Multi-degree-of-freedom mechanical arm of injection molding machine

Abstract

The utility model discloses a multi-degree-of-freedom mechanical arm of an injection molding machine, and relates to the technical field of mechanical arms, the multi-degree-of-freedom mechanical arm comprises a Y-axis sliding table, an X-axis sliding table, a sliding block I and a fixing plate, a vertically penetrating channel I is formed in the center of the top of the sliding block I, and a Z-axis sliding plate I is fixedly connected to one side wall, close to the Y-axis sliding table, of the channel I; a second Z-axis sliding plate is connected to the side wall, away from the Y-axis sliding table, of the first channel in a sliding mode, and the first Z-axis sliding plate and the second Z-axis sliding plate are connected in a sliding mode. According to the utility model, through the driving mechanism, when the Z-axis sliding plate II slides relative to the Z-axis sliding plate I, the screw rod only needs to drive the sliding block II to slide for a longer distance so as to drive the Z-axis sliding plate II to slide for a longer distance, namely, the effect of increasing the stroke is realized, so that under the condition that the same execution stroke is achieved, the sizes of the required driving part and the transmission mechanism can be greatly reduced, and the cost is reduced. Therefore, the occupied space of the whole equipment can be reduced, so that the equipment is easier to install and use in a limited space.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical arms, in particular to a mechanical arm for a multi-degree-of-freedom injection molding machine. Background Art

[0002] Injection molding machine is also known as injection molding machine or injection machine. Many factories call it beer machine and injection molded products are called beer parts. It is the main molding equipment for thermoplastic plastics or thermosetting plastics using plastic molding molds to make plastic products of various shapes. The special robot for injection molding machine is an automated production equipment that can imitate some functions of the human upper limbs and can automatically control it to transport products or operate tools for production operations according to predetermined requirements. As demand changes, the shape of injection molded products gradually becomes finer and more complex, and higher requirements are placed on the flexibility of the robot during demolding.

[0003] Existing multi-degree-of-freedom robotic arms, such as one of the KEMANS brand's injection molding machine robotic arms, often increase the length of transmission components, such as the guide rail length, to meet the needs when a larger stroke is required. For example, increasing the Z-axis guide rail length to accommodate the mold removal task of a large-sized injection molding machine results in a large overall size of the equipment, which is inconvenient for some small businesses.

[0004] In view of this, this application is hereby filed. Utility Model Content

[0005] The purpose of the present invention is to provide a multi-degree-of-freedom injection molding machine robot arm to solve the problems raised in the above background technology.

[0006] In order to solve the above technical problems, the utility model provides a multi-degree-of-freedom injection molding machine robot arm, including a Y-axis slide, an X-axis slide, a slider and a fixed plate, a vertical channel one is opened at the top center of the slider, a Z-axis slide one is fixedly connected to the side wall of the channel one close to the Y-axis slide, and a Z-axis slide two is slidably connected to the side wall of the channel one away from the Y-axis slide, the Z-axis slide one and the Z-axis slide two are slidably connected to each other, and a driving mechanism is provided on the side wall where the Z-axis slide one and the Z-axis slide two are close to each other, the driving mechanism includes a sliding rack fixedly connected to the Z-axis slide two, a gear is vertically slidably connected to the middle of the bottom end of the side wall of the Z-axis slide one close to the Z-axis slide two, one side of the gear is meshed with a vertical fixed rack, the sliding rack is meshed with the side of the gear away from the fixed rack, and the fixed rack is fixedly connected to the Z-axis slide one.

[0007] Furthermore, a vertically penetrating sliding groove three is provided on a side wall of the Z-axis slide one close to the Z-axis slide two, corresponding to the side of the sliding rack, and the end of the sliding rack away from the Z-axis slide two is slidably connected in the sliding groove three, and a vertical storage groove two is provided in the middle of the bottom end of the side wall of the Z-axis slide one close to the Z-axis slide two, and a vertical screw rod is rotatably connected in the storage groove two, and a slider two is slidably connected on the outer arc wall of the screw rod, the slider two is slidably connected in the storage groove two and the gear is fixedly connected to the side wall of the slider two close to the Z-axis slide two.

[0008] Furthermore, a bearing frame is fixedly connected to a side wall of the slider 2 close to the Z-axis slider 2, and a vertical gear is rotatably connected inside the bearing frame. The axial direction of the gear is perpendicular to the axial direction of the screw rod, and the axial direction of the gear is perpendicular to a side wall of the Z-axis slider 1 close to the Z-axis slider 2. A mounting plate is fixedly connected to a side wall of the fixed rack away from the Z-axis slider 2, and the mounting plate is fixedly connected to the Z-axis slider 1.

