Synchronous belt two-shaft parallel module

Abstract

The utility model relates to a synchronous belt two-axis parallel module which comprises a module mounting plate, a connecting plate is arranged on the module mounting plate, an X-axis support is connected to the connecting plate, an X-axis sliding rail is arranged on the upper surface of the X-axis support, a sliding block device is arranged on the X-axis sliding rail in a sliding fit mode, a pulley assembly is connected to one side of the sliding block device, and a Z-axis support is arranged on the pulley assembly; a Z-axis slide rail is arranged on the Z-axis bracket; the parallel motion driving technology is adopted, the dynamic response can be improved to the maximum extent, the response speed is higher than that of other Cartesian gantries, two servo motors cooperate to drive the synchronous belt at the same time, the synchronous belt is driven by the two servo motors at the same time, and the synchronous belt is driven by the two servo motors at the same time. Compared with an existing single motor for controlling lifting in the axial direction, the design can enable the total output power to be increased to be the superposition of the output power of the two servo motors, and the overall driving speed is increased under the original same power.

Description

TECHNICAL FIELD

[0001] The application relates to the field of mechanical equipment, in particular to a synchronous belt two-axis parallel module. BACKGROUND

[0002] The linear module is widely applied to the field of automation as a transplanting assembly, and the traditional module has the defects of small bearing capacity caused by the motor installed on the Z-axis and slow response speed of the X-axis.

[0003] The Chinese patent document with the application number CN202110791294.4 discloses a cross module structure control system of a wet wipe production equipment, which comprises a cross module structure including a horizontal fixed module and a longitudinal moving module, the horizontal fixed module and the longitudinal moving module are connected through a belt drive, both ends of the belt are fixed on the profile through the second fastening bolt, and the belt is connected with four transmission wheels, two first synchronous wheels and one second synchronous wheel; the driving motor is operated to pull the belt to move, and the longitudinal moving module also moves on the second linear guide rail through the second sliding block to form an arc-shaped running track.

[0004] The above structure has large load and needs large power driving, and therefore has slow response speed, in order to improve the response speed and reduce the load on the gripper, the application discloses a synchronous belt two-axis parallel module. SUMMARY

[0005] Therefore, it is necessary to propose a synchronous belt two-axis parallel module in view of the problems of small bearing capacity and slow response speed of the X-axis of the existing synchronous belt two-axis parallel module.

[0006] The application provides a synchronous belt two-axis parallel module, which comprises a module mounting plate, a connecting plate is arranged on the module mounting plate, an X-axis support is connected to the connecting plate,

[0007] An X-axis sliding rail is arranged on the upper surface of the X-axis support, a sliding block device is slidably arranged on the X-axis sliding rail, a pulley assembly is connected to one side of the sliding block device, a Z-axis support is arranged on the pulley assembly, and a Z-axis sliding rail is arranged on the Z-axis support;

[0008] One end of the X-axis support is connected with an X-axis servo motor assembly, the output end of the X-axis servo motor assembly is rotationally connected with a synchronous belt, the other end of the synchronous belt is slidably matched with the pulley assembly, the other end of the X-axis support is connected with a Z-axis servo motor assembly, and the Z-axis servo motor assembly is rotationally matched with the synchronous belt.

[0009] The upper end of the Z-axis support is provided with a synchronous wheel assembly, the synchronous wheel assembly is in rotational cooperation with a synchronous belt, the two ends of the synchronous belt are respectively provided with a pressing plate, and the lower end of the Z-axis support is provided with a handle mounting plate.

[0010] In an embodiment, the X-axis servo motor assembly comprises a motor mounting plate and an X-axis synchronous belt wheel, one end of the motor mounting plate is fixed on the X-axis support, the X-axis synchronous belt wheel is fixed on the motor mounting plate, the X-axis synchronous belt wheel is rotationally connected with an X-axis planetary reducer and an X-axis servo motor, the X-axis servo motor rotates to drive the output shaft of the X-axis planetary reducer to rotate the X-axis synchronous belt wheel, thereby driving the synchronous belt to rotate.

[0011] In an embodiment, the Z-axis servo motor assembly comprises a Z-axis servo motor, a Z-axis planetary reducer and a Z-axis synchronous belt wheel.

[0012] In an embodiment, the X-axis servo motor assembly, the slide rail and the Z-axis servo motor assembly are fixed on the X-axis support by bolts.

