Efficient and high-precision injection molding manipulator

Abstract

The invention belongs to the technical field of injection molding equipment, and particularly relates to an efficient and high-precision injection molding manipulator which comprises a machine base, a Y-axis module, an X-axis module, a first Z-axis module, a second Z-axis module and an interpolation system. The first Z-axis module comprises a first Z-axis saddle, a first Z-axis moving assembly, a first Z-axis lifting assembly and a first Z-axis material taking assembly. According to the efficient and high-precision injection molding manipulator provided by the invention, the first Z-axis module and the second Z-axis module are arranged on the X-axis module, and the Y-axis module drives the X-axis module to move and synchronously drives the first Z-axis module and the second Z-axis module to synchronously move, so that the stroke of a Z axis is reduced, and the working efficiency is improved; by arranging the high-precision sensor on the Y-axis, all-directional and high-precision real-time monitoring on the abrasion of the Y-axis track is realized, the minimum abrasion sign of the Y-axis can be sensitively captured, and a solid data foundation is provided for subsequent precise compensation, so that the precision is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of injection molding equipment, and in particular relates to a high-efficiency and high-precision injection molding robot. Background Art

[0002] The injection molding robot is a machine specially equipped for injection molding production automation. It can reduce heavy physical labor, improve working conditions and ensure safe production. It can imitate some functions of the upper limbs of the human body and can be automatically controlled to transport products or operate tools to perform production operations according to predetermined requirements. The existing injection molding robot has one Y-axis equipped with a finished product Z-axis and another Y-axis equipped with a water intake Z-axis. Both the finished product Z-axis and the water intake Z-axis must travel through the Y-axis above to take materials, resulting in an increase in the travel of the finished product Z-axis and the water intake Z-axis, reducing work efficiency. After a period of use, the tracks of the robot in the three axes of X, Y, and Z are prone to varying degrees of wear, which directly leads to a serious decrease in the movement accuracy of the robot in three-dimensional space, thereby affecting product processing quality and production efficiency. Summary of the invention

[0003] The purpose of the present invention is to provide an efficient and high-precision injection molding robot, aiming to solve the technical problem in the prior art that the Z-axis stroke of the finished product and the Z-axis stroke of the water intake are increased, thereby reducing the working efficiency.

[0004] To achieve the above-mentioned purpose, an embodiment of the present invention provides a high-efficiency and high-precision injection molding robot, comprising a machine base, a Y-axis module, an X-axis module, a first Z-axis module, a second Z-axis module and an interpolation system; the Y-axis module is connected to the machine base, the X-axis module is connected to the Y-axis module, the first Z-axis module and the second Z-axis module are both connected to the X-axis module, and the interpolation system is respectively connected to the Y-axis module, the X-axis module, the first Z-axis module and the second Z-axis module;

[0005] The Y-axis module comprises a Y-axis saddle, a Y-axis slide rail, a first Y-axis slider, a second Y-axis slider, a Y-axis motor, a Y-axis output gear and a Y-axis toothed plate, wherein the Y-axis saddle is connected to the machine base, the Y-axis slide rail is connected to the Y-axis saddle, the first Y-axis slider and the second Y-axis slider are both slidably connected to the Y-axis slide rail, the Y-axis motor is connected to the first slider, the Y-axis output gear is connected to the Y-axis motor and meshed with the Y-axis toothed plate, and the Y-axis toothed plate is connected to the Y-axis saddle;

[0006] The X-axis module includes an X-axis saddle, an X-axis slide rail, an X-axis slider, an X-axis toothed plate, a first X-axis drag chain and a second X-axis drag chain, wherein the X-axis slide rail is connected to one side of the X-axis saddle, the X-axis slider is slidably connected to the X-axis slide rail, the first X-axis drag chain and the second X-axis drag chain are connected to the other side of the X-axis saddle, and the X-axis toothed plate is connected to the top of the X-axis saddle; the X-axis saddle is respectively connected to the Y-axis motor and the second Y-axis slider;

[0007] The interpolation system includes a Y-axis laser displacement sensor, a Y-axis strain gauge force sensor, an angle offset alarm and an IPC control system. The Y-axis laser displacement sensor is connected to the Y-axis saddle and is arranged on one side of the long side of the second Y-axis slider. The Y-axis strain gauge force sensor is connected to the side of the short side of the second Y-axis slider, and the bottom is abutted against the Y-axis slide rail. The angle offset alarm is connected to the side of the Y-axis saddle and is electrically connected to the IPC control system. The Y-axis laser displacement sensor and the Y-axis strain gauge force sensor are both electrically connected to the IPC control system.

[0008] As an optional solution of the present invention, there are two X-axis slide rails, both of which are fixedly connected to the X-axis saddle, and the two X-axis slide rails are arranged in parallel; and two X-axis sliders are slidably connected to each of the X-axis slide rails.

[0009] As an optional solution of the present invention, the first Z-axis module includes a first Z-axis saddle, a first Z-axis moving assembly, a first Z-axis lifting assembly and a first Z-axis material picking assembly, the first Z-axis moving assembly is respectively connected to the X-axis slider and the first Z-axis saddle, the first Z-axis lifting assembly is respectively connected to the first Z-axis saddle and the first Z-axis moving assembly, the first Z-axis material picking assembly is connected to the first Z-axis saddle; the first Z-axis moving assembly is connected to the first X-axis drag chain.

[0010] As an optional solution of the present invention, the second Z-axis module includes a second Z-axis saddle, a second Z-axis moving assembly, a second Z-axis lifting assembly and a second Z-axis material picking assembly, the second Z-axis moving assembly is respectively connected to the X-axis slider and the second Z-axis saddle, the second Z-axis lifting assembly is respectively connected to the second Z-axis saddle and the second Z-axis moving assembly, the second Z-axis material picking assembly is connected to the second Z-axis saddle; the second Z-axis moving assembly is connected to the second X-axis drag chain.

[0011] As an optional scheme of the present invention, the first Z-axis moving assembly includes a first Z-axis slide plate, a first X-axis moving motor, a first Z-axis connecting plate, a first Z-axis moving gear and a first Z-axis drag chain, the first Z-axis slide plate is fixedly connected to the X-axis slide block, the first X-axis moving motor is fixedly connected to the first Z-axis slide plate, the first Z-axis connecting plate is fixedly connected to the first X-axis moving motor and the first X-axis drag chain, the first Z-axis moving gear is fixedly connected to the first X-axis moving motor and meshingly connected to the X-axis gear plate, and the first Z-axis drag chain is fixedly connected to the first Z-axis connecting plate and the first Z-axis saddle, respectively.