[0009] Furthermore, a storage groove 1 is provided on a side wall of the Z-axis slide 2 close to the Z-axis slide 1, and a sliding rack is fixedly connected to the storage groove 1. A vertical slide groove 1 is provided in the middle of the bottom end of the side wall of the Z-axis slide 2 close to the Z-axis slide 1, and a vertically penetrating slide groove 2 is provided on the side wall of the Z-axis slide 2 close to the Z-axis slide 1 away from the storage groove 1. The slide groove 1 is located between the storage groove 1 and the slide groove 2.

[0010] Furthermore, the cross-section of the slide groove 1 is in the shape of a "Z" character, the side of the top end of the slide groove 1 close to the storage groove 1 is interconnected with the storage groove 1, and the side of the bottom end of the slide groove 1 close to the slide groove 2 is interconnected with the slide groove 2, and the gear and the bearing frame are both slidably connected in the slide groove 1.

[0011] Furthermore, the X-axis slide is slidably connected to the top of the Y-axis slide, the length direction of the X-axis slide is perpendicular to the Y-axis slide, a counterweight is fixedly connected to one end of the top of the X-axis slide close to the Y-axis slide, and a vertical channel 2 is opened at the center of the end of the top of the X-axis slide away from the Y-axis slide.

[0012] Furthermore, a slider 1 is slidably connected to channel 2 on the X-axis slide. Slider 1 can be located in channel 2 and slide horizontally along the length direction of the X-axis slide. The penetration direction of channel 1 is consistent with that of channel 2.

[0013] Furthermore, a fixing plate is installed on one side wall of the second bottom end of the Z-axis slide away from the Y-axis slide, and a clamping device is provided on one side wall of the fixing plate away from the Y-axis slide.

[0014] Compared with the prior art, the beneficial effects of the present invention are:

[0015] 1. Through the driving mechanism, when the Z-axis slide 2 slides relative to the Z-axis slide 1, the screw only needs to drive the slide 2 a short distance to drive the Z-axis slide 2 to slide a longer distance, that is, to achieve the effect of increasing the stroke. Therefore, when achieving the same execution stroke, the required drive components and transmission mechanism sizes can be greatly reduced, which means that the space occupied by the entire equipment can be reduced, making it easier to install and use in a limited space.

[0016] 2. By reducing the number and size of driving components and transmission mechanisms, it not only reduces the manufacturing cost of the equipment, but also simplifies the structure and maintenance difficulty of the equipment, helps to improve the reliability and stability of the equipment and extend its service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the structure of the drive mechanism in the multi-degree-of-freedom injection molding machine robot arm;

[0018] Figure 2 This is a schematic diagram of the overall structure of the multi-degree-of-freedom injection molding machine robot arm;

[0019] Figure 3 This is a schematic diagram of the structure of the Z-axis slide in the multi-degree-of-freedom injection molding machine robot arm;

[0020] Figure 4 for Figure 3 A magnified view of the structure at point A;

[0021] Figure 5 This is a schematic diagram of the structure of the Z-axis slide 2 in the multi-degree-of-freedom injection molding machine robot arm;

[0022] Figure 6 This is a cross-sectional view of the internal structure of the Z-axis slide 2 in the multi-degree-of-freedom injection molding machine robot arm.

[0023] In the picture:

[0024] 10. Y-axis slide; 11. X-axis slide; 12. Counterweight; 13. Z-axis slide 1;

[0025] 14. Z-axis slide 2; 15. Slider 1; 16. Fixed plate;

[0026] 20. Sliding rack; 21. Gear; 22. Fixed rack; 23. Mounting plate; 24. Bearing frame;

[0027] 25. Slider 2; 26. Screw;

[0028] 30. Storage slot 1; 31. Slide slot 1; 32. Slide slot 2. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0030] See also Figure 1-6 The utility model provides a technical solution: it includes a Y-axis slide 10, an X-axis slide 11, a slider 15 and a fixed plate 16, a vertical channel 1 is opened at the top center of the slider 15, and a Z-axis slide 13 is fixedly connected to the side wall of the channel 1 close to the Y-axis slide 10, and a Z-axis slide 2 14 is slidably connected to the side wall of the channel 1 away from the Y-axis slide 10. The Z-axis slide 13 and the Z-axis slide 2 14 are slidably connected to each other, and a driving mechanism is provided on the side wall where the Z-axis slide 13 and the Z-axis slide 2 14 are close to each other. The driving mechanism includes a sliding rack 20 fixedly connected to the Z-axis slide 2 14, and a gear 21 is vertically slidably connected to the middle part of the bottom end of the side wall of the Z-axis slide 13 close to the Z-axis slide 2 14. One side of the gear 21 is meshed with a vertical fixed rack 22, and the sliding rack 20 is meshed with the side of the gear 21 away from the fixed rack 22, and the fixed rack 22 is fixedly connected to the Z-axis slide 13.

