Orthogonal rotary telescopic transmission mechanism

Abstract

The utility model discloses a kind of orthogonal formula rotary telescopic transmission mechanism, including linear drive unit, rotary drive unit and end execution unit;The linear drive unit includes ball screw (1), linear output rod (2), the rotary drive unit includes orthogonal connection shell (3), rotary input rod (5), rotary transmission shaft (6), and the end execution unit includes end execution nut seat (4);The linear drive unit and rotary drive unit are realized orthogonal arrangement and fixed by orthogonal connection shell (3).The utility model mechanism structure is simple, and space utilization is high, by orthogonal formula arrangement, linear drive and rotary drive unit can be respectively independently installed on the axis in different direction, effectively improve system compactness, suitable for the use in precision device of space limited.

Description

Technical Field

[0001] This utility model relates to the field of intelligent equipment transmission technology, specifically to an orthogonal rotary telescopic transmission mechanism. Background Technology

[0002] In the field of industrial automation, the combined motion of linear telescopic and circumferential rotation is a core requirement for achieving multi-degree-of-freedom operations. However, existing transmission mechanisms have significant drawbacks: traditional coaxial mechanisms have excessively large axial dimensions and low space utilization; split mechanisms have long transmission chains and significant accuracy loss; most mechanisms do not adopt modular design, requiring complete disassembly for maintenance, and the interfaces of end-effectors are inconsistent, making it difficult to quickly adapt to different functional modules. In intelligent equipment, single-form linear or rotary motion can no longer meet the requirements of complex operations for multi-degree-of-freedom, high precision, and spatial adaptability. Therefore, there is an urgent need for a compact, high-precision, and easy-to-maintain orthogonal rotary telescopic transmission mechanism to meet the needs of industrial applications. Utility Model Content

[0003] In view of the problems existing in the prior art, this utility model is proposed for the widespread application of combined rotary and linear telescopic motion in intelligent equipment systems, and aims to provide an orthogonal rotary telescopic transmission mechanism suitable for intelligent equipment.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: An orthogonal rotary telescopic transmission mechanism includes a linear drive unit, a rotary drive unit, and an end effector unit; the linear drive unit includes a ball screw and a linear output rod, the rotary drive unit includes an orthogonal cross-connection housing, a rotary input rod, and a rotary transmission shaft, and the end effector unit includes an end effector nut seat; the linear drive unit and the rotary drive unit are orthogonally arranged and fixed through the orthogonal cross-connection housing.

[0005] Furthermore, the linear drive unit also includes a first servo motor and a coupling. The first servo motor is connected to the ball screw via the coupling. The linear output rod has four rods, which are fixed between the nut of the ball screw and the end actuator nut seat.

[0006] Furthermore, the linear drive unit drives the ball screw to rotate via the first servo motor, causing the ball screw nut to move linearly along the axis, and drives the end effector nut seat to generate axial displacement through the four linear output rods, thereby realizing linear telescopic motion.

[0007] Furthermore, the rotary drive unit also includes a second servo motor and a coupling. The second servo motor is connected to the rotary input rod via the coupling, and the rotary input rod is fixedly connected to the rotary transmission shaft.

[0008] Furthermore, the positive cross-linking housing is used to connect the linear drive unit and the rotary drive unit, and to fix the rotary transmission shaft; the rotary drive unit drives the rotary input rod to rotate through the second servo motor, and drives the end actuator nut seat to achieve circumferential rotation through the rotary transmission shaft.

[0009] Furthermore, the linear drive unit also includes a linear connecting housing and a linear fixing housing, and the ball screw passes through the interior of the linear connecting housing and the linear fixing housing.

[0010] Furthermore, the four linear output rods are symmetrically distributed along the circumference of the ball screw nut, and their two ends are fixedly connected to the ball screw nut and the end actuator nut seat, respectively.

[0011] Furthermore, the end effector unit consists of an end effector nut seat, which is simultaneously connected to the linear output rod and the rotary transmission shaft.

[0012] Furthermore, the outer end face of the end actuator nut seat is provided with a connecting structure for connecting the driven component.

[0013] Furthermore, the linear fixing housing and the linear connecting housing are connected in sequence to support the installation and operation of the ball screw.

[0014] This utility model has the following technical effects: 1. Compact structure: The linear and rotary drive units are orthogonally integrated through a cross-linked outer shell, which greatly reduces the axial dimension of the mechanism.