[0012] As an optional solution of the present invention, the first Z-axis lifting assembly includes a first Z-axis slider, a first Z-axis slide rail, a first Z-axis lifting motor, a first Z-axis motor frame, a first Z-axis driving wheel, a first Z-axis belt, a first Z-axis driven pulley, a first Z-axis driven pulley, a first Z-axis driven pulley, a first Z-axis belt fixing seat and a first Z-axis belt positioning seat, the first Z-axis slider is fixedly connected to the first Z-axis slide plate and slidably connected to the first Z-axis slide rail, the first Z-axis slide rail is fixedly connected to the first Z-axis saddle; the first Z-axis motor frame is fixedly connected to the first Z-axis slide plate, and the first Z-axis lifting motor is fixedly connected to the first Z-axis motor frame, the first Z-axis driving wheel is fixedly connected to the first Z-axis motor; the first Z-axis belt is respectively fixedly arranged around the first Z-axis driving wheel, the first Z-axis driven pulley, the first Z-axis driven pulley, and the first Z-axis slave pulley, and the first Z-axis driven pulley, the first Z-axis driven pulley, and the first Z-axis slave pulley are all rotatably connected to the first Z-axis motor frame; one end of the first Z-axis belt is fixedly connected to the first Z-axis belt fixing seat, and the other end is fixedly connected to the first Z-axis belt positioning seat; the first Z-axis belt fixing seat is fixedly connected to the top of the first Z-axis saddle, and the first Z-axis belt positioning seat is fixedly connected to the bottom of the first Z-axis saddle.

[0013] As an optional scheme of the present invention, the first Z-axis material picking assembly includes a first Z-axis lifting cylinder, a first Z-axis rotating block, a first Z-axis material picking block and a first Z-axis rotating shaft, the first Z-axis lifting cylinder is fixedly connected to the first Z-axis saddle, the first Z-axis rotating block is rotatably connected to the first Z-axis lifting cylinder, the first Z-axis material picking block is arranged on the bottom side of the first Z-axis rotating block, and the first Z-axis rotating shaft is sequentially penetrated through the first Z-axis rotating block and the first Z-axis material picking block.

[0014] As an optional solution of the present invention, the second Z-axis moving assembly includes a second Z-axis slide plate, a second X-axis moving motor, a second Z-axis connecting plate, a second Z-axis moving gear and a second Z-axis drag chain, the second Z-axis slide plate is fixedly connected to the X-axis slide block, the second X-axis moving motor is fixedly connected to the second Z-axis slide plate, the second Z-axis connecting plate is respectively fixedly connected to the second X-axis moving motor and the second X-axis drag chain, the second Z-axis moving gear is fixedly connected to the second X-axis moving motor and meshingly connected to the X-axis gear plate, and the second Z-axis drag chain is respectively fixedly connected to the second Z-axis connecting plate and the second Z-axis saddle.

[0015] As an optional solution of the present invention, the second Z-axis lifting assembly includes a second Z-axis slider, a second Z-axis slide rail, a second Z-axis lifting motor, a second Z-axis motor frame, a second Z-axis driving wheel, a second Z-axis belt, a second Z-axis driven pulley, a second Z-axis driven pulley, a second Z-axis belt fixed seat and a second Z-axis belt positioning seat, the second Z-axis slider is fixedly connected to the second Z-axis slide plate and slidably connected to the second Z-axis slide rail, the second Z-axis slide rail is fixedly connected to the second Z-axis saddle; the second Z-axis motor frame is fixedly connected to the second Z-axis slide plate, and the second Z-axis lifting motor is fixedly connected to the second Z-axis motor frame, the second Z-axis driving wheel is fixedly connected to the second Z-axis motor; the second Z-axis belt is respectively fixedly arranged around the second Z-axis driving wheel, the second Z-axis driven pulley, the second Z-axis driven pulley, and the second Z-axis slave pulley, and the second Z-axis driven pulley, the second Z-axis driven pulley, and the second Z-axis slave pulley are all rotatably connected to the second Z-axis motor frame; one end of the second Z-axis belt is fixedly connected to the second Z-axis belt fixing seat, and the other end is fixedly connected to the second Z-axis belt positioning seat; the second Z-axis belt fixing seat is fixedly connected to the top of the second Z-axis saddle, and the second Z-axis belt positioning seat is fixedly connected to the bottom of the second Z-axis saddle.

[0016] As an optional solution of the present invention, the second Z-axis material picking assembly includes a second Z-axis cylinder fixing seat, a second Z-axis clamping cylinder and a second Z-axis clamping jaw, the second Z-axis cylinder fixing seat is fixedly connected to the second Z-axis saddle, the second Z-axis clamping cylinder is fixedly connected to the second Z-axis cylinder fixing seat, and the second Z-axis clamping jaw is fixedly connected to the second Z-axis clamping cylinder.

[0017] The above one or more technical solutions in the high-efficiency and high-precision injection molding robot provided by the embodiment of the present invention have at least one of the following technical effects:

[0018] The high-efficiency and high-precision injection molding robot provided by the present application includes a machine base, a Y-axis module, an X-axis module, a first Z-axis module and a second Z-axis module. By arranging the first Z-axis module and the second Z-axis module on the X-axis module, the Y-axis module drives the X-axis module to move, and simultaneously drives the first Z-axis module and the second Z-axis module to move synchronously, thereby reducing the stroke of the Z-axis and improving work efficiency; by arranging the Y-axis laser displacement sensor and the Y-axis strain gauge force sensor on the Y-axis slide rail, all-round, high-precision real-time monitoring of the wear of the Y-axis slide rail is achieved, and the smallest signs of wear of the Y-axis can be keenly captured, providing a solid data foundation for subsequent precise compensation, thereby improving accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0020] Figure 1 A three-dimensional diagram of a high-efficiency and high-precision injection molding robot provided in an embodiment of the present invention.

[0021] Figure 2 A three-dimensional diagram of the Y-axis module of the high-efficiency and high-precision injection molding robot provided in an embodiment of the present invention.

[0022] Figure 3 A three-dimensional diagram of the Y-axis module of the high-efficiency and high-precision injection molding robot provided in an embodiment of the present invention.

[0023] Figure 4 A three-dimensional diagram of the X-axis module of the high-efficiency and high-precision injection molding robot provided in an embodiment of the present invention.

[0024] Figure 5 A three-dimensional diagram of the X-axis module of the high-efficiency and high-precision injection molding robot provided in an embodiment of the present invention.

[0025] Figure 6 A three-dimensional diagram of the first Z-axis module of the high-efficiency and high-precision injection molding robot provided in an embodiment of the present invention.

[0026] Figure 7 A three-dimensional diagram of the first Z-axis module of the high-efficiency and high-precision injection molding robot provided in an embodiment of the present invention.

[0027] Figure 8 A three-dimensional diagram of the second Z-axis module of the high-efficiency and high-precision injection molding robot provided in an embodiment of the present invention.

[0028] Fig. 9A three-dimensional diagram of the second Z-axis module of the high-efficiency and high-precision injection molding robot provided in an embodiment of the present invention.

[0029] Fig.10 for Figure 2 A partial enlarged view of middle A.

