Double-servo interpolation transfer mechanism

Abstract

The utility model relates to a double-servo interpolation transfer mechanism, which belongs to the technical field of automation equipment and comprises a rack, a motor component A is fixed at one end of the rack, a motor component B is fixed at the other end of the rack, a mechanical arm component is arranged on the rack, and a synchronous belt is arranged on the motor component A, the motor component B and the mechanical arm component in a surrounding manner; the mechanical arm assembly is provided with a synchronous belt reversing wheel set and a synchronous belt tensioning wheel set. The synchronous belt reversing wheel set comprises a reversing wheel A, a reversing wheel B, a reversing wheel C and a reversing wheel D; one end of the synchronous belt is fixedly connected with the arm profile, sequentially bypasses the reversing wheel B, the driving wheel A and the reversing wheel A, then bypasses the synchronous belt tensioning wheel set, the reversing wheel C, the driving wheel B and the reversing wheel D, and is connected with the arm profile; according to the utility model, the two groups of motor assemblies move at different speeds and in different directions to realize independent and interpolation movement, so that a fault caused by breakage of a flexible cable due to the service life is avoided, the installed power is reduced, and the mechanical structure is simplified.

Description

TECHNICAL FIELD

[0001] The utility model relates to a double servo interpolation transfer mechanism and belongs to the technical field of automation equipment. BACKGROUND

[0002] With the vigorous development of industrial automation, automation equipment plays an increasingly important role in various fields. The traditional automation equipment moves in a single-power independent control single-axis reciprocating mode, which has the following disadvantages:

[0003] 1. For automation equipment that can move along the horizontal and vertical axes, the vertical axis power system is installed on the horizontal motion mechanism, and the vertical axis power supply and signal need to be connected through a drag chain and a flexible cable. The flexible cable moves with the drag chain in the drag chain, so the flexible cable needs to be replaced within the service life of the bending resistance. Otherwise, the cable will break and cause a safety accident.

[0004] 2. The vertical axis group and the horizontal axis group work independently, and the power of each axis needs to bear the corresponding axial load, resulting in an increase in installed power. INVENTION CONTENTS

[0005] In view of the above disadvantages of the prior art, the technical problem to be solved by the utility model is to provide a double servo interpolation transfer mechanism that realizes independent and interpolation motion of automation equipment along the vertical and horizontal axes through the linkage of two groups of fixed motor assemblies, without the need for a drag chain, avoiding the risk of cable breakage, reducing installed power, and making the equipment motion trajectory more flexible.

[0006] The double servo interpolation transfer mechanism comprises a rack, a motor assembly A fixed to one end of the rack, a motor assembly B fixed to the other end of the rack, a mechanical arm assembly movably arranged on the rack along the horizontal and vertical axes, and a synchronous belt arranged around the motor assembly A, the motor assembly B, and the mechanical arm assembly.

[0007] The mechanical arm assembly is provided with a synchronous belt reversing wheel set and a synchronous belt tensioning wheel set. The synchronous belt reversing wheel set comprises reversing wheels A, B, C, and D, with the reversing wheel A located directly above the reversing wheel B and the reversing wheel C located directly above the reversing wheel D. The synchronous belt tensioning wheel set is used to tension the synchronous belt.

[0008] One end of the synchronous belt is fixedly connected to the bottom of the arm profile of the mechanical arm assembly, extends horizontally after passing over the reversing wheel B, passes over the driving wheel A on the motor assembly A and the reversing wheel A in sequence, extends downward after passing over the synchronous belt tensioning wheel set, then passes over the reversing wheel C, the driving wheel B on the motor assembly B, and the reversing wheel D in sequence, and the other end of the synchronous belt is finally fixedly connected to the bottom of the arm profile.

[0009] The utility model discloses a technical scheme for providing a double-servo interpolation transfer mechanism, which is provided with two sets of fixed motor assemblies and a synchronous belt reversing wheel set.

[0010] Preferably, the mechanical arm assembly comprises a horizontal shaft sliding seat, which is slidably connected to the rack through a horizontal guide rail sliding block assembly and slidably connected to the arm profile through a vertical guide rail sliding block assembly.

[0011] Further, the synchronous belt reversing wheel set is installed on the horizontal shaft sliding seat, and the synchronous belt tensioning wheel set is installed on the top of the arm profile.