[0013] In an embodiment, the synchronous wheel assembly comprises a driven pressing plate and a driven side plate, the driven side plate is provided with an adjusting groove, the adjusting groove is clamped with a driven shaft, and the driven shaft is sleeved with a driven wheel.

[0014] In an embodiment, the pulley assembly is composed of a slide rail mounting plate, a buffer pad mounting support, a pulley mounting plate and a pulley.

[0015] In an embodiment, the buffer pad mounting support is provided with a buffer pad, the slide rail mounting plate is connected with the X-axis slide rail by bolts, and the pulley changes the movement direction of the synchronous belt.

[0016] In an embodiment, the slide rail mounting plate, the buffer pad mounting support, the pulley and the buffer pad are fixed on the pulley mounting plate by bolts.

[0017] In an embodiment, the synchronous belt sequentially passes through the X-axis servo motor assembly, the synchronous wheel assembly, the Z-axis servo motor assembly and the pulley assembly, and the two ends of the synchronous belt are fixed on the Z-axis support by the pressing plates.

[0018] In an embodiment, the number of pressing plates is two, the two pressing plates are arranged at the lower end of the two sides of the Z-axis support, and one side of each pressing plate is connected with the synchronous belt.

[0019] Technical advantages of the present application:

[0020] 1. First, the parallel motion drive technology can maximize the dynamic response, faster than other Cartesian gantry response speed, two servo synchronous belt drive, compared with the existing single motor control a single axis, the total output power is increased to two servo motor output power superposition, in the original same power, the overall drive speed is improved;

[0021] 2. Secondly, the original Z-axis motor is transferred to the X-axis, which reduces the load on the Z-axis and improves the load capacity of the Z-axis, suitable for high-speed light-load grabbing and placing process;

[0022] 3. The X-axis can adjust the length, so that the load and stroke can be expanded according to the actual demand. BRIEF DESCRIPTION OF DRAWINGS

[0023] The accompanying drawings, which form a part of this application, are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification. The illustrations, together with the description, serve to explain the application, but do not limit the application.

[0024] Figure 1 The accompanying drawings, which form a part of this application, are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification. The illustrations, together with the description, serve to explain the application, but do not limit the application.

[0025] Figure 2 The accompanying drawings, which form a part of this application, are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification. The illustrations, together with the description, serve to explain the application, but do not limit the application. Figure 1

[0026] Figure 3 The accompanying drawings, which form a part of this application, are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification. The illustrations, together with the description, serve to explain the application, but do not limit the application. Figure 1

[0027] Figure 4 The accompanying drawings, which form a part of this application, are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification. The illustrations, together with the description, serve to explain the application, but do not limit the application.

[0028] Figure 5 The accompanying drawings, which form a part of this application, are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification. The illustrations, together with the description, serve to explain the application, but do not limit the application.

[0029] Figure 6 The accompanying drawings, which form a part of this application, are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification. The illustrations, together with the description, serve to explain the application, but do not limit the application. Figure 5

[0030] Figure 7 The accompanying drawings, which form a part of this application, are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification. The illustrations, together with the description, serve to explain the application, but do not limit the application.

[0031] ​​​Reference: X-axis servo motor assembly 1; motor mounting plate 11; X-axis synchronous pulley 12; X-axis planetary reducer 13; X-axis servo motor 14; X-axis support 2; X-axis slide rail 21; slider device 22; Z-axis support 3; Z-axis slide rail 31; Z-axis servo motor assembly 32; Z-axis servo motor 321; Z-axis planetary reducer 322; Z-axis synchronous pulley 323; synchronous wheel assembly 4; driven pressure plate 41; driven side plate 42; adjusting groove 420; driven shaft 43; driven wheel 44; pulley assembly 5; slide rail mounting plate 51; buffer pad mounting support 52; pulley mounting plate 53; pulley 54; buffer pad 55; module mounting plate 6; connecting plate 61; synchronous belt 7; gripper mounting plate 8; wire pressing plate 9. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application is further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application, and do not limit the present application.

[0033] It should be noted that all directional indications, such as up, down, left, right, front, back, etc., in the embodiments of the present application are only used to explain the relative positional relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications also change accordingly.