[0030] Among them, the reference numerals in the figure are:

[0031] 1. Machine base; 2. Y-axis module; 3. X-axis module; 4. First Z-axis module; 5. Second Z-axis module; 6. Angle deviation alarm;

[0032] 21. Y-axis saddle; 22. Y-axis slide rail; 23. First Y-axis slider; 24. Second Y-axis slider; 25. Y-axis motor; 26. Y-axis output gear; 27. Y-axis gear plate; 28. Y-axis laser displacement sensor; 29. ​​Y-axis strain gauge force sensor;

[0033] 31. X-axis saddle; 32. X-axis slide rail; 33. X-axis slider; 34. X-axis gear plate; 35. First X-axis drag chain; 36. Second X-axis drag chain;

[0034] 41. First Z-axis saddle; 42. First Z-axis moving assembly; 43. First Z-axis lifting assembly; 44. First Z-axis material picking assembly;

[0035] 51. Second Z-axis saddle; 52. Second Z-axis moving assembly; 53. Second Z-axis lifting assembly; 54. Second Z-axis material picking assembly;

[0036] 421, first Z-axis slide plate; 422, first X-axis moving motor; 423, first Z-axis connecting plate; 425, first Z-axis drag chain;

[0037] 431, first Z-axis slide rail; 432, first Z-axis lifting motor; 433, first Z-axis motor frame; 434, first Z-axis driving wheel; 435, first Z-axis belt; 436, first Z-axis driven pulley; 437, first Z-axis driven pulley; 438, first Z-axis belt fixing seat; 439, first Z-axis belt positioning seat;

[0038] 441, first Z-axis lifting cylinder; 442, first Z-axis material block taking;

[0039] 521, second Z-axis slide plate; 522, second X-axis moving motor; 523, second Z-axis connecting plate; 525, second Z-axis drag chain;

[0040] 531, second Z-axis slide rail; 532, second Z-axis lifting motor; 533, second Z-axis motor frame; 534, second Z-axis driving wheel; 535, second Z-axis belt; 536, second Z-axis driven pulley; 537, second Z-axis driven pulley; 538, second Z-axis belt fixing seat; 539, second Z-axis belt positioning seat;

[0041] 541, second Z-axis cylinder fixing seat; 542, second Z-axis clamping cylinder; 543, second Z-axis clamping claw. DETAILED DESCRIPTION

[0042] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the embodiments of the present invention, and should not be construed as limiting the present invention.

[0043] In the description of the embodiments of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0044] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0045] In the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, 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, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0046] In one embodiment of the present invention, Figures 1 to 10As shown, a high-efficiency and high-precision injection molding robot is provided, comprising a machine base 1, a Y-axis module 2, an X-axis module 3, a first Z-axis module 4, a second Z-axis module 5 and an interpolation system. The Y-axis module 2 is connected to the machine base 1, the X-axis module 3 is connected to the Y-axis module 2, the first Z-axis module 4 and the second Z-axis module 5 are both connected to the X-axis module 3; the interpolation system is respectively connected to the Y-axis module 2, the X-axis module 3, the first Z-axis module 4 and the second Z-axis module 5.

[0047] like Figure 2 As shown, the Y-axis module 2 includes a Y-axis saddle 21, a Y-axis slide rail 22, a first Y-axis slider 23, a second Y-axis slider 24, a Y-axis motor 25, a Y-axis output gear 26 and a Y-axis toothed plate 27. The Y-axis saddle 21 is fixedly connected to the base 1, and the Y-axis slide rail 22 is fixedly connected to the Y-axis saddle 21. The first Y-axis slider 23 and the second Y-axis slider 24 are both slidably connected to the Y-axis slide rail 22. The Y-axis motor 25 is fixedly connected to the first slider, and the Y-axis output gear 26 is fixedly connected to the Y-axis motor 25 and meshed with the Y-axis toothed plate 27, and the Y-axis toothed plate 27 is fixedly connected to the Y-axis saddle 21. The Y-axis motor 25 drives the Y-axis output gear 26, and the Y-axis output gear 26 meshes with the Y-axis toothed plate 27, and drives the Y-axis motor 25 to move along the Y-axis toothed plate 27, and moves along the Y-axis slide rail 22 through the first Y-axis slider 23. During the movement of the Y-axis motor 25 , the X-axis saddle 31 is synchronously driven to move along the Y-axis slide rail 22 via the second Y-axis slider 24 .

[0048] like Figures 3-4 As shown, the X-axis module 3 includes an X-axis saddle 31, an X-axis slide rail 32, an X-axis slider 33, an X-axis toothed plate 34, a first X-axis drag chain 35 and a second X-axis drag chain 36. The X-axis slide rail 32 is fixedly connected to one side of the X-axis saddle 31, and the X-axis slider 33 is slidably connected to the X-axis slide rail 32. The first X-axis drag chain 35 and the second X-axis drag chain 36 are fixedly connected to the other side of the X-axis saddle 31. The X-axis toothed plate 34 is fixedly connected to the top of the X-axis saddle 31. The X-axis saddle 31 is fixedly connected to the Y-axis motor 25 and the second Y-axis slider 24, respectively.

[0049] The interpolation system includes a Y-axis laser displacement sensor 28, a Y-axis strain gauge force sensor 29, an angle deviation alarm 6 and an IPC control system. The Y-axis laser displacement sensor 28 is fixedly connected to the Y-axis saddle 21 and is arranged on one side of the long side of the second Y-axis slider 24. The Y-axis strain gauge force sensor 29 is fixedly connected to the side of the short side of the second Y-axis slider 24, and the bottom is in contact with the Y-axis slide rail 22. The angle deviation alarm 6 is fixedly connected to the side of the Y-axis saddle 21 and is electrically connected to the IPC control system. The Y-axis laser displacement sensor 28 and the Y-axis strain gauge force sensor 29 are both electrically connected to the IPC control system.

[0050] The Y-axis laser displacement sensor 28 has an ultra-narrow beam angle and high resolution, and works based on the principle of laser triangulation. The emitted fine laser beam is vertically irradiated to the specific measurement area on the side of the Y-axis slider 23, and the reflected light is accurately received by the sensor. According to the laws of refraction and reflection of light and the precise triangle geometry, the tiny displacement of the Y-axis slider 23 relative to the sensor in the Y-axis direction can be accurately calculated. Assuming that the distance between the laser emission point A' and the receiving point B' of the Y-axis laser displacement sensor 28 is AB'=110mm, and the angle between the irradiation angle and the vertical direction is 30°, when the reflected light angle change is measured to correspond to ∠A'B'C'=45° (C' is the reflection point on the slider), the displacement of the Y-axis slider 23 in the Y-axis can be obtained through complex trigonometric calculations. The measurement accuracy of the Y-axis laser displacement sensor 28 can also reach ±0.008mm, ensuring high-precision monitoring of Y-axis track wear. The Y-axis strain gauge force sensor 29 monitors the change in friction along the Y-axis direction. The Y-axis strain gauge force sensor 29 works in accordance with Hooke's law (F=kx, F is the external force, k is the elastic coefficient, and x is the strain). When the second Y-axis slider 24 moves along the Y-axis slide rail 22, any fluctuation in the friction force between the Y-axis slide rail 22 and the second Y-axis slider 24 will cause the force on the force sensor to change, thereby causing the resistance of the strain gauge to change. The resistance change is monitored and converted in real time through a high-precision measurement circuit to accurately obtain the magnitude of the force. According to Hooke's law, the magnitude of the force is sensed by the change in the resistance of the strain gauge. For example, the elastic coefficient k'=110N / mm, the strain x'=0.35mm, then the external force F'=k'x'=110×0.35=38.5N. By monitoring the change in the Y-axis force, the degree of wear of the Y-axis track can be inferred, providing key data for subsequent compensation.

