Large-stroke high-speed transporter driving mechanism

Abstract

The utility model relates to the technical field of carrying machinery, in particular to a driving mechanism of a large-stroke high-speed carrying machine. The utility model relates to a driving mechanism of a large-stroke high-speed transporter, which comprises a base, an X-axis driving mechanism, a Y-axis driving mechanism, a Z-axis driving mechanism and a connector for connecting and installing a piece taking chuck, the Z-axis driving mechanism comprises a machine head loaded on the Y-axis driving mechanism, a Z-axis lifting guide rail, a lifting arm and a Z-axis motor fixed to the machine head and driving the lifting arm to ascend and descend along the Z-axis lifting guide rail, the Z-axis lifting guide rail is vertically fixed to the machine head, and a lifting auxiliary guide rail and an auxiliary arm ascending and descending along the lifting auxiliary guide rail are arranged on the lifting arm. The connector is installed at the bottom end of the auxiliary arm, and the lifting arm is provided with a synchronous belt and drives the auxiliary arm to conduct secondary lifting through the synchronous belt when the Z-axis motor drives the lifting arm to ascend and descend. Stroke is increased, and operation efficiency is improved; the operation stability of the machine is improved.

Description

Technical Field

[0001] This utility model relates to the field of material handling machinery technology, specifically a drive mechanism for a long-stroke, high-speed material handling machine. Background Technology

[0002] Material handling robots are widely used in the coordination of various production lines through flexible grasping, effectively optimizing the layout of production workshops, improving production efficiency, and reducing production costs. For example, Chinese utility model patent CN211997482U (announcement date 2020.11.24) provides a high-speed material handling mechanism. The technical solution of this utility model is high torque, which uses a high-power servo motor as the power source, and adopts high-precision position encoder control + high-precision position sensor for real-time position adjustment, which can easily achieve high-precision positioning and facilitate rapid linear operation.

[0003] However, in the above-mentioned prior art, the use of linear cylinders to connect the grippers to drive the grippers to lift and lower is prone to shaking under high-speed operation. In addition, in order to save costs and ensure the load capacity of the linear cylinders, the lifting stroke is generally designed to be small, which is not conducive to use in situations where the stroke requirement is large, such as the processing and handling between large machines. Utility Model Content

[0004] To overcome the shortcomings mentioned above, this utility model aims to provide a technical solution that can solve the above problems.

[0005] A drive mechanism for a long-stroke high-speed conveyor includes a base, an X-axis drive mechanism, a Y-axis drive mechanism, a Z-axis drive mechanism, and a connector for mounting a chuck. The Y-axis drive mechanism is mounted on the X-axis drive mechanism. The Z-axis drive mechanism includes a machine head mounted on the Y-axis drive mechanism, a Z-axis lifting guide rail, a lifting arm, and a Z-axis motor fixed to the machine head and driving the lifting arm to move up and down along the Z-axis lifting guide rail. The Z-axis lifting guide rail is vertically fixed to the machine head. The lifting arm is provided with a secondary lifting guide rail and a secondary arm that moves up and down along the secondary lifting guide rail. The connector is installed at the bottom end of the secondary arm. A synchronous belt is installed on the lifting arm and drives the secondary arm to perform secondary lifting through the synchronous belt when the Z-axis motor drives the lifting arm to move up and down.

[0006] Furthermore, the upper and lower ends of the lifting arm are respectively provided with synchronous pulleys that are rotatably connected to them, and the synchronous belt is connected in a ring between the two synchronous pulleys. A secondary arm clamping block that clamps one side of the synchronous belt is fixedly installed on the secondary arm, and a head clamping block that clamps the other side of the synchronous belt is fixedly installed on the head.

[0007] Furthermore, the X-axis drive mechanism includes an X-axis translation guide rail and an X-axis slide block slidably connected to the X-axis translation guide rail. A Y-axis guide slider is fixedly installed on the X-axis slide block. The X-axis translation guide rail is fixedly installed on the base. An X-axis motor that drives the X-axis slide block to move in the X-axis direction is fixedly installed on the X-axis slide block.

[0008] Furthermore, the Y-axis drive mechanism includes a Y-axis slide arm and a Y-axis translation guide rail fixed to the bottom of the Y-axis slide arm and slidably connected to the Y-axis guide slider. The machine head is fixedly installed at the front end of the Y-axis slide arm, and a Y-axis motor that drives the Y-axis slide arm to move in the Y-axis direction is fixedly installed on the X-axis slide.

[0009] Furthermore, displacement sensors are respectively installed on the X-axis drive mechanism, Y-axis drive mechanism, and Z-axis drive mechanism.