[0034] In addition, the description such as "first", "second" and the like in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0035] In the present application, unless otherwise specifically defined and limited, the terms "connection", "fixing" and the like should be understood broadly, for example, "fixing" can be fixed connection, or detachable connection, or integral; can be mechanical connection, or electrical connection; can be direct connection, or indirect connection through intermediate medium; can be internal connection of two elements or interaction relationship between two elements, unless otherwise specifically limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0036] As Figures 1-7As shown, a synchronous belt two-axis parallel module, comprising: module mounting plate 6, module mounting plate 6 is provided with connecting plate 61, connecting plate 61 is connected with X-axis support 2, the upper surface of X-axis support 2 is provided with X-axis sliding rail 21, X-axis sliding rail 21 is slidably fitted with sliding block device 22, one side of sliding block device 22 is connected with pulley assembly 5, pulley assembly 5 is provided with Z-axis support 3, Z-axis support 3 is provided with Z-axis sliding rail 31; one end of X-axis support 2 is connected with X-axis servo motor assembly 1, the output end of X-axis servo motor assembly 1 is rotatably connected with synchronous belt 7, the other end of synchronous belt 7 is slidably fitted on pulley assembly 5, the other end of X-axis support 2 is connected with Z-axis servo motor assembly 32, Z-axis servo motor assembly 32 and synchronous belt 7 are rotatably fitted; the upper end of Z-axis support 3 is provided with synchronous pulley assembly 4, synchronous pulley assembly 4 and synchronous belt 7 are rotatably fitted, the two ends of synchronous belt 7 are respectively provided with line pressing plate 9, the lower end of Z-axis support 3 is provided with gripper mounting plate 8.

[0037] As shown in the figure, Figure 1 The synchronous belt two-axis parallel module mainly comprises X-axis servo motor assembly 1, X-axis support 2, X-axis sliding rail 21, Z-axis support 3, Z-axis sliding rail 31, Z-axis servo motor assembly 32, synchronous pulley assembly 4, pulley assembly 5, module mounting plate 6, synchronous belt 7, gripper mounting plate 8 and line pressing plate 9.

[0038] X-axis servo motor assembly 1 comprises motor mounting plate 11 and X-axis synchronous pulley 12, one end of motor mounting plate 11 is fixed on X-axis support 2, X-axis synchronous pulley 12 is fixed on motor mounting plate 11, X-axis synchronous pulley 12 is rotatably connected with X-axis planetary reducer 13 and X-axis servo motor 14, X-axis servo motor 14 rotates to drive the output shaft of X-axis planetary reducer 13 to rotate X-axis synchronous pulley 12, thereby driving synchronous belt 7 to rotate.

[0039] As shown in the figure, Figure 1 Z-axis servo motor assembly 32 is fixed on the other side of X-axis support 2 through bolts, and the module moves up and down and left and right through the forward and reverse rotation of X-axis servo motor assembly 1, and the length of X-axis can be adjusted to expand the load and stroke according to actual needs.

[0040] Z-axis servo motor assembly 32 comprises Z-axis servo motor 321, Z-axis planetary reducer 322 and Z-axis synchronous pulley 323.

[0041] X-axis servo motor assembly 1, sliding rail 2 and Z-axis servo motor assembly 32 are fixed on X-axis support 2 through bolts.

[0042] As shown in the figure, Figures 1-2As shown: X-axis servo motor assembly 1 is composed of motor mounting plate 11, X-axis synchronous pulley 12, X-axis planetary reducer 13 and X-axis servo motor 14, X-axis synchronous pulley 12, X-axis planetary reducer 13 and X-axis servo motor 14 are installed on X-axis support 2 through motor mounting plate 11, X-axis servo motor 14 rotates through X-axis planetary reducer 13 output shaft to drive X-axis synchronous pulley 12 to rotate, thereby driving synchronous belt 7 to rotate.

[0043] X-axis slide rail 21 is fixed on the upper and lower sides of X-axis support 2 through screws, which plays a role in guiding, bearing load and reducing friction coefficient.

[0044] X-axis support 2 plays a role in skeleton support, X-axis servo motor assembly 1, X-axis slide rail 21 and Z-axis servo motor assembly 32 are fixed on the upper and side surfaces of X-axis support 2 through bolts.

[0045] Synchronous pulley assembly 4 includes driven pressure plate 41 and driven side plate 42, driven side plate 42 is provided with adjusting groove 420, driven shaft 43 is clamped in adjusting groove 420, driven pulley 44 is sleeved on driven shaft 43.