[0015] 2. Motion decoupling: The transmission paths of linear motion and rotational motion are separated in space and eventually merge. The two motions do not interfere with each other, resulting in good control linearity and high precision.

[0016] 3. High rigidity: The use of multiple linear output rods significantly improves the stability of the end effector nut seat when subjected to off-center loads.

[0017] 4. Modular design: Each functional unit has a clear boundary, which facilitates independent manufacturing, assembly and maintenance. Attached Figure Description

[0018] The present invention includes the following figures: Figure 1 This is a schematic diagram of the mechanism of this utility model; In the diagram: 1 - Ball screw; 2 - Linear output rod; 3 - Positive cross-connect housing; 4 - End actuator nut seat; 5 - Rotary input rod; 6 - Rotary drive shaft; 7 - Linear connection housing; 8 - Linear fixed housing. Detailed Implementation

[0019] The present invention will be further described in detail below with reference to the accompanying drawings and test examples.

[0020] As shown in the figure, an orthogonal rotary telescopic transmission mechanism includes a linear drive unit, a rotary drive unit, and an end effector unit. The linear drive unit includes a ball screw 1, a linear output rod 2, a linear connecting housing 7, and a linear fixing housing 8. The rotary drive unit includes an orthogonal cross-connecting housing 3, a rotary input rod 5, and a rotary transmission shaft 6. The end effector unit includes an end effector nut seat 4. The linear drive unit and the rotary drive unit are orthogonally arranged and fixed through the orthogonal cross-connecting housing 3.

[0021] Linear drive unit: The linear drive unit is controlled by a first servo motor, which is connected to a ball screw 1 via a coupling. The ball screw 1 passes through the interior of the linear connection housing 7 and the linear fixing housing 8. Four linear output rods 2 are symmetrically distributed along the circumference of the ball screw nut, and their ends are fixedly connected to the ball screw nut and the end actuator nut seat 4, respectively. When the first servo motor starts, it drives the ball screw 1 to rotate, and the ball screw nut moves linearly along the axis. The four linear output rods 2 drive the end actuator nut seat 4 to generate axial displacement, realizing linear telescopic motion.

[0022] Rotary drive unit: The rotary drive unit is implemented by a second servo motor, which is connected to the rotary input rod 5 via a coupling. The rotary input rod 5 is fixedly connected to the rotary transmission shaft 6. The positive cross-linking housing 3 is used to connect the linear drive unit and the rotary drive unit, and to fix the rotary transmission shaft 6. When the second servo motor starts, it drives the rotary input rod 5 to rotate. The rotational motion is transmitted to the end actuator nut seat 4 via the rotary transmission shaft 6, realizing circumferential rotational motion.

[0023] End effector: The end effector consists of an end effector nut seat 4, which can connect to the driven component. The nut seat is also connected to the linear output rod 2 and the rotary transmission shaft 6. The outer end face of the end effector nut seat 4 is provided with a connection structure, which can directly connect to the driven component to realize the output of compound motion.

[0024] Example 1: The ball screw 1 is inserted into the interior of the linear connecting housing 7 and the linear fixing housing 8. The first servo motor is connected to the ball screw 1 through a coupling. The four linear output rods 2 are symmetrically fixed between the ball screw nut and the end-acting nut seat 4. The second servo motor is connected to the rotary input rod 5 through a coupling. After the rotary input rod 5 is fixed to the rotary transmission shaft 6, it is connected to the linear drive unit through the orthogonal connecting housing 3. The axes of the two are orthogonal at 90°. The rotary transmission shaft 6 is connected to the end-acting nut seat 4 for transmission, thus completing the assembly of the mechanism.

[0025] Example 2: Working process: Linear extension: The first servo motor is started, and the ball screw 1 rotates, driving the ball screw nut to move linearly. The linear output rod 2 causes the end effector nut seat 4 to generate axial displacement; Circumferential rotation: The second servo motor is started, and the rotary input rod 5 drives the end effector nut seat 4 to rotate through the rotary transmission shaft 6; Compound motion: The two servo motors are controlled in a coordinated manner to realize the linear extension + circumferential rotation compound motion of the end effector nut seat 4. The connection structure of its outer end face can be directly connected to the driven component.