[0051] Data collection and preprocessing:

[0052] The IPC control system synchronously collects data from the Y-axis laser displacement sensor 28 and the Y-axis strain gauge force sensor 29 in real time at a sampling frequency of up to 2kHz. The collected displacement data are processed by an adaptive filtering algorithm, which can automatically adjust the filtering parameters according to the real-time fluctuation characteristics of the sensor data to ensure the effective removal of various noise interferences. The most accurate effective displacement value of each axis is obtained by complex weighted calculation of continuous m (such as 8) sampling values. For force data, a dynamic threshold model is established based on the historical operation data and mechanical characteristics of each axis to perform intelligent threshold judgment. When the detection force exceeds the dynamic threshold range of the corresponding axis, for example, when the offset angle of the second Y-axis slider 24 reaches 5°, the angle offset alarm 6 immediately issues a warning signal and accurately marks abnormal data points, providing a reliable basis for subsequent analysis.

[0053] Wear model establishment and compensation calculation:

[0054] A sophisticated track wear model is established for the Y axis. With time as the independent variable x and the track wear of each axis as the dependent variable y, a hybrid model combining multivariate linear regression and deep learning is used for fitting, combining the massive sensor data accumulated over a long period of time and the historical motion trajectory big data of the manipulator in three-dimensional space. For example, for the Y axis, after a long period of data collection, a set of corresponding values ​​of time and wear amount [(1,0.03), (2,0.06), (3,0.09),...] is obtained. The hybrid model is used to calculate a=0.03, b=0.00, and the Y axis wear curve y=0.03x is obtained.

[0055] After obtaining the position and force data of the second Y-axis slider 24 at the current moment, the compensation amount is calculated in combination with the wear model of the corresponding axis. If the current position of the Y-axis deviates from the theoretical position by Δx, the wear compensation amount that should be applied is predicted to be Δy_x according to the Y-axis wear model, and the compensation amount is Δx+Δy_x, ensuring that the manipulator returns to the precise motion trajectory in three-dimensional space.

[0056] Motor drive control:

[0057] According to the Y-axis compensation calculated by the IPC control system, the IPC control system sends precise control instructions to the corresponding servo motor driver. High-precision pulse width modulation (PWM) technology is used to control the motor speed and direction, and the PWM duty cycle accurately determines the motor output power. For example, if the Y-axis compensation requires the manipulator to move forward quickly, the Y-axis motor 25 forward drive PWM duty cycle is finely increased to increase the motor speed. Assuming the PWM period T = 8ms, to make the motor run at full speed, the forward drive pulse width Ton is set to 6.4ms, and the duty cycle D = (Ton / T) × 100% = (6.4 / 8) × 100% = 80%, to achieve precise driving in three-dimensional space.

[0058] The high-efficiency and high-precision injection molding robot provided by the present application, by arranging the first Z-axis module 4 and the second Z-axis module 5 on the X-axis module 3, the Y-axis module drives the X-axis module 3 to move, and synchronously drives the first Z-axis module 4 and the second Z-axis module 5 to move synchronously, thereby reducing the stroke of the Z-axis and improving work efficiency; by arranging the Y-axis laser displacement sensor 28 and the Y-axis strain gauge force sensor 29 on the Y-axis, all-round, high-precision real-time monitoring of the Y-axis track wear is achieved, and the smallest signs of wear of the Y-axis can be keenly captured, providing a solid data foundation for subsequent precise compensation, thereby improving accuracy.

[0059] In another embodiment of the present invention, Figures 5-6As shown, the first Z-axis module 4 includes a first Z-axis saddle 41, a first Z-axis moving assembly 42, a first Z-axis lifting assembly 43 and a first Z-axis material picking assembly 44. The first Z-axis moving assembly 42 is respectively connected to the X-axis slider 33 and the first Z-axis saddle 41, the first Z-axis lifting assembly 43 is respectively connected to the first Z-axis saddle 41 and the first Z-axis moving assembly 42, and the first Z-axis material picking assembly 44 is connected to the first Z-axis saddle 41. The first Z-axis moving assembly 42 is connected to the first X-axis drag chain 35.

[0060] In another embodiment of the present invention, Figures 7-8 As shown, the second Z-axis module 5 includes a second Z-axis saddle 51, a second Z-axis moving assembly 52, a second Z-axis lifting assembly 53 and a second Z-axis material picking assembly 54. The second Z-axis moving assembly 52 is respectively connected to the X-axis slider 33 and the second Z-axis saddle 51, the second Z-axis lifting assembly 53 is respectively connected to the second Z-axis saddle 51 and the second Z-axis moving assembly 52, and the second Z-axis material picking assembly 54 is connected to the second Z-axis saddle 51. The second Z-axis moving assembly 52 is connected to the second X-axis drag chain 36.

[0061] In another embodiment of the present invention, two Y-axis slide rails 22 are provided, and both are fixedly connected to the Y-axis saddle 21, and the two Y-axis slide rails 22 are arranged in parallel. A first Y-axis slider 23 and a second Y-axis slider 24 are provided on each Y-axis slide rail 22, thereby improving the stability of the X-axis module 3 when moving.

[0062] In another embodiment of the present invention, there are two X-axis slide rails 32, both of which are fixedly connected to the X-axis saddle 31, and the two X-axis slide rails 32 are arranged in parallel. Two X-axis sliders 33 are slidably connected to each X-axis slide rail 32. This improves the stability of the first Z-axis module 4 and the second Z-axis module 5 when they move.

[0063] In another embodiment of the present invention, the first X-axis drag chain 35 and the second X-axis drag chain 36 are arranged in parallel and at intervals, and are both fixedly connected to the X-axis saddle 31 .