[0010] Furthermore, anti-collision buffer blocks are provided at both ends of the X-axis translation guide, Y-axis translation guide, and Z-axis lifting guide.

[0011] Compared with the prior art, the beneficial effects of this utility model are as follows: This utility model adopts a two-stage lifting structure. During the lifting process, in addition to the Z-axis motor driving the lifting arm to lift, the auxiliary arm performs two-stage lifting under the drive of the synchronous belt, which extends the vertical extension distance of the machine, increases the stroke, and improves the operating efficiency. In addition, while ensuring the stroke, it is also conducive to shortening the overall length of the lifting arm, avoiding the lifting arm from being too long and easily swaying, reducing the difficulty of straight guidance in the vertical direction, and improving the stability of machine operation.

[0012] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a schematic diagram of the structure of this utility model.

[0015] Figure 2 This is a schematic diagram of the X-axis drive mechanism in this utility model.

[0016] Figure 3 This is a schematic diagram of the Y-axis drive mechanism in this utility model.

[0017] Figure 4 This is a schematic diagram of the Z-axis drive mechanism in this utility model.

[0018] Figure 5 This is another structural schematic diagram of the Z-axis drive mechanism in this utility model. Detailed Implementation

[0019] The technical solutions in the embodiments of this utility model will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0020] Please see Figures 1-5 A drive mechanism for a long-stroke high-speed conveyor includes a base 1, an X-axis drive mechanism 2, a Y-axis drive mechanism 3, a Z-axis drive mechanism 4, and a connector 5 for connecting and mounting a chuck. The Y-axis drive mechanism 3 is mounted on the X-axis drive mechanism 2. The Z-axis drive mechanism 4 includes a head 41 mounted on the Y-axis drive mechanism 3, a Z-axis lifting guide rail 42, a lifting arm 43, and a Z-axis motor 44 fixed on the head 41 and driving the lifting arm 43 to move up and down along the Z-axis lifting guide rail 42. The Z-axis lifting guide rail 42 is vertically fixed on the head 41. The lifting arm 43 is provided with a secondary lifting guide rail (not shown in the figure) and a secondary arm 46 that moves up and down along the secondary lifting guide rail (not shown in the figure). The connector 5 is installed at the bottom end of the secondary arm 46. A synchronous belt 47 is installed on the lifting arm 43, and when the Z-axis motor 44 drives the lifting arm 43 to move up and down, the synchronous belt 47 drives the secondary arm 46 to perform secondary lifting. This utility model adopts a two-stage lifting structure. During the lifting process, in addition to the Z-axis motor 44 driving the lifting arm 43 to lift, the auxiliary arm 46 performs two-stage lifting under the drive of the synchronous belt 47, which extends the machine's vertical extension distance, increases the stroke, and improves operating efficiency. In addition, while ensuring the stroke, it also helps to shorten the overall length of the lifting arm 43, avoids the lifting arm 43 from being too long and easily swaying, reduces the difficulty of straight guidance in the vertical direction, and improves the stability of machine operation.

[0021] Furthermore, the upper and lower ends of the lifting arm 43 are respectively provided with synchronous pulleys that are rotatably connected to them. The synchronous belt 47 is connected in a ring between the two synchronous pulleys 48. The auxiliary arm 46 is fixedly installed with an auxiliary arm clamping block 461 that clamps one side of the synchronous belt 47, and the machine head 41 is fixedly installed with a machine head clamping block 411 that clamps the other side of the synchronous belt 47. Specifically, the synchronous belt 47, synchronous pulleys 48, auxiliary arm clamping block 461, and machine head clamping block 411 cooperate to form a linkage mechanism between the lifting arm 43 and the auxiliary arm 46. When the Z-axis motor 44 drives the lifting arm 43 to move up and down, the synchronous belt 47 and the machine head clamping block 411 undergo relative displacement. Since the machine head clamping block 411 is fixed on the machine head 41, the operation of the synchronous belt 47 satisfies this displacement condition, thereby driving the auxiliary arm clamping block 461 on the other side, i.e., driving the auxiliary arm 46 to move in the same direction as the lifting arm 43. This realizes that one motor can simultaneously drive the movement of the lifting arm 43 and the auxiliary arm 46, which is beneficial to energy saving.

[0022] Furthermore, the X-axis drive mechanism 2 includes an X-axis translation guide rail 21 and an X-axis slide block 22 slidably connected to the X-axis translation guide rail 21. A Y-axis guide slider 31 is fixedly installed on the X-axis slide block 22. The X-axis translation guide rail 21 is fixedly installed on the base 1. An X-axis motor 24 that drives the X-axis slide block 22 to move in the X-axis direction is fixedly installed on the X-axis slide block 22.