[0026] The orthogonal rotary telescopic transmission mechanism provided by this utility model features a simple structure and high space utilization. Through orthogonal arrangement, the linear drive and rotary drive units can be independently installed on axes in different directions, effectively improving system compactness and making it suitable for use in space-constrained precision devices. The orthogonal transmission structure avoids the torque superposition and transmission interference problems common in coaxial mechanisms; linear and rotary motions do not affect each other, improving the linearity and accuracy of system control. Different types of working modules, such as electric drills, grippers, and probes, can be installed at the end of the mechanism according to task requirements. Multiple functional expansions can be achieved through a unified interface, making it suitable for various scenarios such as automated equipment, medical machinery, and testing platforms. The modular design facilitates step-by-step assembly and maintenance; replacing drive units or transmission components does not require overall disassembly. This invention can be widely applied in fields such as intelligent equipment, industrial robots, medical devices, and precision machining equipment, providing a highly reliable and controllable transmission solution for multi-degree-of-freedom composite motion systems.

[0027] The above embodiments are for illustrative purposes only and are not intended to limit the scope of this utility model patent. Those skilled in the art can make various changes and modifications without departing from the essence and scope of this utility model patent. Therefore, all equivalent technical solutions also fall within the scope of this utility model patent, and the patent protection scope of this utility model patent should be defined by the claims. Content not described in detail in this specification belongs to the prior art known to those skilled in the art.

Claims

1. An orthogonal rotary telescopic transmission mechanism, characterized in that, It includes a linear drive unit, a rotary drive unit and an end effector unit; the linear drive unit includes a ball screw (1) and a linear output rod (2), the rotary drive unit includes a cross-connected housing (3), a rotary input rod (5) and a rotary transmission shaft (6), and the end effector unit includes an end effector nut seat (4); the linear drive unit and the rotary drive unit are orthogonally arranged and fixed through the cross-connected housing (3).

2. The orthogonal rotary telescopic transmission mechanism as described in claim 1, characterized in that, The linear drive unit also includes a first servo motor and a coupling. The first servo motor is connected to the ball screw (1) via the coupling. The linear output rod (2) has 4 rods, which are fixed between the nut of the ball screw (1) and the end actuator nut seat (4).

3. The orthogonal rotary telescopic transmission mechanism as described in claim 2, characterized in that, The linear drive unit drives the ball screw (1) to rotate through the first servo motor, so that the ball screw nut moves linearly along the axis and drives the end actuator nut seat (4) to generate axial displacement through the four linear output rods (2), thereby realizing linear telescopic motion.

4. The orthogonal rotary telescopic transmission mechanism as described in claim 1, characterized in that, The rotary drive unit also includes a second servo motor and a coupling. The second servo motor is connected to the rotary input rod (5) via the coupling. The rotary input rod (5) is fixedly connected to the rotary transmission shaft (6).

5. The orthogonal rotary telescopic transmission mechanism as described in claim 4, characterized in that, The positive cross-linking housing (3) is used to connect the linear drive unit and the rotary drive unit, and to fix the rotary transmission shaft (6); the rotary drive unit drives the rotary input rod (5) to rotate through the second servo motor, and drives the end actuator nut seat (4) to achieve circumferential rotation through the rotary transmission shaft (6).

6. The orthogonal rotary telescopic transmission mechanism as described in claim 1, characterized in that, The linear drive unit also includes a linear connecting housing (7) and a linear fixing housing (8), and the ball screw (1) passes through the interior of the linear connecting housing (7) and the linear fixing housing (8).

7. The orthogonal rotary telescopic transmission mechanism as described in claim 2, characterized in that, The four linear output rods (2) are symmetrically distributed along the circumference of the ball screw nut, and their two ends are fixedly connected to the ball screw nut and the end actuator nut seat (4), respectively.

8. The orthogonal rotary telescopic transmission mechanism as described in claim 1, characterized in that, The end effector unit consists of an end effector nut seat (4), which is simultaneously connected to the linear output rod (2) and the rotary transmission shaft (6).

9. The orthogonal rotary telescopic transmission mechanism as described in claim 8, characterized in that, The outer end face of the end-acting nut seat (4) is provided with a connecting structure for connecting the driven component.

10. The orthogonal rotary telescopic transmission mechanism as described in claim 6, characterized in that, The linear fixed housing (8) and the linear connecting housing (7) are connected in sequence to support the installation and operation of the ball screw (1).

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