A high-efficiency and high-precision injection molding robot

Abstract

The present invention belongs to the technical field of injection molding equipment, and in particular relates to 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 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 picking assembly. The high-efficiency and high-precision injection molding robot provided by the present application, 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 high-precision sensors 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.

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] An injection molding robot is a machine specifically designed for automated injection molding production. It can reduce heavy physical labor, improve working conditions, and ensure safe production. It can mimic some of the functions of the human upper limbs and can be automatically controlled to transport products or manipulate tools according to predetermined requirements. Existing injection molding robots have one Y-axis equipped with a Z-axis for product removal and another Y-axis equipped with a Z-axis for water intake. Both the Z-axis for product removal and the Z-axis for water intake must travel along their respective Y-axes to retrieve materials, increasing their travel distances and reducing work efficiency. Furthermore, after a period of use, the robot's tracks on the X, Y, and Z axes are prone to varying degrees of wear. This directly leads to a significant decrease in the robot's motion accuracy in three-dimensional space, which in turn affects 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 water intake Z-axis stroke are increased, thereby reducing work efficiency.

[0004] To achieve the above objectives, an embodiment of the present invention provides a high-efficiency and high-precision injection molding robot, comprising a 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 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 includes 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. 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 gear plate, a first X-axis drag chain and a second X-axis drag chain, 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 gear 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 the long side of the second Y-axis slider. The Y-axis strain gauge force sensor is connected to the short side of the second Y-axis slider, and its bottom abuts 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; each of the X-axis slide rails is slidably connected to two X-axis sliders.

[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 solution of the present invention, the first Z-axis moving assembly includes a first Z-axis slide, 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 is fixedly connected to the X-axis slider, the first X-axis moving motor is fixedly connected to the first Z-axis slide, 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 with 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 pulley, a first Z-axis belt, a first Z-axis driven pulley, a first Z-axis driven pulley, a first Z-axis belt fixed seat and a first Z-axis belt positioning seat, the first Z-axis slider is fixedly connected to the first Z-axis slide 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, and the first Z-axis lifting motor is fixedly connected to the first Z-axis motor frame, 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.

[0013] As an optional solution 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 passed 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, 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 is fixedly connected to the X-axis slider, the second X-axis moving motor is fixedly connected to the second Z-axis slide, the second Z-axis connecting plate is 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 with 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.

[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 pulley, 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 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, and the second Z-axis lifting motor is fixedly connected to the second Z-axis motor frame, 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.

[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 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.

[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 Y-axis slide rail 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. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 any creative work.

[0020] Figure 1 A three-dimensional diagram of a high-efficiency and high-precision injection molding robot provided by 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] Figure 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] Figure 10 for Figure 2 A partial enlarged view of middle A.

[0030] Among them, the reference numerals in the figures 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 lift motor; 433, first Z-axis motor frame; 434, first Z-axis driving pulley; 435, first Z-axis belt; 436, first Z-axis driven pulley; 437, first Z-axis slave 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 removal;

[0039] 521, second Z-axis slide; 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 lift motor; 533, second Z-axis motor frame; 534, second Z-axis driving pulley; 535, second Z-axis belt; 536, second Z-axis driven pulley; 537, second Z-axis slave 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] The following describes embodiments of the present invention in detail. Examples of the embodiments 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", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0044] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. 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, "plurality" means two or more, unless otherwise specifically defined.

[0045] In the embodiments of the present invention, unless otherwise expressly specified or limited, the terms "installed," "connected," "connected," "fixed," etc. should be understood in a broad sense. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of the present invention based on specific circumstances.

[0046] In one embodiment of the present invention, Figures 1 to 10As shown, a high-efficiency, high-precision injection molding robot is provided, comprising a 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 base 1, the X-axis module 3 is connected to the Y-axis module 2, and 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 gear plate 27. The Y-axis saddle 21 is fixedly connected to the machine 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 gear plate 27. The Y-axis gear plate 27 is fixedly connected to the Y-axis saddle 21. The Y-axis motor 25 drives the Y-axis output gear 26, which meshes with the Y-axis gear plate 27 and drives the Y-axis motor 25 to move along the Y-axis gear plate 27 and move 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 gear 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 gear 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 angular 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 positioned 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, with its bottom abutting the Y-axis slide rail 22. The angular deviation alarm 6 is fixedly connected to the side of the Y-axis saddle 21 and electrically connected to the IPC control system. Both the Y-axis laser displacement sensor 28 and the Y-axis strain gauge force sensor 29 are electrically connected to the IPC control system.