[0023] Furthermore, the Y-axis drive mechanism 3 includes a Y-axis slide arm 32 and a Y-axis translation guide rail 33 fixed to the bottom of the Y-axis slide arm 32 and slidably connected to the Y-axis guide slider 31. The machine head 41 is fixedly installed at the front end of the Y-axis slide arm 32, and a Y-axis motor 34 that drives the Y-axis slide arm 32 to move in the Y-axis direction is fixedly installed on the X-axis slide block 22.

[0024] Preferably, each of the X-axis motor 24, Y-axis motor 34, and Z-axis motor 44 has a drive gear connected to its rotating shaft. These drive gears mesh with racks, toothed belts, etc., to drive the X-axis drive mechanism 2, Y-axis drive mechanism 3, and Z-axis drive mechanism 4, respectively. For example, a rack is fixedly mounted on the Y-axis slide arm 32, and a drive gear that meshes with the rack is fixedly connected to the rotating shaft of the Y-axis motor 34 to drive the Y-axis slide arm 32 guide rail to move back and forth.

[0025] Furthermore, displacement sensors are respectively installed on the X-axis drive mechanism 2, Y-axis drive mechanism 3, and Z-axis drive mechanism 4. Preferably, the displacement sensors include perforated sensing strips 61 respectively mounted on the X-axis translation guide rail 21, Y-axis slide arm 32, and lifting arm 43, and photoelectric sensors 62 correspondingly installed on the X-axis slide block 22, Y-axis guide slider 31, and machine head 41. The machine's running displacement distance is determined by the sensing signal of the photoelectric sensor 62, so as to realize automated control through parameters.

[0026] Furthermore, anti-collision buffer blocks 7 are provided at both ends of the X-axis translation guide rail 21, the Y-axis translation guide rail 33, and the Z-axis lifting guide rail 42.

[0027] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention.

Claims

1. A drive mechanism for a long-stroke high-speed conveying machine, comprising a base, an X-axis drive mechanism, a Y-axis drive mechanism, a Z-axis drive mechanism, and a connector for mounting a parts-picking chuck, wherein the Y-axis drive mechanism is mounted on the X-axis drive mechanism, characterized in that: The Z-axis drive mechanism includes a machine head mounted on the Y-axis drive mechanism, a Z-axis lifting guide rail, a lifting arm, and a Z-axis motor fixed to the machine head and driving the lifting arm to move up and down along the Z-axis lifting guide rail. The Z-axis lifting guide rail is vertically fixed to the machine head. The lifting arm is equipped with a secondary lifting guide rail and a secondary arm that moves up and down along the secondary lifting guide rail. A connector is installed at the bottom end of the secondary arm. A synchronous belt is installed on the lifting arm and drives the secondary arm to perform two-stage lifting through the synchronous belt when the Z-axis motor drives the lifting arm to move up and down.

2. The drive mechanism for a large-stroke high-speed conveyor according to claim 1, characterized in that, The upper and lower ends of the lifting arm are respectively equipped with synchronous pulleys that are rotatably connected to them. The synchronous belt is connected in a ring between the two synchronous pulleys. The auxiliary arm is fixedly installed with a clamping block that clamps one side of the synchronous belt, and the machine head is fixedly installed with a machine head clamping block that clamps the other side of the synchronous belt.

3. The drive mechanism for a large-stroke high-speed conveyor according to claim 1, characterized in that, The X-axis drive mechanism includes an X-axis translation guide rail and an X-axis slide block slidably connected to the X-axis translation guide rail. A Y-axis guide slider is fixedly installed on the X-axis slide block. The X-axis translation guide rail is fixedly installed on the base. An X-axis motor that drives the X-axis slide block to move in the X-axis direction is fixedly installed on the X-axis slide block.

4. The drive mechanism for a large-stroke high-speed conveyor according to claim 3, characterized in that, The Y-axis drive mechanism includes a Y-axis slide arm and a Y-axis translation guide rail fixed to the bottom of the Y-axis slide arm and slidably connected to the Y-axis guide slider. The machine head is fixedly installed at the front end of the Y-axis slide arm, and a Y-axis motor that drives the Y-axis slide arm to move in the Y-axis direction is fixedly installed on the X-axis slide.

5. A large-stroke high-speed conveyor drive mechanism according to any one of claims 1 to 4, characterized in that, Displacement sensors are installed on the X-axis drive mechanism, Y-axis drive mechanism, and Z-axis drive mechanism, respectively.

6. The drive mechanism for a large-stroke high-speed conveyor according to claim 3, characterized in that, Anti-collision buffer blocks are provided at both ends of the X-axis translation guide, Y-axis translation guide, and Z-axis lifting guide.

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