[0064] In another embodiment of the present invention, Figures 6-7As shown, the first Z-axis moving assembly 42 includes a first Z-axis slide plate 421, a first X-axis moving motor 422, a first Z-axis connecting plate 423, a first Z-axis moving gear and a first Z-axis drag chain 425. The first Z-axis slide plate 421 is fixedly connected to the X-axis slide block 33, and the first X-axis moving motor 422 is fixedly connected to the first Z-axis slide plate 421. The first Z-axis connecting plate 423 is fixedly connected to the first X-axis moving motor 422 and the first X-axis drag chain 35, respectively. The first Z-axis moving gear is fixedly connected to the first X-axis moving motor 422, and is meshedly connected to the X-axis gear plate 34. The first Z-axis drag chain 425 is fixedly connected to the first Z-axis connecting plate 423 and the first Z-axis saddle 41, respectively. The first X-axis moving motor 422 drives the first Z-axis moving gear to rotate, and the first Z-axis moving gear is meshed and connected with the X-axis gear plate 34 and moves along the X-axis gear plate 34, thereby driving the first Z-axis slide plate 421, the first Z-axis saddle 41, the first Z-axis lifting assembly 43 and the first Z-axis material picking assembly 44 to move along the X-axis slide rail 32 through the X-axis slider 33.

[0065] In another embodiment of the present invention, Figures 6-7As shown, the first Z-axis lifting assembly 43 includes a first Z-axis slider, a first Z-axis slide rail 431, a first Z-axis lifting motor 432, a first Z-axis motor frame 433, a first Z-axis driving wheel 434, a first Z-axis belt 435, a first Z-axis driven pulley 436, a first Z-axis driven pulley, a first Z-axis driven pulley 437, a first Z-axis belt fixing seat 438 and a first Z-axis belt positioning seat 439. The first Z-axis slider is fixedly connected to the first Z-axis slide 421 and slidably connected to the first Z-axis slide rail 431, and the first Z-axis slide rail 431 is fixedly connected to the first Z-axis saddle 41. The first Z-axis motor frame 433 is fixedly connected to the first Z-axis slide 421, and the first Z-axis lifting motor 432 is fixedly connected to the first Z-axis motor frame 433. The first Z-axis driving wheel 434 is fixedly connected to the first Z-axis motor. The first Z-axis belt 435 is respectively fixed around the first Z-axis driving pulley 434, the first Z-axis driven pulley 436, the first Z-axis driven pulley, and the first Z-axis slave pulley 437. The first Z-axis driven pulley 436, the first Z-axis driven pulley, and the first Z-axis slave pulley 437 are all rotatably connected to the first Z-axis motor frame 433. One end of the first Z-axis belt 435 is fixedly connected to the first Z-axis belt fixing seat 438, and the other end is fixedly connected to the first Z-axis belt positioning seat 439. The first Z-axis belt fixing seat 438 is fixedly connected to the top of the first Z-axis saddle 41, and the first Z-axis belt positioning seat 439 is fixedly connected to the bottom of the first Z-axis saddle 41. The working principle of the first Z-axis lifting assembly 43 is as follows: the first Z-axis driving pulley 434 is driven to rotate through the rotation of the first Z-axis lifting motor 432. Since the first Z-axis belt 435 is wound around the first Z-axis driving wheel 434, the first Z-axis driven pulley 436, the first Z-axis driven wheel and the first Z-axis driven pulley 437, the belt will produce a circular motion under the drive of the driving wheel. One end of the first Z-axis belt 435 is fixed to the first Z-axis belt fixing seat 438 (connected to the top of the first Z-axis saddle 41), and the other end is fixed to the first Z-axis belt positioning seat 439 (connected to the bottom of the first Z-axis saddle 41). When the belt moves, it will generate a pulling force or a thrust force on the first Z-axis saddle 41, thereby realizing the lifting and lowering movement of the first Z-axis saddle 41 along the Z-axis direction. The working process of the first Z-axis lifting component 43 is as follows: When the first Z-axis lifting motor 432 receives the lifting command, it starts to rotate. If the motor rotates forward, the first Z-axis driving wheel 434 rotates in the clockwise direction, driving the first Z-axis belt 435 to move along a specific direction. At this time, the first Z-axis belt 435 generates a relative pulling force or pushing force on the first Z-axis belt fixing seat 438 and the first Z-axis belt positioning seat 439. Since these two seats are respectively fixed at the top and bottom of the first Z-axis saddle 41, and the sliding connection between the first Z-axis slider and the first Z-axis slide rail 431 limits the other degrees of freedom of the first Z-axis saddle 41 except the Z-axis direction, the first Z-axis saddle 41 will move upward along the first Z-axis slide rail 431.On the contrary, if the motor is reversed, the first Z-axis driving wheel 434 rotates counterclockwise, the movement direction of the first Z-axis belt 435 changes, and the first Z-axis saddle 41 moves downward along the first Z-axis slide rail 431. In the whole process, the first Z-axis driven pulley 436, the first Z-axis driven wheel and the first Z-axis slave pulley 437 play the role of assisting the belt transmission, changing the belt direction and increasing the friction between the belt and various components, ensuring that the belt can stably drive the first Z-axis saddle 41 to perform lifting and lowering movements, and the first Z-axis motor frame 433 provides a stable installation foundation for the first Z-axis lifting motor 432 and related transmission components, ensuring that the relative position relationship between the components is stable, so that the entire lifting assembly can operate normally and efficiently.

[0066] In another embodiment of the present invention, Figures 6-7 As shown, the first Z-axis material taking assembly 44 includes a first Z-axis lifting cylinder 441, a first Z-axis rotating block, a first Z-axis material taking block 442 and a first Z-axis rotating shaft. The first Z-axis lifting cylinder 441 is fixedly connected to the first Z-axis saddle 41, the first Z-axis rotating block is rotatably connected to the first Z-axis lifting cylinder 441, the first Z-axis material taking block 442 is arranged at the bottom side of the first Z-axis rotating block, and the first Z-axis rotating shaft is sequentially arranged through the first Z-axis rotating block and the first Z-axis material taking block 442. The working principle of the first Z-axis material taking assembly 44 is as follows: the linear telescopic motion of the first Z-axis lifting cylinder 441 is used to control the height position change of the first Z-axis rotating block and the first Z-axis material taking block 442 in the Z-axis direction, so as to realize the operation of approaching or moving away from the material. The first Z-axis rotating block can rotate relative to the first Z-axis lifting cylinder 441 around the first Z-axis rotating shaft. Through this rotation, the angle of the first Z-axis material taking block 442 can be adjusted so that it can adapt to the material grabbing requirements at different angles or positions, thereby improving the flexibility and accuracy of material taking. The working process of the first Z-axis material taking component 44 is as follows: when it is necessary to take materials, the first Z-axis lifting cylinder 441 first receives a control signal and starts to extend. As the cylinder extends, the first Z-axis rotating block fixedly connected thereto and the first Z-axis material taking block 442 installed on its bottom side move downward along the Z axis and gradually approach the material to be taken. When the first Z-axis material taking block 442 reaches a suitable height position and approaches the surface of the material, if the placement angle or position of the material requires adjusting the angle of the material taking block for better grabbing, the first Z-axis rotating block can rotate around the first Z-axis rotating shaft. After adjusting to a suitable angle, the first Z-axis material taking block 442 contacts the material and completes the grabbing action, thereby grabbing the finished product. After the finished product is retrieved, the first Z-axis lifting cylinder 441 contracts, driving the first Z-axis rotating block and the first Z-axis retrieving block 442 as well as the grabbed material to move upward along the Z-axis, and lifting the material to a specified height for subsequent handling or processing operations, etc. During the whole process, various components work together to achieve efficient and accurate retrieving tasks through precise control.