[0050] The Y-axis laser displacement sensor 28 features an ultra-narrow beam angle and high resolution, operating based on the principle of laser triangulation. The emitted, fine laser beam illuminates a specific measurement area on the side of the Y-axis slider 23 perpendicularly, and the reflected light is precisely received by the sensor. Based on the laws of light refraction and reflection and precise triangular geometry, the minute displacement of the Y-axis slider 23 relative to the sensor in the Y-axis direction can be accurately calculated. Assuming the distance AB' = 110 mm between the laser emission point A' and the receiving point B' of the Y-axis laser displacement sensor 28, and the angle between the illumination angle and the vertical is 30°, when the measured change in the reflected light angle corresponds 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 calculated through complex trigonometric calculations. The Y-axis laser displacement sensor 28 also has a measurement accuracy of ±0.008 mm, ensuring high-precision monitoring of Y-axis track wear. The Y-axis strain gauge force sensor 29 monitors changes in friction along the Y-axis. 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 22, any fluctuation in the friction force between the Y-axis slide 22 and the second Y-axis slider 24 will cause the force on the force sensor to change, thereby causing the strain gauge resistance to change. The resistance change is monitored and converted in real time by a high-precision measurement circuit to accurately obtain the magnitude of the force. The magnitude of the force is sensed by the change in the strain gauge resistance according to Hooke's law. 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 is 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 is processed using an adaptive filtering algorithm. This algorithm automatically adjusts the filtering parameters based on the real-time fluctuation characteristics of the sensor data to ensure the effective removal of various types of noise interference. A complex weighted calculation is performed on m (e.g., 8) consecutive sampling values ​​to obtain the most accurate effective displacement value for each axis. For force data, a dynamic threshold model is established based on the historical operating 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 refined track wear model was established for the Y-axis. Using time as the independent variable (x) and track wear on each axis as the dependent variable (y), a hybrid model combining multivariate linear regression and deep learning was used to fit the model, combining massive amounts of sensor data accumulated over time and the robot's historical motion trajectory in three-dimensional space. For example, for the Y-axis, after long-term data collection, a set of corresponding values ​​for time and wear were obtained: [(1, 0.03), (2, 0.06), (3, 0.09), ...]. Using the hybrid model, a = 0.03, b = 0.00 was calculated, resulting in the Y-axis wear curve y = 0.03x.

[0055] After obtaining the current position and force data for the second Y-axis slider 24, the compensation amount is calculated based on the wear model for the corresponding axis. If the current Y-axis position deviates by Δx from the theoretical position, the Y-axis wear model predicts the current wear compensation amount to be Δy_x. The compensation amount is Δx + Δy_x, ensuring that the robot returns to a precise trajectory in three-dimensional space.

[0056] Motor drive control:

[0057] Based on 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 robot to move quickly in the forward direction, the forward drive PWM duty cycle of the Y-axis motor 25 is carefully 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%, achieving precise drive in three-dimensional space.

[0058] The high-efficiency and high-precision injection molding robot provided by the present application arranges the first Z-axis module 4 and the second Z-axis module 5 on the X-axis module 3, and the Y-axis module drives the X-axis module 3 to move, and simultaneously 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-retrieving assembly 44. The first Z-axis moving assembly 42 is connected to the X-axis slider 33 and the first Z-axis saddle 41, respectively. The first Z-axis lifting assembly 43 is connected to the first Z-axis saddle 41 and the first Z-axis moving assembly 42, respectively. The first Z-axis material-retrieving 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 connected to the X-axis slider 33 and the second Z-axis saddle 51 respectively. The second Z-axis lifting assembly 53 is connected to the second Z-axis saddle 51 and the second Z-axis moving assembly 52 respectively. 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 are fixedly connected to the Y-axis saddle 21. The two Y-axis slide rails 22 are arranged in parallel. Each Y-axis slide rail 22 is provided with a first Y-axis slider 23 and a second Y-axis slider 24, thereby improving the stability of the X-axis module 3 during movement.

[0062] In another embodiment of the present invention, two X-axis slide rails 32 are provided, each fixedly connected to the X-axis saddle 31. 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 during movement.