[0031] It should be noted that: the Y-axis slide 10 and the X-axis slide 11 are used to realize the free movement of the robot arm on the horizontal plane, and the Z-axis slide 13 and the Z-axis slide 2 14 are used to drive the fixed plate 16 to move in the vertical direction, thereby realizing the effect of free movement in three-dimensional space;

[0032] The Z-axis slide 13 is fixed and its movement in the Z-axis direction is borne by the Z-axis slide 2 14. Since the gear 21 is meshed with the sliding rack 20 and the fixed rack 22 at the same time, when the gear 21 moves along the length direction of the fixed rack 22 or the sliding rack 20, if one of the sliding rack 20 and the fixed rack 22 is fixed, the other one will slide synchronously with the gear 21 in the same direction, and the movement speed is faster than that of the gear 21.

[0033] Furthermore, both ends of the side wall of the Z-axis skateboard 13 close to the Z-axis skateboard 2 14 are fixedly connected with dovetail sliders, and a dovetail groove is correspondingly opened on the side wall of the Z-axis skateboard 2 14, and an anti-slip layer is laid on the inner wall of the dovetail groove to prevent excessive weight from being concentrated on the meshing point of the sliding rack 20 and the gear 21 when the Z-axis skateboard 2 14 is not sliding, and at the same time further enhances the stability of the connection between the Z-axis skateboard 13 and the Z-axis skateboard 2 14 in the horizontal direction.

[0034] See also Figure 1-6The utility model provides a technical solution: a vertical sliding groove three is provided on a side wall of the Z-axis slide 13 close to the Z-axis slide 2 14, corresponding to the side of the sliding rack 20; the sliding rack 20 is slidably connected in the sliding groove three at one end away from the Z-axis slide 2 14; a vertical storage groove two is provided in the middle of the bottom end of the side wall of the Z-axis slide 13 close to the Z-axis slide 2 14; a vertical screw rod 26 is rotatably connected in the storage groove two; a slider 25 is slidably connected to the outer arc wall of the screw rod 26; the slider 25 is slidably connected in the storage groove two and the gear 21 is fixedly connected to the slider 2 25 on the side wall of the Z-axis slide 2 14.

[0035] It should be noted that the slide groove 3 provides a trajectory guide for the vertical sliding of the sliding rack 20. At the same time, the cross section of the slide groove 3 is "T"-shaped, which increases the stability of the connection between the Z-axis slide plate 13 and the Z-axis slide plate 2 14 in the horizontal direction.

[0036] A driving motor for driving the screw rod 26 to rotate is provided in the Z-axis slide 1 13 . The rotation of the screw rod 26 drives the vertical sliding of the slider 2 25 and then drives the gear 21 to move vertically.

[0037] See also Figure 1-6 The utility model provides a technical solution: the slider 25 is fixedly connected to a bearing frame 24 on a side wall close to the Z-axis skateboard 2 14, and a vertical gear 21 is rotatably connected inside the bearing frame 24. The axial direction of the gear 21 is perpendicular to the axial direction of the screw rod 26, and the axial direction of the gear 21 is perpendicular to the side wall of the Z-axis skateboard 1 13 close to the Z-axis skateboard 2 14. The fixed rack 22 is fixedly connected to a mounting plate 23 on a side wall away from the Z-axis skateboard 2 14, and the mounting plate 23 is fixedly connected to the Z-axis skateboard 1 13.

[0038] It should be noted that the fixed rack 22 is fixed to the Z-axis slide 13 through the mounting plate 23, and the fixed rack 22 and the mounting plate 23 can also be a whole.

[0039] See also Figure 1-6 The utility model provides a technical solution: a storage groove 30 is opened on the side wall of the Z-axis slide 14 close to the Z-axis slide 13, and the sliding rack 20 is fixedly connected to the storage groove 30. A vertical slide groove 31 is opened in the middle of the bottom end of the side wall of the Z-axis slide 14 close to the Z-axis slide 13, and a vertical penetrating slide groove 22 is opened on the side of the Z-axis slide 14 close to the Z-axis slide 13 away from the storage groove 30. The slide groove 131 is located between the storage groove 30 and the slide groove 232.