[0067] In another embodiment of the present invention, Figures 7-8 As shown, the second Z-axis moving assembly 52 includes a second Z-axis slide plate 521, a second X-axis moving motor 522, a second Z-axis connecting plate 523, a second Z-axis moving gear and a second Z-axis drag chain 525. The second Z-axis slide plate 521 is fixedly connected to the X-axis slide block 33, the second X-axis moving motor 522 is fixedly connected to the second Z-axis slide plate 521, the second Z-axis connecting plate 523 is respectively fixedly connected to the second X-axis moving motor 522 and the second X-axis drag chain 36, the second Z-axis moving gear is fixedly connected to the second X-axis moving motor 522 and meshed with the X-axis toothed plate 34, and the second Z-axis drag chain 525 is respectively fixedly connected to the second Z-axis connecting plate 523 and the second Z-axis saddle 51. The working principle of the second Z-axis moving assembly 52 is as follows: the assembly realizes the movement of the second Z axis based on the gear rack transmission principle. The second X-axis moving motor 522 is used as a power source. When the motor rotates, the second Z-axis moving gear fixed on the motor output shaft rotates accordingly. Since the second Z-axis moving gear is meshed with the X-axis toothed plate 34, the rotational motion of the gear will be converted into a linear motion along the toothed plate direction, thereby driving the entire assembly connected to the second Z-axis slide 521 to move in the Z-axis direction. The second Z-axis drag chain 525 plays the role of protecting and managing connecting components such as cables and air pipes. During the movement of the assembly, it ensures that the connecting line is not pulled or entangled, and ensures the normal signal transmission and power supply between the components. At the same time, it also makes the appearance of the equipment more neat and orderly, and reduces the risk of failure caused by messy lines. The working process of the second Z-axis moving assembly 52 is as follows: the second X-axis moving motor 522 is started. If the motor rotates forward, the second Z-axis moving gear rotates in a clockwise direction. Due to the meshing relationship with the X-axis toothed plate 34, the second Z-axis slide 521 and the second Z-axis lifting assembly 53 and the second Z-axis material picking assembly 54 fixed thereon begin to move in the X-axis direction along the toothed plate in one direction (assuming it is the forward direction). During the movement, one end of the second Z-axis drag chain 525 is fixed on the second Z-axis connecting plate 523, and the other end is fixed on the second Z-axis saddle 51. As the assembly moves, the drag chain will stretch or contract accordingly, and the internal cables and air pipes will also change positions in an orderly manner. If the motor is reversed, the second Z-axis moving gear rotates counterclockwise, and the second Z-axis slide plate 521 drives the related components to move in the opposite direction along the Z-axis. The second Z-axis connecting plate 523 not only plays a structural role in connecting the second X-axis moving motor 522 and the second X-axis drag chain 36, but also plays a certain auxiliary role in the force transmission and stability of the entire assembly, ensuring that the power of the motor can be smoothly transmitted to the entire moving assembly, so that the second Z-axis moves accurately, reliably and smoothly in the Z-axis direction.

[0068] In another embodiment of the present invention, Figures 7-8As shown, the second Z-axis lifting assembly 53 includes a second Z-axis slider, a second Z-axis slide rail 531, a second Z-axis lifting motor 532, a second Z-axis motor frame 533, a second Z-axis driving wheel 534, a second Z-axis belt 535, a second Z-axis driven pulley 536, a second Z-axis driven pulley, a second Z-axis driven pulley 537, a second Z-axis belt fixing seat 538 and a second Z-axis belt positioning seat 539. The second Z-axis slider is fixedly connected to the second Z-axis slide 521 and slidably connected to the second Z-axis slide rail 531. The second Z-axis slide rail 531 is fixedly connected to the second Z-axis saddle 51. The second Z-axis motor frame 533 is fixedly connected to the second Z-axis slide 521, and the second Z-axis lifting motor 532 is fixedly connected to the second Z-axis motor frame 533. The second Z-axis driving wheel 534 is fixedly connected to the second Z-axis motor. The second Z-axis belt 535 is respectively fixed around the second Z-axis driving pulley 534, the second Z-axis driven pulley 536, the second Z-axis driven pulley, and the second Z-axis slave pulley 537, and the second Z-axis driven pulley 536, the second Z-axis driven pulley, and the second Z-axis slave pulley 537 are all rotatably connected to the second Z-axis motor frame 533. One end of the second Z-axis belt 535 is fixedly connected to the second Z-axis belt fixing seat 538, and the other end is fixedly connected to the second Z-axis belt positioning seat 539. The second Z-axis belt fixing seat 538 is fixedly connected to the top of the second Z-axis saddle 51, and the second Z-axis belt positioning seat 539 is fixedly connected to the bottom of the second Z-axis saddle 51. The working principle of the second Z-axis lifting assembly 53 is as follows: the second Z-axis driving pulley 534 is driven to rotate through the rotation of the second Z-axis lifting motor 532. Since the second Z-axis belt 535 is wound around the second Z-axis driving wheel 534, the second Z-axis driven pulley 536, the second Z-axis driven wheel and the second Z-axis driven pulley 537, the belt will produce a circular motion under the drive of the driving wheel. One end of the second Z-axis belt 535 is fixed to the second Z-axis belt fixing seat 538 (connected to the top of the second Z-axis saddle 51), and the other end is fixed to the second Z-axis belt positioning seat 539 (connected to the bottom of the second Z-axis saddle 51). When the belt moves, it will generate a pulling force or a thrust force on the second Z-axis saddle 51, thereby realizing the lifting and lowering movement of the second Z-axis saddle 51 along the Z-axis direction. The working process of the second Z-axis lifting component 53 is as follows: When the second Z-axis lifting motor 532 receives the lifting command, it starts to rotate. If the motor rotates forward, the second Z-axis driving wheel 534 rotates in the clockwise direction, driving the second Z-axis belt 535 to move in a specific direction. At this time, the second Z-axis belt 535 generates a relative pulling force or pushing force on the second Z-axis belt fixing seat 538 and the second Z-axis belt positioning seat 539. Since these two seats are respectively fixed at the top and bottom of the second Z-axis saddle 51, and the sliding connection between the second Z-axis slider and the second Z-axis slide rail 531 limits the other degrees of freedom of the second Z-axis saddle 51 except the Z-axis direction, the second Z-axis saddle 51 will move upward along the second Z-axis slide rail 531.On the contrary, if the motor is reversed, the second Z-axis driving wheel 534 rotates counterclockwise, the movement direction of the second Z-axis belt 535 changes, and the second Z-axis saddle 51 moves downward along the second Z-axis slide rail 531. In the whole process, the second Z-axis driven pulley 536, the second Z-axis driven wheel and the second Z-axis slave pulley 537 play the role of assisting the belt transmission, changing the belt direction and increasing the friction between the belt and various components, ensuring that the belt can stably drive the second Z-axis saddle 51 to move up and down, and the second Z-axis motor frame 533 provides a stable installation foundation for the second Z-axis lifting motor 532 and related transmission components, ensuring that the relative position relationship between the components is stable, so that the entire lifting assembly can operate normally and efficiently.