[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 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 421 is fixedly connected to the X-axis slider 33, and the first X-axis moving motor 422 is fixedly connected to the first Z-axis slide 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. The first Z-axis moving gear is fixedly connected to the first X-axis moving motor 422 and meshes with 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. The first X-axis moving motor 422 drives the first Z-axis moving gear to rotate, and the first Z-axis moving gear is engaged with the X-axis gear plate 34 and moves along the X-axis gear plate 34, thereby driving the first Z-axis slide 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 guide rail 431, a first Z-axis lifting motor 432, a first Z-axis motor frame 433, a first Z-axis driving pulley 434, a first Z-axis belt 435, a first Z-axis driven pulley 436, a first Z-axis driven pulley, a first Z-axis slave 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 guide rail 431. 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. The first Z-axis lifting motor 432 is fixedly connected to the first Z-axis motor frame 433. The first Z-axis driving pulley 434 is fixedly connected to the first Z-axis motor. The first Z-axis belt 435 is fixedly mounted 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 rotation of the first Z-axis lifting motor 432 drives the first Z-axis driving pulley 434 to rotate. Since the first Z-axis belt 435 is wound 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 driven pulley 437, the belt will produce a circular motion driven by the driving pulley. 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 pushing 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 pulley 434 rotates in the clockwise direction, driving the first Z-axis belt 435 to move in 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 pulley 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. During the entire process, the first Z-axis driven pulley 436, the first Z-axis driven pulley, and the first Z-axis slave pulley 437 assist the belt transmission, change the belt direction, and increase the friction between the belt and various components, ensuring that the belt can stably drive the first Z-axis saddle 41 to move up and down. In addition, the first Z-axis motor frame 433 provides a stable installation base for the first Z-axis lifting motor 432 and related transmission components, ensuring that the relative position relationship between the various 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 picking assembly 44 includes a first Z-axis lifting cylinder 441, a first Z-axis rotating block, a first Z-axis material picking 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 picking block 442 is disposed on the bottom side of the first Z-axis rotating block, and the first Z-axis rotating shaft is sequentially disposed through the first Z-axis rotating block and the first Z-axis material picking block 442. The operating principle of the first Z-axis material picking 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 picking block 442 in the Z-axis direction, thereby achieving the operation of approaching or moving away from the material. The first Z-axis rotating block rotates about the first Z-axis pivot relative to the first Z-axis lifting cylinder 441. This rotation adjusts the angle of the first Z-axis pick-up block 442, adapting to material grabbing needs at different angles or positions, thereby improving material grabbing flexibility and accuracy. The first Z-axis pick-up assembly 44 operates as follows: When material is to be grabbed, the first Z-axis lifting cylinder 441 receives a control signal and begins extending. As the cylinder extends, the first Z-axis rotating block, fixed to it, and the first Z-axis pick-up block 442 mounted on its underside move downward along the Z-axis, gradually approaching the material to be grabbed. When the first Z-axis pick-up block 442 reaches the appropriate height and approaches the material surface, if the material's placement or position requires adjustment to the pick-up block's angle for better gripping, the first Z-axis rotating block rotates about the first Z-axis pivot. Once adjusted to the appropriate angle, the first Z-axis pick-up block 442 contacts the material and completes the grabbing action, thereby capturing the finished product. After the finished product is retrieved, the first Z-axis lifting cylinder 441 retracts, driving the first Z-axis rotating block, the first Z-axis retrieving block 442, and the grasped material upward along the Z-axis, lifting the material to a desired height for subsequent handling or processing. Throughout this process, various components work together to achieve efficient and accurate material retrieval 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 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 521 is fixedly connected to the X-axis slider 33, the second X-axis moving motor 522 is fixedly connected to the second Z-axis slide 521, the second Z-axis connecting plate 523 is fixedly connected to the second X-axis moving motor 522 and the second X-axis drag chain 36, respectively. The second Z-axis moving gear is fixedly connected to the second X-axis moving motor 522 and meshed with the X-axis gear plate 34. The second Z-axis drag chain 525 is fixedly connected to the second Z-axis connecting plate 523 and the second Z-axis saddle 51, respectively. The working principle of the second Z-axis moving assembly 52 is as follows: This assembly realizes the movement of the second Z-axis based on the principle of gear rack transmission. The second X-axis moving motor 522 serves as the power source. When the motor rotates, the second Z-axis moving gear fixed to the motor output shaft rotates accordingly. Since the second Z-axis moving gear meshes with the X-axis toothed plate 34, the gear's rotational motion is converted into linear motion along the toothed plate, thereby driving the entire assembly connected to the second Z-axis slide 521 in the Z-axis direction. The second Z-axis drag chain 525 protects and manages connecting components such as cables and air pipes. During assembly movement, it prevents the connecting lines from being pulled or entangled, ensuring proper signal transmission and power supply between components. It also creates a neater and more organized appearance for the equipment and reduces the risk of failure caused by cluttered wiring. The second Z-axis moving assembly 52 operates as follows: The second X-axis moving motor 522 is started. If the motor rotates forward, the second Z-axis moving gear rotates clockwise. Due to its meshing relationship with the X-axis toothed plate 34, the second Z-axis slide 521, along with the