotic arm or robot, and control the robotic arm or robot to work in coordination with the ZR actuator through a control system. At the same time, this utility model uses a wiring assembly 3, with wiring sheet metal 31 and wire clips 32 to constrain the power line, avoiding the tangling of the wires. The origin sensing assembly 4 can sense the origin of the rotation of the R-axis assembly 2, improving the practicality of the ZR actuator.

[0024] Working principle: When in use, the lead screw of the lead screw module 11 is first driven by the servo motor 12 to rotate. When the lead screw rotates, it will drive the slide block 13 to slide up and down under the action of the nut block. When sliding, it will drive the R-axis support 21 to achieve Z-axis movement.

[0025] Subsequently, the R-axis motor 22 drives the rotating shaft 23 to rotate. When the rotating shaft 23 rotates, it drives the R-axis suction nozzle 24 to rotate, thus realizing the movement of the R-axis. When the R-axis moves, the origin sensing component 4 realizes the origin sensing. When the origin sensing component 4 is implemented, the origin sensor 42 on the surface of the mounting plate 41 and the sensing plate 43 on the surface of the rotating shaft 23 cooperate with each other to sense the origin.

[0026] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A ZR actuator, comprising a Z-axis assembly (1), characterized in that: The Z-axis assembly (1) is composed of a lead screw module (11), a servo motor (12), and a slide (13). The slide (13) is fixed on the nut block of the lead screw module (11). The servo motor (12) is installed on the top of the lead screw module (11), and the output end of the servo motor (12) is fixedly connected to the lead screw of the lead screw module (11). The R-axis assembly (2) is fixedly connected to the surface of the slide (13). The wire harness assembly (3) is connected to the surface of the R-axis assembly (2). The wire harness assembly (3) facilitates the wiring of the wire. The origin sensing assembly (4) is connected to the surface of the R-axis assembly (2). The origin sensing assembly (4) is used to sense the origin when the R-axis assembly (2) rotates.

2. The ZR actuator according to claim 1, characterized in that: The R-axis assembly (2) includes an R-axis support (21), an R-axis motor (22), a rotating shaft (23), and an R-axis nozzle (24). The R-axis support (21) is fixed to the surface of the slide (13).

3. The ZR actuator according to claim 2, characterized in that: The top of the R-axis support (21) is fixedly connected to an R-axis motor (22), and the output end of the R-axis motor (22) is equipped with a rotating shaft (23), and the bottom end of the rotating shaft (23) passes through the R-axis support (21) and is equipped with an R-axis suction nozzle (24).

4. The ZR actuator according to claim 1, characterized in that: The wiring assembly (3) consists of wiring sheet metal (31), wire clips (32) and motor connectors (33), with the wiring sheet metal (31) fixed to the surface of the R-axis motor (22).

5. A ZR actuator according to claim 4, characterized in that: The top of the wiring sheet metal (31) is equipped with a wire clip (32), which facilitates the wiring of the power cord. The surface of the wiring sheet metal (31) is also equipped with a motor connector (33), which facilitates the wiring of the R-axis motor (22).

6. The ZR actuator according to claim 1, characterized in that: The origin sensing component (4) includes a mounting plate (41), an origin sensor (42), and a sensing plate (43). The mounting plate (41) is fixed to the surface of the R-axis support (21) by bolts.

7. A ZR actuator according to claim 6, characterized in that: The mounting plate (41) is fixedly connected to the origin sensor (42), and the sensing plate (43) is fixedly connected to the surface of the rotating shaft (23). The sensing plate (43) and the origin sensor (42) cooperate to sense the origin when the R-axis nozzle (24) rotates.

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