Five-axis full servo pulley rack and pinion transmission mechanism

Abstract

The present application discloses a five-axis full-servo pull-out gear rack transmission mechanism, including a pull-out arm body, a transverse arch, a finished product arm and a material head arm, the transverse arch is provided with a guide rail for the pull-out arm to slide, the guide rail is provided with a cylinder for driving the pull-out arm to slide, one side of the cylinder is provided with an electric control box, the pull-out arm is provided with a finished product arm pull-out gear rack transmission mechanism and a material head arm pull-out gear rack transmission mechanism, the finished product arm is installed on the finished product arm pull-out gear rack transmission mechanism, and the material head arm is installed on the material head arm pull-out gear rack transmission mechanism. The present invention effectively reduces the cost of the entire manipulator, and is simpler and more convenient to use and maintain than a single-axis servo manipulator.

Description

Technical Field

[0001] The invention relates to the technical field of transmission mechanisms, and in particular to a five-axis full-servo pulley gear rack transmission mechanism. Background Art

[0002] In recent years, the cost of labor has been rising, and the injection molding workshop urgently needs a full servo injection molding machine robot to replace manual picking. In recent years, with the popularity of single-axis servo robots, it has been found that the life of cylinders and hydraulic buffers is limited during use, and they need to be replaced regularly, resulting in high cost in the later period. In addition, the single-axis servo robot needs to manually adjust the position of the travel block, and there are many changes in use. Summary of the invention

[0003] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a five-axis full-servo pulley gear rack transmission mechanism.

[0004] To solve the above technical problems, the present invention adopts the following technical solutions:

[0005] A five-axis full-servo drawing and pulling gear rack transmission mechanism comprises a drawing and pulling arm body, a transverse arch, a finished product arm and a material head arm. The transverse arch is provided with a guide rail for the drawing and pulling arm to slide, and the guide rail is provided with a cylinder for driving the drawing and pulling arm to slide. An electric control box is provided on one side of the cylinder. The drawing and pulling arm is provided with a finished product arm drawing and pulling gear rack transmission mechanism and a material head arm drawing and pulling gear rack transmission mechanism. The finished product arm is installed on the finished product arm drawing and pulling gear rack transmission mechanism, and the material head arm is installed on the material head arm drawing and pulling gear rack transmission mechanism.

[0006] In the embodiment of the present invention, the main body of the drawing arm includes a drawing limit block, a die-bevel gear rack, a slide rail, a two-hole slider, a four-hole slider, a drawing arm fixing plate, a drawing arm, a drawing induction iron sheet and a drawing arm end cover. The drawing arm end cover is installed at both ends of the drawing arm, the die-bevel gear rack is arranged along the length direction of the drawing arm, the drawing limit blocks are respectively installed at both ends of the die-bevel gear rack, the drawing arm fixing plate is installed at the lower end of the drawing arm, the slide rails are respectively in the length direction of the drawing arm, and the two-hole slider and the four-hole slider are both slidably installed on the slide rails, and a pair of drawing induction iron sheets are provided and installed at the upper end of the drawing arm.

[0007] In the embodiment of the present invention, the spacing between the pull-out induction iron sheets is equal to the length of the die bevel gear rack.

[0008] In the embodiment of the present invention, the finished arm pulley gear rack transmission mechanism includes a first servo motor with a brake, a first reducer, a first synchronous pulley, a first expansion sleeve, a first upper and lower motor fixing seat, a first pulley gear retaining ring, a first helical gear, a second reducer, a first servo motor without a brake, a first upper and lower motor idler seat, a first upper and lower motor idler washer, a first upper and lower motor idler, a first upper and lower motor idler pin, a first pulley actuating plate, a first proximity switch and a positive arm pulley junction box, the first reducer is installed at one end of the first servo motor with a brake, and the first synchronous pulley and the first expansion sleeve are both sleeved on the first On the reducer, the end of the first reducer away from the first servo motor with brake is fixed on the first upper and lower motor fixing seat, the first pull-out pulling plate is fixed on the upper end of the first upper and lower motor fixing seat, the positive arm pull-out terminal box is installed on the first pull-out pulling plate, the first proximity switch is installed on the first pull-out pulling plate, the first upper and lower motor idler seat is fixed to the first upper and lower motor fixing seat by the first upper and lower motor idler washer, the first upper and lower motor idler and the first upper and lower motor idler pin, and the first servo motor without brake is fixed to the first upper and lower motor fixing seat by the first pull-out gear retaining ring, the first helical gear and the second reducer.