[0012] Further, the installation positions of the reversing wheel A and the reversing wheel C are at the same height, and the installation positions of the reversing wheel B and the reversing wheel D are at the same height.

[0013] Preferably, the motor assembly A comprises a servo motor, a speed reducer and a speed reducer output shaft, and the driving wheel A is sleeved on the speed reducer output shaft and fixedly connected to the speed reducer output shaft; the motor assembly B has the same structure as the motor assembly A.

[0014] The utility model has the beneficial effects compared with the prior art:

[0015] The double-servo interpolation transfer mechanism has the following advantages: two sets of fixed motor assemblies are arranged, the two sets of motor assemblies move at different speeds and in different directions to realize the independent and interpolation movement of the automatic equipment on the vertical shaft and the horizontal shaft; the utility model does not need to be provided with a drag chain, avoids the failure caused by the breakage of the flexible cable due to following movement to reach the service life, reduces the installed power, lowers the cost, simplifies the mechanical structure, and makes the equipment movement trajectory more flexible. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is the front view of the utility model;

[0017] Figure 2 is the left view of the utility model;

[0018] Figure 3 is the top view of the utility model;

[0019] Figure 4 is the state schematic view when the arm profile moves upward;

[0020] Figure 5 is the state schematic view when the arm profile moves downward;

[0021] Figure 6 is the state schematic view when the arm profile moves rightward;

[0022] Figure 7 Fig. 2 is a schematic diagram of the state when the arm profile moves to the left.

[0023] In the figure: 1, rack; 11, horizontal guide rail sliding block assembly; 2, motor assembly A; 21, drive wheel A; 22, servo motor; 23, speed reducer; 24, speed reducer output shaft; 3, horizontal shaft sliding seat; 31, reversing wheel A; 32, reversing wheel B; 33, reversing wheel C; 34, reversing wheel D; 35, arm profile; 351, vertical guide rail sliding block assembly; 352, synchronous belt tensioning wheel set; 4, synchronous belt; 5, motor assembly B; 51, drive wheel B. DETAILED DESCRIPTION

[0024] As Figures 1-7 shown, the embodiment is realized by the following technical scheme: comprising a rack 1, one end of the rack 1 is fixed with a motor assembly A 2, the other end of the rack 1 is fixed with a motor assembly B 5, a mechanical arm assembly movable along a horizontal shaft and a vertical shaft is arranged on the rack 1, a synchronous belt 4 is arranged around the motor assembly A 2, the motor assembly B 5 and the mechanical arm assembly; a synchronous belt reversing wheel set and a synchronous belt tensioning wheel set 352 are installed on the mechanical arm assembly; the synchronous belt reversing wheel set comprises reversing wheel A 31, reversing wheel B 32, reversing wheel C 33 and reversing wheel D 34, the reversing wheel A 31 is located directly above the reversing wheel B 32, the reversing wheel C 33 is located directly above the reversing wheel D 34; the synchronous belt tensioning wheel set 352 is used for tensioning the synchronous belt 4; one end of the synchronous belt 4 is fixedly connected with the bottom of an arm profile 35 of the mechanical arm assembly, extends horizontally after passing over the reversing wheel B 32 upwards, passes over the drive wheel A 21 on the motor assembly A 2, the reversing wheel A 31 in turn, then extends downwards after passing over the synchronous belt tensioning wheel set 352 upwards, and then passes over the reversing wheel C 33, the drive wheel B 51 on the motor assembly B 5, the reversing wheel D 34 in turn, and finally the other end of the synchronous belt 4 is fixedly connected with the bottom of the arm profile 35.

[0025] In the embodiment, the mechanical arm assembly comprises a horizontal shaft sliding seat 3, the horizontal shaft sliding seat 3 is slidably connected with the rack 1 through a horizontal guide rail sliding block assembly 11, and the horizontal shaft sliding seat 3 is slidably connected with the arm profile 35 through a vertical guide rail sliding block assembly 351. The synchronous belt reversing wheel set is installed on the horizontal shaft sliding seat 3, and the synchronous belt tensioning wheel set 352 is installed on the top of the arm profile 35. The installation positions of the reversing wheel A 31 and the reversing wheel C 33 are at the same height, and the installation positions of the reversing wheel B 32 and the reversing wheel D 34 are at the same height. The motor assembly A 2 comprises a servo motor 22, a speed reducer 23 and a speed reducer output shaft 24, the drive wheel A 21 is sleeved on the speed reducer output shaft 24 and is fixedly connected with the speed reducer output shaft 24; the motor assembly B 5 has the same structure as the motor assembly A 2.