second Z-axis lifting assembly 53 and the second Z-axis material removal assembly 54 fixed to it, begins to move along the toothed plate in one direction (assuming it is the forward direction) in the X-axis direction. During movement, one end of the second Z-axis drag chain 525 is fixed to the second Z-axis connecting plate 523, and the other end is fixed to the second Z-axis saddle 51. As the assembly moves, the drag chain will expand 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 will rotate counterclockwise, and the second Z-axis slide 521 will drive the relevant components to move in the opposite direction along the Z-axis. The second Z-axis connecting plate 523 not only serves as a structural connection between 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 can move 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 guide rail 531, a second Z-axis lifting motor 532, a second Z-axis motor frame 533, a second Z-axis driving pulley 534, a second Z-axis belt 535, a second Z-axis driven pulley 536, a second Z-axis driven pulley, a second Z-axis slave 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 guide rail 531. The second Z-axis guide 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. The second Z-axis lifting motor 532 is fixedly connected to the second Z-axis motor frame 533. The second Z-axis driving pulley 534 is fixedly connected to the second Z-axis motor. The second Z-axis belt 535 is fixedly mounted 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. 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 operating principle of the second Z-axis lifting assembly 53 is as follows: the rotation of the second Z-axis lifting motor 532 drives the second Z-axis driving pulley 534 to rotate. Since the second Z-axis belt 535 is wound 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 driven pulley 537, the belt will produce a circular motion driven by the driving pulley. 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 pushing 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 pulley 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 pulley 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. During the entire process, the second Z-axis driven pulley 536, the second Z-axis driven pulley, and the second Z-axis slave pulley 537 assist the belt transmission, change the belt direction, and increase 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. In addition, the second Z-axis motor frame 533 provides a stable installation base for the second Z-axis lifting motor 532 and related transmission components, ensuring that the relative position relationship between the various 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 retrieving assembly 54 includes a second Z-axis cylinder mounting base 541, a second Z-axis clamping cylinder 542, and a second Z-axis clamping jaw 543. The second Z-axis cylinder mounting base 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 mounting base 541, and the second Z-axis clamping jaw 543 is fixedly connected to the second Z-axis clamping cylinder 542. The second Z-axis material retrieving assembly 54 operates as follows: the telescopic movement of the second Z-axis clamping cylinder 542 controls the opening and closing of the second Z-axis clamping jaw 543, thereby enabling the grasping and release of materials. When the cylinder piston rod extends, it pushes the connected second Z-axis clamping jaw 543 to close, utilizing the friction or clamping force between the clamping jaw and the material to grasp the material. When the cylinder piston rod retracts, it drives the clamping jaw to open, releasing 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 amount of pressure so that the clamping jaw can stably grasp the material. The amount 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 designated 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 another control signal, causing the cylinder piston rod to retract, driving the second Z-axis clamping jaw 543 to open and release the material, completing a complete material collection and discharge process. Throughout this process, the second Z-axis cylinder mounting base 541 provides a stable mounting base for the second Z-axis clamping cylinder 542, ensuring positional stability and uniform force distribution during operation. This ensures the accuracy and reliability of the material collection action, meeting the material handling requirements of automated production lines.

[0070] The high-efficiency and high-precision injection molding robot provided in the present application includes a machine 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 scope of protection of the present invention.

Claims

1. A high-efficiency and high-precision injection molding robot, characterized in that: The machine comprises a 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 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 includes 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. 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 Y-axis 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 gear plate, a first X-axis drag chain and a second X-axis drag chain, 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 gear 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 the long side of the second Y-axis slider. The Y-axis strain gauge force sensor is connected to the short side of the second Y-axis slider, and its bottom abuts 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. The 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 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 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, 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 is fixedly connected to the X-axis slider, the first X-axis moving motor is fixedly connected to the first Z-axis slide, 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 with 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 pulley, a first Z-axis belt, a first Z-axis driven pulley, a first Z-axis driven pulley, a first Z-axis belt fixed seat and a first Z-axis belt positioning seat, the first Z-axis slider is fixedly connected to the first Z-axis slide 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, 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 passed 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, 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 is fixedly connected to the X-axis slider, the second X-axis moving motor is fixedly connected to the second Z-axis slide, 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 with 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 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 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, 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