[0040] It should be noted that: The storage slot 1 is used for embedding and installing the sliding rack 20. The first chute 31 is used to provide space for the sliding of the gear 21. The second chute 32 is used to avoid the fixed rack 22 and the mounting plate 23 during the sliding of the Z-axis slide plate 2.

[0041] Please refer to Figure 1-6 , the present utility model provides a technical solution: The cross-section of the first chute 31 is in the shape of a Chinese character'middle'. One side of the top of the first chute 31 close to the storage slot 1 is interconnected with the storage slot 1. One side of the bottom of the first chute 31 close to the second chute 32 is interconnected with the second chute 32. Both the gear 21 and the bearing bracket 24 are slidably connected within the first chute 31.

[0042] It should be noted that: The first chute 31 is in the shape of a Chinese character'middle'. The gear 21 slides in the middle of the first chute 31, and the bearing bracket 24 slides at the end of the first chute 31. The first chute 31 is fully adapted to the sliding stroke of the gear 21. When the gear 21 moves, it can continuously engage with the sliding rack 20 and the fixed rack 22 through the openings at the interconnected parts with the storage slot 1 and the second chute 32 respectively.

[0043] Please refer to Figure 1-6 , the present utility model provides a technical solution: The X-axis slide 11 is slidably connected to the top of the Y-axis slide 10. The length direction of the X-axis slide 11 is perpendicular to the Y-axis slide 10. One end of the X-axis slide 11 close to the Y-axis slide 10 at the top is fixedly connected with a counterweight 12. A vertically penetrating second channel is opened at the center of the end of the X-axis slide 11 away from the Y-axis slide 10.

[0044] It should be noted that: The counterweight 12 is used to maintain the balance of the X-axis slide 11.

[0045] Please refer to Figure 1-6 , the present utility model provides a technical solution: A first slider 15 is slidably connected within the second channel on the X-axis slide 11. The first slider 15 can slide horizontally along the length direction of the X-axis slide 11 within the second channel. The penetration direction of the first channel and the second channel is the same.

[0046] It should be noted that: The first slider 15 serves as the carrier for Z-axis sliding. The Y-axis slide 10 and the X-axis slide 11 belong to the existing prior art and will not be elaborated here.

[0047] Please refer to Figure 1-6 , the present utility model provides a technical solution: A fixing plate 16 is installed on one side wall of the bottom of the Z-axis slide plate 2 away from the Y-axis slide 10. A clamping device is provided on one side wall of the fixing plate 16 away from the Y-axis slide 10.

[0048] It should be noted that the fixed plate 16 and the Z-axis slide 2 14 are rotatably connected to each other, that is, the Z-axis slide 2 14 and the fixed plate 16 are connected by a rotating mechanism or other mechanism to achieve free rotation of the fixed plate 16 relative to the Z-axis slide 2 14. This is not a protection point of the present design, so it will not be described in detail.

[0049] The clamping device can be one or more of a robotic arm, a suction cup, or other devices that can achieve clamping and picking functions, which will not be described in detail here.

[0050] Working principle:

[0051] The Y-axis slide 10 and the X-axis slide 11 control the free movement of the fixed plate 16 on the horizontal plane, and the Z-axis slide 13 and the Z-axis slide 2 14 are used to drive the fixed plate 16 to move in the vertical direction, thereby achieving the effect of free movement in three-dimensional space;

[0052] When taking the mold, the screw rod 26 drives the slider 25 to slide downward, and the slider 25 drives the gear 21 to descend synchronously. In the initial state, the two sides of the gear 21 are respectively engaged with the bottom end of the sliding rack 20 and the top end of the fixed rack 22. When the gear 21 descends, the gear 21 rotates due to engagement with the fixed fixed rack 22, and then engages the sliding rack 20 to slide and extend the Z-axis slide 2 14, thereby achieving the effect of increasing the stroke. Resetting is to drive the screw rod 26 in the reverse direction.