[0046] As shown: Figures 3-4 Synchronous pulley assembly 4 is composed of driven pressure plate 41, driven side plate 42, driven shaft 43 and driven pulley 44, driven pressure plate 41 is fixed on both sides of driven side plate 42 through bolts, driven shaft 43 is installed in adjusting groove 420 of both sides of driven side plate 42, driven shaft 43 and driven pulley 44 are moved up or down by tightening or loosening the bolts installed on driven side plate 42, thereby playing a role in tensioning.

[0047] As shown: Figure 7 Pulley assembly 5 is composed of slide rail mounting plate 51, buffer pad mounting bracket 52, pulley mounting plate 53, pulley 54 and buffer pad 55. Buffer pad mounting bracket 52 is installed with buffer pad 55, pulley assembly 5 plays a role in buffering when moving along X-axis or Z-axis, slide rail mounting plate 51, buffer pad mounting bracket 52, pulley 54 and buffer pad 55 are fixed on the upper surface of pulley mounting plate 53 through bolts. Slide rail mounting plate 51 is connected with X-axis slide rail 21 through bolts, pulley 54 plays a role in increasing the wrap angle and changing the movement direction of synchronous belt 7.

[0048] Module mounting plate 6 is fixed on one side of X-axis support 2 and the other side of the rack through screws.

[0049] As shown: Figures 5-7 Synchronous belt 7 passes through X-axis servo motor assembly 1, synchronous pulley assembly 4, Z-axis servo motor assembly 32 and pulley assembly 5 and is fixed on both sides of Z-axis support 3 through pressure plate 9.

[0050] The pressing line plate 9 is connected with the synchronous belt 7 on one side and fixed on the end of the Z-axis support 3 on the other side, and the movement of the synchronous belt 7 drives the Z-axis support 3 to move up and down and left and right.

[0051] The Z-axis slide rail 31 is fixed on the side of the Z-axis support 3 by bolts, and plays a guiding and friction-reducing role for the Z-axis load.

[0052] The Z-axis support 3 is connected with the pressing line plate 9 by bolts, and drives the gripper mounting plate 8 to move.

[0053] The parallel motion driving technology can maximize the dynamic response, and the response speed is faster than other Cartesian gantry. The two servos simultaneously cooperate to drive the synchronous belt, so that the total output power is superimposed with the output power of two servo motors. Under the same original power, the overall driving speed is improved.

[0054] The gripper mounting plate 8 is fixed on the end face of the Z-axis support 3 by screws, and the other side is installed with a gripper, which is suitable for high-speed light-load picking and placing process, such as boxing, stacking and other application scenarios.

[0055] The overall working process is as follows:

[0056] The X-axis servo motor assembly 1 and the Z-axis servo motor assembly 32 component positive and negative operation combination drives the Z-axis to move along the X-axis or Z-axis direction:

[0057] 1. When the X-axis servo motor assembly 1 and the Z-axis servo motor assembly 32 component simultaneously rotate clockwise, the Z-axis moves to the left.

[0058] 2. When the X-axis servo motor assembly 1 rotates clockwise and the Z-axis servo motor assembly 32 component rotates counterclockwise, the Z-axis moves upward.

[0059] 3. When the X-axis servo motor assembly 1 rotates counterclockwise and the Z-axis servo motor assembly 32 component rotates clockwise, the Z-axis moves downward.

[0060] 4. When the X-axis servo motor assembly 1 and the Z-axis servo motor assembly 32 component simultaneously rotate counterclockwise, the Z-axis moves to the right.

[0061] 5. When the X-axis servo motor assembly 1 does not rotate and the Z-axis servo motor assembly 32 component rotates clockwise, the Z-axis moves to the left and downward.

[0062] 6. When the X-axis servo motor assembly 1 does not rotate and the Z-axis servo motor assembly 32 component rotates counterclockwise, the Z-axis moves to the right and upward.

[0063] 7. When the X-axis servo motor assembly 1 and the Z-axis servo motor assembly 32 component simultaneously stop rotating, the Z-axis stops.

[0064] 8、When the X-axis servo motor assembly 1 rotates clockwise, the Z-axis servo motor assembly 32 does not rotate, and the Z-axis moves left and up.

[0065] 9、When the X-axis servo motor assembly 1 rotates counterclockwise, the Z-axis servo motor assembly 32 does not rotate, and the Z-axis moves right and down.