[0069] In another embodiment of the present invention, Figures 7-8As shown, the second Z-axis material picking assembly 54 includes a second Z-axis cylinder fixing seat 541, a second Z-axis clamping cylinder 542 and a second Z-axis clamping claw 543. The second Z-axis cylinder fixing seat 541 is fixedly connected to the second Z-axis saddle 51, the second Z-axis clamping cylinder 542 is fixedly connected to the second Z-axis cylinder fixing seat 541, and the second Z-axis clamping claw 543 is fixedly connected to the second Z-axis clamping cylinder 542. The working principle of the second Z-axis material picking assembly 54 is as follows: the opening and closing action of the second Z-axis clamping claw 543 is mainly controlled by the telescopic movement of the second Z-axis clamping cylinder 542, so as to realize the grasping and releasing of the material. When the piston rod of the cylinder is extended, the second Z-axis clamping claw 543 connected thereto is pushed to close, and the friction or clamping force between the clamping claw and the material is used to grasp the material; when the piston rod of the cylinder is retracted, the clamping claw is driven to open and release the material. The working process of the second Z-axis material picking component 54 is as follows: before the material picking operation begins, the second Z-axis clamping cylinder 542 is in the initial state, and the second Z-axis clamping jaw 543 is in the open state. When the equipment runs to the material picking position, the second Z-axis clamping cylinder 542 starts working after receiving the material picking signal. First, the piston rod of the cylinder extends outward. Since the second Z-axis clamping jaw 543 is fixedly connected to the second Z-axis clamping cylinder 542, as the piston rod extends, the clamping jaw gradually closes. When the clamping jaw contacts the material to be picked up, it continues to apply a certain pressure so that the clamping jaw can stably grasp the material. The size of this pressure depends on the characteristics of the material and the grasping requirements to ensure that the material will not fall during the subsequent handling process. After the grasping is completed, the material is transported to the specified position through the coordinated movement of the Y-axis module 2, the X-axis module 3, the second Z-axis moving component 52 and the second Z-axis lifting component 53. After reaching the designated position, the second Z-axis clamping cylinder 542 receives the control signal again, and the cylinder piston rod retracts, driving the second Z-axis clamping claw 543 to open and release the material, completing a complete material picking and unloading process. During the whole process, the second Z-axis cylinder fixing seat 541 provides a stable installation foundation for the second Z-axis clamping cylinder 542, ensuring the position stability and force uniformity of the cylinder during operation, thereby ensuring the accuracy and reliability of the material picking action and meeting the material handling requirements on the automated production line.

[0070] The high-efficiency and high-precision injection molding robot provided in the present application includes a base 1, a Y-axis module 2, an X-axis module 3, a first Z-axis module 4 and a second Z-axis module 5. By arranging the first Z-axis module 4 and the second Z-axis module 5 on the X-axis module 3, the Y-axis module drives the X-axis module 3 to move, and synchronously drives the first Z-axis module 4 and the second Z-axis module 5 to move synchronously, thereby reducing the stroke of the Z-axis and improving work efficiency; by arranging the Y-axis laser displacement sensor 28 and the Y-axis strain gauge force sensor 29 on the Y-axis, all-round, high-precision real-time monitoring of the Y-axis track wear is achieved, and the smallest signs of wear of the Y-axis can be keenly captured, providing a solid data foundation for subsequent precise compensation, thereby improving accuracy.

[0071] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A high-efficiency and high-precision injection molding robot, characterized in that: It includes a machine base, a Y-axis module, an X-axis module, a first Z-axis module, a second Z-axis module and an interpolation system; the Y-axis module is connected to the machine base, the X-axis module is connected to the Y-axis module, the first Z-axis module and the second Z-axis module are both connected to the X-axis module, and the interpolation system is respectively connected to the Y-axis module, the X-axis module, the first Z-axis module and the second Z-axis module; The Y-axis module comprises a Y-axis saddle, a Y-axis slide rail, a first Y-axis slider, a second Y-axis slider, a Y-axis motor, a Y-axis output gear and a Y-axis toothed plate, wherein the Y-axis saddle is connected to the machine base, the Y-axis slide rail is connected to the Y-axis saddle, the first Y-axis slider and the second Y-axis slider are both slidably connected to the Y-axis slide rail, the Y-axis motor is connected to the first slider, the Y-axis output gear is connected to the Y-axis motor and meshed with the Y-axis toothed plate, and the Y-axis toothed plate is connected to the Y-axis saddle; The X-axis module includes an X-axis saddle, an X-axis slide rail, an X-axis slider, an X-axis toothed plate, a first X-axis drag chain and a second X-axis drag chain, wherein the X-axis slide rail is connected to one side of the X-axis saddle, the X-axis slider is slidably connected to the X-axis slide rail, the first X-axis drag chain and the second X-axis drag chain are connected to the other side of the X-axis saddle, and the X-axis toothed plate is connected to the top of the X-axis saddle; the X-axis saddle is respectively connected to the Y-axis motor and the second Y-axis slider; The interpolation system includes a Y-axis laser displacement sensor, a Y-axis strain gauge force sensor, an angle offset alarm and an IPC control system. The Y-axis laser displacement sensor is connected to the Y-axis saddle and is arranged on one side of the long side of the second Y-axis slider. The Y-axis strain gauge force sensor is connected to the side of the short side of the second Y-axis slider, and the bottom is abutted against the Y-axis slide rail. The angle offset alarm is connected to the side of the Y-axis saddle and is electrically connected to the IPC control system. The Y-axis laser displacement sensor and the Y-axis strain gauge force sensor are both electrically connected to the IPC control system.

2. A high-efficiency and high-precision injection molding robot according to claim 1, characterized in that: There are two X-axis slide rails, both of which are fixedly connected to the X-axis saddle, and the two X-axis slide rails are arranged in parallel; each of the X-axis slide rails is slidably connected to two X-axis sliders.