[0009] In the embodiment of the present invention, the gear rack transmission mechanism of the material head arm pulling includes a second servo motor with a brake, a third reducer, a second synchronous pulley, a second expansion sleeve, a second upper and lower motor fixing seat, a second pulling gear retaining ring, a second helical gear, a fourth reducer, a second servo motor without a brake, a second upper and lower motor idler seat, a second upper and lower motor idler washer, a second upper and lower motor idler, a second upper and lower motor idler pin, a second pulling pull plate, a second proximity switch and a secondary arm pulling junction box, the third reducer is installed at one end of the second servo motor with a brake, and the second synchronous pulley and the second expansion sleeve are both sleeved on the third On the reducer, the end of the third reducer away from the second servo motor with brake is installed on the second upper and lower motor fixing seat, the second pull-out plate is installed on the second upper and lower motor fixing seat, the auxiliary arm pull-out terminal box is installed on the second pull-out plate, the second proximity switch is installed on the second pull-out plate, the second upper and lower motor idler seat is fixed to the second upper and lower motor fixing seat by the second upper and lower motor idler washer, the second upper and lower motor idler, and the second upper and lower motor idler pin, and the second servo motor without brake is fixed to the second upper and lower motor fixing seat by the second pull-out gear retaining ring, the second helical gear and the fourth reducer.

[0010] The beneficial effects of the present invention are as follows: the drawing arm fixing plate is fixed on the drawing arm by means of a stop limiter, so that the overall structure is more stable and can withstand certain impacts and vibrations caused by the switch mold of the injection molding machine. Under the premise of ensuring stability, the drawing slider adopts two two-hole sliders on the upper side and a four-hole slider on the lower side to make room for the drawing gear. The mold helical rack and the slide rail are installed on the same side of the drawing arm, which is conducive to controlling the processing accuracy and ensuring the consistency of the gear rack assembly distance. The mechanism concentrates the upper and lower synchronous pulleys, idler wheels and drawing gears of the finished arm on the upper and lower motor fixing seats. A motor fixing seat is equipped with a reducer and servo motor with two parts of transmission, making the overall structure more compact and effectively improving the utilization space of the drawing arm. Under the same drawing stroke, the drawing arm can be made shorter, reducing the overall weight of the drawing arm. The two reducer mounting holes are processed together on the same surface to avoid multiple clamping, effectively ensuring the tolerance here and improving the service life of this mechanism. Since the transmission part of the drawing gear rack of the material head arm adopts the same structure as the finished arm, more parts can be used in common, which is conducive to reducing the pressure of the warehouse and saving costs. The finished product arm and the material head arm adopt a symmetrical structure, which can shorten the minimum distance between the side posture group and the clamp group, and is suitable for thinner medium plate molds. The invention effectively reduces the cost of the entire robot, and is simpler and more convenient to use and maintain than a single-axis servo robot.

[0011] Other features and advantages of the present invention will be disclosed in detail in the following specific embodiments and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a structural schematic diagram of the five-axis full servo pulley rack and pinion transmission mechanism of the present invention;

[0013] Figure 2 It is an exploded view of the pull arm in the five-axis full-servo pull gear rack transmission mechanism of the present invention;

[0014] Figure 3 It is an exploded view of the finished product arm drawing gear rack transmission mechanism in the five-axis full-servo drawing gear rack transmission mechanism of the present invention;

[0015] Figure 4 It is an exploded view of the material head arm pulling gear rack transmission mechanism in the five-axis full-servo pulling gear rack transmission mechanism described in the present invention.

[0016] The reference numerals in the figures are:

[0017] 1. Extraction arm body; 1-1. Extraction limit stopper; 1-2. Die bevel rack; 1-3. Slide rail; 1-4. Two-hole slider; 1-5. Four-hole slider; 1-6. Extraction arm fixing plate; 1-7. Extraction arm; 1-8. Extraction induction iron sheet; 1-9. Extraction arm end cover;

[0018] 2. Finished arm pulley gear rack transmission mechanism; 2-1. First servomotor with brake; 2-2. First reducer; 2-3. First synchronous pulley; 2-4. First expansion sleeve; 2-5. First upper and lower motor fixing seat; 2-6. First pulley gear retaining ring; 2-7. First helical gear; 2-8. Second reducer; 2-9. First servomotor without brake; 2-10. First upper and lower motor idler seat; 2-11. First upper and lower motor idler washer; 2-12. First upper and lower motor idler; 2-13. First upper and lower motor idler pin; 2-14. First pulley actuating plate; 2-15. First proximity switch; 2-16. Positive arm pulley junction box;