[0026] The working process of the utility model is as follows:

[0027] 1、When the driving wheel A21 rotates clockwise, the driving wheel B51 rotates counterclockwise, and the rotating speeds of the two are the same, the synchronous belt 4 pulls the arm profile 35 to move upward;

[0028] 2、When the driving wheel A21 rotates counterclockwise, the driving wheel B51 rotates clockwise, and the rotating speeds of the two are the same, the synchronous belt 4 pulls the arm profile 35 to move downward;

[0029] 3、When the driving wheel A21 and the driving wheel B51 both rotate counterclockwise and the rotating speeds of the two are the same, the synchronous belt 4 pulls the arm profile 35 to move rightward;

[0030] 4、When the driving wheel A21 and the driving wheel B51 both rotate clockwise and the rotating speeds of the two are the same, the synchronous belt 4 pulls the arm profile 35 to move leftward;

[0031] 5、When the driving wheel A21 and the driving wheel B51 rotate at different rotating speeds, the synchronous belt 4 pulls the arm profile 35 to move along the vertical axis and the horizontal axis at the same time, forming a movement track similar to a parabola.

[0032] Of course, the above content is only the preferred embodiment of the present application, and cannot be considered as limiting the scope of the embodiments of the present application. The present application is also not limited to the above examples, and the equivalent changes and improvements made by the ordinary skilled in the art within the essential scope of the present application should be attributed to the patent coverage range of the present application.

Claims

1. A dual servo interpolated transfer mechanism characterized by, The utility model provides a kind of mechanical arm, including rack (1), motor assembly A (2) is fixed to one end of rack (1), motor assembly B (5) is fixed to the other end of rack (1), and motor assembly A (2), motor assembly B (5) and mechanical arm assembly are set up on the rack (1) and can be moved along horizontal axis and vertical axis, and synchronous belt (4) is set around on motor assembly A (2), motor assembly B (5) and mechanical arm assembly; Synchronous belt reversing wheel group and synchronous belt tension pulley group (352) are installed on mechanical arm assembly;Synchronous belt reversing wheel group includes reversing wheel A (31), reversing wheel B (32), reversing wheel C (33) and reversing wheel D (34), reversing wheel A (31) is located directly above reversing wheel B (32), and reversing wheel C (33) is located directly above reversing wheel D (34); One end of synchronous belt (4) is fixedly connected with the bottom of arm profile (35) of mechanical arm assembly, extends horizontally after being wound upwards through reversing wheel B (32), is wound through drive wheel A (21) on motor assembly A (2) and reversing wheel A (31) in turn, is wound downwards after being wound upwards through synchronous belt tension pulley group (352) again, is wound through reversing wheel C (33), drive wheel B (51) on motor assembly B (5) and reversing wheel D (34) in turn, and the other end of synchronous belt (4) is finally fixedly connected with the bottom of arm profile (35); The mechanical arm assembly includes horizontal axis sliding seat (3), and the horizontal axis sliding seat (3) is slidably connected with the rack (1) through horizontal guide rail sliding block assembly (11), and the horizontal axis sliding seat (3) is slidably connected with the arm profile (35) through vertical guide rail sliding block assembly (351). The synchronous belt reversing wheel group is installed on the horizontal axis sliding seat (3), and the synchronous belt tension pulley group (352) is installed on the top of the arm profile (35).

2. The dual servo interpolated transfer mechanism of claim 1, wherein, The installation positions of reversing wheel A (31) and reversing wheel C (33) are equal in height, and the installation positions of reversing wheel B (32) and reversing wheel D (34) are equal in height.

3. The dual servo interpolated transfer mechanism of claim 1, wherein, The motor assembly A (2) includes servo motor (22), speed reducer (23) and speed reducer output shaft (24), drive wheel A (21) is sleeved on the speed reducer output shaft (24) and is fixedly connected with the speed reducer output shaft (24), and the motor assembly B (5) has the same structure as the motor assembly A (2).

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