3. The high-efficiency and high-precision injection molding robot according to claim 1, characterized in that: The first Z-axis module includes a first Z-axis saddle, a first Z-axis moving assembly, a first Z-axis lifting assembly and a first Z-axis material picking assembly. The first Z-axis moving assembly is respectively connected to the X-axis slider and the first Z-axis saddle, the first Z-axis lifting assembly is respectively connected to the first Z-axis saddle and the first Z-axis moving assembly, the first Z-axis material picking assembly is connected to the first Z-axis saddle; the first Z-axis moving assembly is connected to the first X-axis drag chain.

4. The high-efficiency and high-precision injection molding robot according to claim 1, characterized in that: The second Z-axis module includes a second Z-axis saddle, a second Z-axis moving assembly, a second Z-axis lifting assembly and a second Z-axis material picking assembly. The second Z-axis moving assembly is respectively connected to the X-axis slider and the second Z-axis saddle. The second Z-axis lifting assembly is respectively connected to the second Z-axis saddle and the second Z-axis moving assembly. The second Z-axis material picking assembly is connected to the second Z-axis saddle; the second Z-axis moving assembly is connected to the second X-axis drag chain.

5. The high-efficiency and high-precision injection molding robot according to claim 3, characterized in that: The first Z-axis moving assembly includes a first Z-axis slide plate, a first X-axis moving motor, a first Z-axis connecting plate, a first Z-axis moving gear and a first Z-axis drag chain. The first Z-axis slide plate is fixedly connected to the X-axis slide block, the first X-axis moving motor is fixedly connected to the first Z-axis slide plate, the first Z-axis connecting plate is fixedly connected to the first X-axis moving motor and the first X-axis drag chain, respectively, the first Z-axis moving gear is fixedly connected to the first X-axis moving motor and meshingly connected to the X-axis gear plate, and the first Z-axis drag chain is fixedly connected to the first Z-axis connecting plate and the first Z-axis saddle, respectively.

6. The high-efficiency and high-precision injection molding robot according to claim 5, characterized in that: The first Z-axis lifting assembly includes a first Z-axis slider, a first Z-axis slide rail, a first Z-axis lifting motor, a first Z-axis motor frame, a first Z-axis driving wheel, a first Z-axis belt, a first Z-axis driven pulley, a first Z-axis driven pulley, a first Z-axis driven pulley, a first Z-axis belt fixing seat and a first Z-axis belt positioning seat. The first Z-axis slider is fixedly connected to the first Z-axis slide plate and slidably connected to the first Z-axis slide rail. The first Z-axis slide rail is fixedly connected to the first Z-axis saddle. The first Z-axis motor frame is fixedly connected to the first Z-axis slide plate. The first Z-axis lifting motor is fixedly connected to the first Z-axis motor frame, and the first Z-axis driving pulley is fixedly connected to the first Z-axis motor; the first Z-axis belt is respectively fixedly arranged around the first Z-axis driving pulley, the first Z-axis driven pulley, the first Z-axis driven pulley, and the first Z-axis slave pulley, and the first Z-axis driven pulley, the first Z-axis driven pulley, and the first Z-axis slave pulley are all rotatably connected to the first Z-axis motor frame; one end of the first Z-axis belt is fixedly connected to the first Z-axis belt fixing seat, and the other end is fixedly connected to the first Z-axis belt positioning seat; The first Z-axis belt fixing seat is fixedly connected to the top of the first Z-axis saddle, and the first Z-axis belt positioning seat is fixedly connected to the bottom of the first Z-axis saddle.

7. The high-efficiency and high-precision injection molding robot according to claim 6, characterized in that: The first Z-axis material picking assembly includes a first Z-axis lifting cylinder, a first Z-axis rotating block, a first Z-axis material picking block and a first Z-axis rotating shaft. The first Z-axis lifting cylinder is fixedly connected to the first Z-axis saddle, the first Z-axis rotating block is rotatably connected to the first Z-axis lifting cylinder, the first Z-axis material picking block is arranged on the bottom side of the first Z-axis rotating block, and the first Z-axis rotating shaft is sequentially penetrated through the first Z-axis rotating block and the first Z-axis material picking block.

8. The high-efficiency and high-precision injection molding robot according to claim 1, characterized in that: The second Z-axis moving assembly includes a second Z-axis slide plate, a second X-axis moving motor, a second Z-axis connecting plate, a second Z-axis moving gear and a second Z-axis drag chain. The second Z-axis slide plate is fixedly connected to the X-axis slide block, the second X-axis moving motor is fixedly connected to the second Z-axis slide plate, the second Z-axis connecting plate is fixedly connected to the second X-axis moving motor and the second X-axis drag chain, respectively, the second Z-axis moving gear is fixedly connected to the second X-axis moving motor and meshingly connected to the X-axis gear plate, and the second Z-axis drag chain is fixedly connected to the second Z-axis connecting plate and the second Z-axis saddle, respectively.

9. The high-efficiency and high-precision injection molding robot according to claim 8, characterized in that: The second Z-axis lifting assembly includes a second Z-axis slider, a second Z-axis slide rail, a second Z-axis lifting motor, a second Z-axis motor frame, a second Z-axis driving wheel, a second Z-axis belt, a second Z-axis driven pulley, a second Z-axis driven pulley, a second Z-axis driven pulley, a second Z-axis belt fixing seat and a second Z-axis belt positioning seat, the second Z-axis slider is fixedly connected to the second Z-axis slide plate and slidably connected to the second Z-axis slide rail, the second Z-axis slide rail is fixedly connected to the second Z-axis saddle; the second Z-axis motor frame is fixedly connected to the second Z-axis slide plate, the The second Z-axis lifting motor is fixedly connected to the second Z-axis motor frame, and the second Z-axis driving pulley is fixedly connected to the second Z-axis motor; the second Z-axis belt is respectively fixedly arranged around the second Z-axis driving pulley, the second Z-axis driven pulley, the second Z-axis driven pulley, and the second Z-axis slave pulley, and the second Z-axis driven pulley, the second Z-axis driven pulley, and the second Z-axis slave pulley are all rotatably connected to the second Z-axis motor frame; one end of the second Z-axis belt is fixedly connected to the second Z-axis belt fixing seat, and the other end is fixedly connected to the second Z-axis belt positioning seat; The second Z-axis belt fixing seat is fixedly connected to the top of the second Z-axis saddle, and the second Z-axis belt positioning seat is fixedly connected to the bottom of the second Z-axis saddle.

10. The high-efficiency and high-precision injection molding robot according to claim 9, characterized in that: The second Z-axis material picking assembly includes a second Z-axis cylinder fixing seat, a second Z-axis clamping cylinder and a second Z-axis clamping claw. The second Z-axis cylinder fixing seat is fixedly connected to the second Z-axis saddle, the second Z-axis clamping cylinder is fixedly connected to the second Z-axis cylinder fixing seat, and the second Z-axis clamping claw is fixedly connected to the second Z-axis clamping cylinder.

Images