[0019] 3. Material head arm pulley gear rack transmission mechanism; 3-1. Second servomotor with brake; 3-2. Third reducer; 3-3. Second synchronous pulley; 3-4. Second expansion sleeve; 3-5. Second upper and lower motor fixing seat; 3-6. Second pulley gear retaining ring; 3-7. Second helical gear; 3-8. Fourth reducer; 3-9. Second servomotor without brake; 3-10. Second upper and lower motor idler seat; 3-11. Second upper and lower motor idler washer; 3-12. Second upper and lower motor idler; 3-13. Second upper and lower motor idler pin; 3-14. Second pulley plate; 3-15. Second proximity switch; 3-16. Auxiliary arm pulley junction box;

[0020] 4. Finished product arm; 5. Material head arm; 6. Horizontal arch; 7. Guide rail; 8. Cylinder; 9. Electric control box. DETAILED DESCRIPTION

[0021] The technical solutions of the embodiments of the present invention are explained and described below in conjunction with the drawings of the embodiments of the present invention, but the following embodiments are only preferred embodiments of the present invention, not all. Based on the embodiments in the implementation mode, other embodiments obtained by those skilled in the art without creative work are all within the protection scope of the present invention.

[0022] In the following description, terms such as "inside", "outside", "up", "down", "left", "right", etc. that indicate directions or positional relationships are only used to facilitate the description of the embodiments and simplify the description, and do not indicate or imply that the referred device or element must have a specific direction, be constructed and operate in a specific direction. Therefore, it should not be understood as a limitation of the present invention.

[0023] like Figure 1-4As shown, a five-axis full-servo drawing and pulling gear rack transmission mechanism proposed in an embodiment of the present invention includes a drawing and pulling arm body 1, a transverse arch 6, a finished product arm 4 and a head arm 5. The transverse arch 6 is provided with a guide rail 7 for the drawing and pulling arm body 1 to slide, and the guide rail 7 is provided with a cylinder 8 for driving the drawing and pulling arm body 1 to slide. An electric control box 9 is provided on one side of the cylinder 8. The drawing and pulling arm body 1 is provided with a finished product arm drawing and pulling gear rack transmission mechanism 2 and a head arm drawing and pulling gear rack transmission mechanism 3. The finished product arm 4 is installed on the finished product arm drawing and pulling gear rack transmission mechanism 2, and the head arm 5 is installed on the head arm drawing and pulling gear rack transmission mechanism 3.

[0024] In this embodiment, the pulling arm body 1 includes a pulling limit block 1-1, a die-bevel gear rack 1-2, a slide rail 1-3, a two-hole slider 1-4, a four-hole slider 1-5, a pulling arm fixing plate 1-6, a pulling arm 1-7, a pulling induction iron sheet 1-8 and a pulling arm end cover 1-9. The pulling arm end cover 1-9 is installed at both ends of the pulling arm 1-7, the die-bevel gear rack 1-2 is arranged along the length direction of the pulling arm 1-7, the pulling limit block 1-1 is respectively installed at both ends of the die-bevel gear rack 1-2, the pulling arm fixing plate 1-6 is installed at the lower end of the pulling arm 1-7, the slide rail 1-3 is respectively in the length direction of the pulling arm 1-7, and the two-hole slider 1-4 and the four-hole slider 1-5 are both slidably installed on the slide rail 1-3, and a pair of pulling induction iron sheets 1-8 are provided and installed at the upper end of the pulling arm 1-7.

[0025] In this embodiment, the spacing between the pull-out induction iron sheets 1-8 is equal to the length of the die-bevel gear rack 1-2.