[0066] The technical features of the above-described embodiments can be combined in any manner, and the method steps are not limited in execution order. To make the description brief, all possible combinations of the technical features in the above-described embodiments are not described, but as long as the combinations of the technical features do not contradict, they should be considered within the scope of the present disclosure.

[0067] The above-described embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the patent scope of the present application. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A synchronous belt two-axis parallel module, characterized by, The utility model relates to a kind of X-axis servo motor module and Z-axis servo motor module, including: Module mounting plate (6), the connecting plate (61) of the module mounting plate (6) is provided, X-axis support (2) is connected on the connecting plate (61), the upper surface of X-axis support (2) is equipped with X-axis slide rail (21), the X-axis slide rail (21) is slidably equipped with slider device (22), one side of the slider device (22) is connected with pulley assembly (5), Z-axis support (3) is provided on the pulley assembly (5), Z-axis support (3) is provided with Z-axis slide rail (31); One end of the X-axis support (2) is connected with X-axis servo motor assembly (1), the output end of the X-axis servo motor assembly (1) is rotatably connected with synchronous belt (7), the other end of the synchronous belt (7) is slidably fitted on the pulley assembly (5), the other end of the X-axis support (2) is connected with Z-axis servo motor assembly (32), the Z-axis servo motor assembly (32) and the synchronous belt (7) are rotatably fitted; The upper end of the Z-axis support (3) is equipped with synchronous pulley assembly (4), the synchronous pulley assembly (4) and synchronous belt (7) are rotatably fitted, the two ends of the synchronous belt (7) are respectively provided with line pressing plate (9), the lower end of the Z-axis support (3) is provided with gripper mounting plate (8).

2. The two-axis parallel module of the timing belt according to claim 1, wherein, The X-axis servo motor assembly (1) includes motor mounting plate (11) and X-axis synchronous pulley (12), one end of the motor mounting plate (11) is fixed on the X-axis support (2), the X-axis synchronous pulley (12) is fixed on the motor mounting plate (11), the X-axis synchronous pulley (12) is rotatably connected with X-axis planetary reducer (13) and X-axis servo motor (14), X-axis servo motor (14) rotates to drive X-axis planetary reducer (13) output shaft to drive X-axis synchronous pulley (12) to rotate, thereby driving synchronous belt (7) to rotate.

3. The two-axis parallel module of the timing belt according to claim 2, characterized in that, Z-axis servo motor assembly (32) includes Z-axis servo motor (321), Z-axis planetary reducer (322) and Z-axis synchronous pulley (323).

4. The two-axis parallel module of the timing belt according to claim 3, wherein, The X-axis servo motor assembly (1), X-axis slide rail (21) and Z-axis servo motor assembly (32) are fixed on the X-axis support (2) by bolts.

5. The two-axis parallel module of the timing belt according to claim 1, wherein, The synchronous pulley assembly (4) includes driven pressing plate (41) and driven side plate (42), the driven side plate (42) is provided with adjusting groove (420), the adjusting groove (420) is clamped with driven shaft (43), the driven shaft (43) is sleeved with driven pulley (44).

6. The two-axis parallel module of the timing belt according to claim 1, wherein, The pulley assembly (5) is composed of slide rail mounting plate (51), buffer pad mounting support (52), pulley mounting plate (53) and pulley (54).

7. The two-axis parallel module of the timing belt according to claim 6, wherein The buffer pad mounting support (52) is provided with buffer pad (55), the slide rail mounting plate (51) is connected with X-axis slide rail (21) by bolts, pulley (54) changes the motion direction of synchronous belt (7).

8. The two-axis parallel module of the timing belt according to claim 7, wherein, The slide rail mounting plate (51), buffer pad mounting support (52), pulley (54) and buffer pad (55) are fixed on the pulley mounting plate (53) by bolts.

9. The two-axis parallel module of the timing belt according to claim 1, wherein, The synchronous belt (7) sequentially passes through the X-axis servo motor assembly (1), the synchronous wheel assembly (4), the Z-axis servo motor assembly (32) and the pulley assembly (5), and the two ends of the synchronous belt (7) are fixed on the Z-axis support (3) through the pressing plate (9).

10. The two-axis parallel module of claim 9, wherein, The number of the pressing plates (9) is two, and the two pressing plates (9) are arranged at the lower ends on the two sides of the Z-axis support (3), and one side of each pressing plate (9) is connected with the synchronous belt (7).

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