Claims

1. A multi-degree-of-freedom injection molding machine robot arm, comprising a Y-axis slide (10), an X-axis slide (11), a slider (15) and a fixed plate (16), wherein a vertically penetrating channel (1) is provided at the top center of the slider (15), a Z-axis slide (13) is fixedly connected to a side wall of the channel (1) close to the Y-axis slide (10), and a Z-axis slide (2) (14) is slidably connected to a side wall of the channel (1) away from the Y-axis slide (10), and the characteristics are: The first Z-axis slide plate (13) and the second Z-axis slide plate (14) are slidably connected to each other. A driving mechanism is provided on the side walls of the first Z-axis slide plate (13) and the second Z-axis slide plate (14) that are close to each other. The driving mechanism includes a sliding rack (20) fixedly connected to the second Z-axis slide plate (14). In the middle of the bottom end of the side wall of the first Z-axis slide plate (13) close to the second Z-axis slide plate (14), a gear (21) is vertically slidably connected. On one side of the gear (21), a vertical fixed rack (22) is meshed. The sliding rack (20) is meshed with the side of the gear (21) away from the fixed rack (22), and the fixed rack (22) is fixedly connected to the first Z-axis slide plate (13).

2. The multi-degree-of-freedom injection molding machine robot arm according to claim 1, characterized in that: On the side wall of the first Z-axis slide plate (13) close to the second Z-axis slide plate (14), a vertically penetrating chute three is opened on the side corresponding to the sliding rack (20). The end of the sliding rack (20) away from the second Z-axis slide plate (14) is slidably connected in the chute three. In the middle of the bottom end of the side wall of the first Z-axis slide plate (13) close to the second Z-axis slide plate (14), a vertical storage groove two is opened. In the storage groove two, a vertical screw rod (26) is rotatably connected. On the outer arc wall of the screw rod (26), a second slider (25) is slidably connected. The second slider (25) is slidably connected in the storage groove two, and the gear (21) is fixedly connected to the side wall of the second slider (25) close to the second Z-axis slide plate (14).

3. The multi-degree-of-freedom injection molding machine robot arm according to claim 2, characterized in that: On the side wall of the second slider (25) close to the second Z-axis slide plate (14), a bearing bracket (24) is fixedly connected. In the bearing bracket (24), a vertical gear (21) is rotatably connected. The axial direction of the gear (21) is perpendicular to the axial direction of the screw rod (26). The axial direction of the gear (21) is perpendicular to the side wall of the first Z-axis slide plate (13) close to the second Z-axis slide plate (14). On the side wall of the fixed rack (22) away from the second Z-axis slide plate (1), a mounting plate (23) is fixedly connected, and the mounting plate (23) is fixedly connected to the first Z-axis slide plate (13).

4. The multi-degree-of-freedom injection molding machine robot arm according to claim 2, characterized in that: On the side wall of the second Z-axis slide plate (14) close to the first Z-axis slide plate (13), a storage groove one (30) is opened. The sliding rack (20) is fixedly connected in the storage groove one (30). In the middle of the bottom end of the side wall of the second Z-axis slide plate (14) close to the first Z-axis slide plate (13), a vertical chute one (31) is opened. On the side wall of the second Z-axis slide plate (14) close to the first Z-axis slide plate (13) and away from the storage groove one (30), a vertically penetrating chute two (32) is opened. The chute one (31) is located between the storage groove one (30) and the chute two (32).

5. The multi-degree-of-freedom injection molding machine robot arm according to claim 4, characterized in that: The cross-section of the chute one (31) is in the shape of "zhong". The side of the top end of the chute one (31) close to the storage groove one (30) is interconnected with the storage groove one (30). The side of the bottom end of the chute one (31) close to the chute two (32) is interconnected with the chute two (32). Both the gear (21) and the bearing bracket (24) are slidably connected in the chute one (31).

6. The multi-degree-of-freedom injection molding machine robot arm according to claim 1, characterized in that: The X-axis slide (11) is slidably connected to the top of the Y-axis slide (10), the length direction of the X-axis slide (11) is perpendicular to the Y-axis slide (10), a counterweight (12) is fixedly connected to one end of the top of the X-axis slide (11) close to the Y-axis slide (10), and a vertically penetrating channel 2 is opened at the center of one end of the top of the X-axis slide (11) away from the Y-axis slide (10).

7. The multi-degree-of-freedom injection molding machine robot arm according to claim 6, characterized in that: A slider block (15) is slidably connected in channel 2 on the X-axis slide (11). Slider block (15) can be located in channel 2 and slide horizontally along the length direction of the X-axis slide (11). The penetration direction of channel 1 is consistent with that of channel 2.

8. The multi-degree-of-freedom injection molding machine robot arm according to claim 1, characterized in that: A fixing plate (16) is installed on a side wall of the bottom end of the second Z-axis slide (14) away from the Y-axis slide (10), and a clamping device is provided on a side wall of the fixing plate (16) away from the Y-axis slide (10).

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