[0026] In this embodiment, the finished arm pulley gear rack transmission mechanism 2 includes a first servo motor with a brake 2-1, a first reducer 2-2, a first synchronous pulley 2-3, a first expansion sleeve 2-4, a first upper and lower motor fixing seat 2-5, a first pulley gear retaining ring 2-6, a first helical gear 2-7, a second reducer 2-8, a first servo motor without a brake 2-9, a first upper and lower motor idler seat 2-10, a first upper and lower motor idler washer 2-11, a first upper and lower motor idler 2-12, a first upper and lower motor idler pin 2-13, a first pulley plate 2-14, a first proximity switch 2-15 and a positive arm pulley terminal box 2-16. The first reducer 2-2 is installed at one end of the first servo motor with a brake 2-1, and the first synchronous pulley 2-3 and the first expansion sleeve 2-4 are both sleeved on the first reducer The first reducer 2-2 is fixed on the first upper and lower motor fixing seat 2-5 at one end away from the first servo motor with brake 2-1, the first pull-out plate 2-14 is fixed on the upper end of the first upper and lower motor fixing seat 2-5, the positive arm pull-out terminal box 2-16 is installed on the first pull-out plate 2-14, the first proximity switch 2-15 is installed on the first pull-out plate 2-14, the first upper and lower motor idler seat 2-10 is fixed to the first upper and lower motor fixing seat 2-5 through the first upper and lower motor idler washer 2-11, the first upper and lower motor idler 2-12 and the first upper and lower motor idler pin 2-13, and the first servo motor without brake 2-9 is fixed to the first upper and lower motor fixing seat 2-5 through the first pull-out gear retaining ring 2-6, the first helical gear 2-7 and the second reducer 2-8.

[0027] It can be understood that the mechanism concentrates the upper and lower synchronous pulleys, idler wheels and extraction gears of the finished arm 4 on the upper and lower motor fixing seats 2-5. One motor fixing seat is equipped with a reducer and servo motor for transmission of two parts, making the overall structure more compact and effectively improving the utilization space of the extraction arm. Under the same extraction stroke, the extraction arm can be made shorter, reducing the overall weight of the extraction arm. The extraction transmission gear uses 1.5 die 19 teeth, rotates a circle of 95mm, and the maximum speed can reach 0.9M / S, which basically meets the speed requirements of the extraction transmission. The smaller extraction gear requires less installation space, and the 60 flange 5 to 400W reducer forms a compact extraction transmission mechanism. The upper and lower motor fixing seats are cast aluminum parts. Special fixtures are used to process this workpiece on the machining center. The two reducer mounting holes are processed together on the same surface to avoid multiple clamping, effectively ensuring the tolerance here and improving the service life of this mechanism.

[0028] In this embodiment, the material head arm pulling gear rack transmission mechanism 3 includes a second servomotor with brake 3-1, a third reducer 3-2, a second synchronous pulley 3-3, a second expansion sleeve 3-4, a second upper and lower motor fixing seat 3-5, a second pulling gear retaining ring 3-6, a second helical gear 3-7, a fourth reducer 3-8, a second servomotor without brake 3-9, a second upper and lower motor idler seat 3-10, a second upper and lower motor idler washer 3-11, a second upper and lower motor idler 3-12, a second upper and lower motor idler pin 3-13, a second pulling pull plate 3-14, a second proximity switch 3-15 and a secondary arm pulling junction box 3-16. The third reducer 3-2 is installed at one end of the second servomotor with brake 3-1, and the second synchronous pulley 3-3 and the second expansion sleeve 3-4 are both sleeved on the third reducer The third reducer 3-2 is mounted on the second upper and lower motor fixing seat 3-5, the end of the third reducer 3-2 away from the second servo motor with brake 3-1 is mounted on the second upper and lower motor fixing seat 3-5, the second pull-out plate 3-14 is mounted on the second upper and lower motor fixing seat 3-5, the auxiliary arm pull-out terminal box 3-16 is mounted on the second pull-out plate 3-14, the second proximity switch 3-15 is mounted on the second pull-out plate 3-14, the second upper and lower motor idler seat 3-12 is fixed to the second upper and lower motor fixing seat 3-5 through the second upper and lower motor idler washer 3-11, the second upper and lower motor idler 3-12, and the second upper and lower motor idler pin 3-13, and the second servo motor without brake 3-9 is fixed to the second upper and lower motor fixing seat 3-5 through the second pull-out gear retaining ring 3-6, the second helical gear 3-7 and the fourth reducer 3-8.

[0029] It is understandable that since the gear rack transmission part of the material head arm adopts the same structure as the finished product arm, more parts can be used in common, which is conducive to reducing the pressure of inventory preparation and saving costs. The finished product arm and the material head arm adopt a symmetrical structure, which can shorten the minimum distance between the side posture group and the clamp group, and is suitable for thinner medium plate molds.

[0030] The above description is only a preferred embodiment of the present invention, and does not limit the patent protection scope of the present invention. Any equivalent structural transformation made by using the contents of the present invention and the drawings, directly or indirectly used in other related technical fields, is also included in the protection scope of the present invention.

Claims

1. A five-axis full-servo pulley rack and pinion transmission mechanism, characterized in that: It includes a guide arm body, a transverse arch, a finished product arm and a head arm. The transverse arch is provided with a guide rail for the guide arm to slide, and the guide rail is provided with a cylinder for driving the guide arm to slide. An electric control box is provided on one side of the cylinder. The guide arm is provided with a finished product arm guide gear rack transmission mechanism and a head arm guide gear rack transmission mechanism. The finished product arm is installed on the finished product arm guide gear rack transmission mechanism, and the head arm is installed on the head arm guide gear rack transmission mechanism; the finished product arm guide gear rack transmission mechanism includes a first servo motor with a brake, a first reducer, a first synchronous pulley, a first expansion sleeve, a first upper and lower motor fixing seat, a first guide gear retaining ring, a first helical gear, a second reducer, a first servo motor without a brake, a first An upper and lower motor idler pulley seat, a first upper and lower motor idler pulley washer, a first upper and lower motor idler pulley, a first upper and lower motor idler pulley pin, a first pull-out traction plate, a first proximity switch and a positive arm pull-out terminal box, a first reducer is installed at one end of the first servo motor with a brake, a first synchronous pulley and a first expansion sleeve are both sleeved on the first reducer, an end of the first reducer away from the first servo motor with a brake is fixed to the first upper and lower motor fixing seat, the first pull-out traction plate is fixed to the upper end of the first upper and lower motor fixing seat, the positive arm pull-out terminal box is installed on the first pull-out traction plate, the first proximity switch is installed on the first pull-out traction plate, the first upper and lower motor idler pulley seat is connected to the first upper and lower motor idler pulley washer, the first upper and lower motor idler pulley and The first upper and lower motor idler pin is fixed on the first upper and lower motor fixing seat, and the first servo motor without brake is fixed on the first upper and lower motor fixing seat through the first pull-out gear retaining ring, the first helical gear and the second reducer. The material head arm pull-out gear rack transmission mechanism includes a second servo motor with brake, a third reducer, a second synchronous pulley, a second expansion sleeve, a second upper and lower motor fixing seat, a second pull-out gear retaining ring, a second helical gear, a fourth reducer, a second servo motor without brake, a second upper and lower motor idler seat, a second upper and lower motor idler washer, a second upper and lower motor idler, a second upper and lower motor idler pin, a second pull-out traction plate, a second proximity switch and a secondary arm pull-out junction box, and the third reducer is installed At one end of the second servo motor with brake, the second synchronous pulley and the second expansion sleeve are both sleeved on the third reducer, and the end of the third reducer away from the second servo motor with brake is installed on the second upper and lower motor fixing seat, the second pull-out plate is installed on the second upper and lower motor fixing seat, the auxiliary arm pull-out terminal box is installed on the second pull-out plate, the second proximity switch is installed on the second pull-out plate, the second upper and lower motor idler seat is fixed to the second upper and lower motor fixing seat by the second upper and lower motor idler washer, the second upper and lower motor idler, and the second upper and lower motor idler pin, and the second servo motor without brake is fixed to the second upper and lower motor fixing seat by the second pull-out gear retaining ring, the second helical gear and the fourth reducer.

2. The five-axis full-servo pulley rack and pinion transmission mechanism according to claim 1, characterized in that: The main body of the pull arm includes a pull limit block, a die bevel gear rack, a slide rail, a two-hole slider, a four-hole slider, a pull arm fixing plate, a pull arm, a pull induction iron sheet and a pull arm end cover. The pull arm end cover is installed at both ends of the pull arm, the die bevel gear rack is arranged along the length direction of the pull arm, the pull limit blocks are respectively installed at both ends of the die bevel gear rack, the pull arm fixing plate is installed at the lower end of the pull arm, the slide rails are respectively in the length direction of the pull arm, and the two-hole slider and the four-hole slider are both slidably installed on the slide rails, and a pair of pull induction iron sheets are provided and installed at the upper end of the pull arm.

3. The five-axis full-servo pulley rack and pinion transmission mechanism according to claim 2, characterized in that: The distance between the pull-out induction iron sheets is equal to the length of the die bevel gear rack.

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