Three-axis moving mechanism for mounting gear backlash shims

Abstract

The present application discloses a three-axis moving mechanism for installing a gear side clearance gasket of a reducer, including a base, on which a frame is fixedly installed. Inside the frame, there are a Z-axis transmission component, a Y-axis transmission component, and an X-axis transmission component. The Y-axis transmission component is arranged on the Z-axis transmission component, and the X-axis transmission component is arranged on the Y-axis transmission component. By setting the Y-axis transmission component, the X-axis transmission component, and the Z-axis transmission component, after the division of labor among the Z-axis, Y-axis, and X-axis, the control system can more simply plan the pick-up-move-place path, reduce the compound motion requirements of each axis, lower the control complexity, and each axis independently controls the direction, which can avoid the collision risk caused by structural overlap during multi-axis linkage.

Description

Technical Field

[0001] This application relates to the field of industrial manufacturing technology, and in particular to a three-axis moving mechanism for mounting gear tooth backlash shims. Background Technology

[0002] The core performance of speed reducers, such as industrial robot joint reducers and automotive transmissions, depends on the precision of the fit between internal components such as gears and bearings. Among them, the precise control of tooth backlash directly affects transmission efficiency, noise level and service life.

[0003] Existing three-axis moving mechanisms for mounting reducer tooth backlash shims often only possess single-axis or dual-axis movement capabilities. Single-axis mechanisms can only move linearly in one direction. When faced with complex three-dimensional shim mounting tasks, they require complex mechanical structure transformations or multiple step-by-step operations to achieve position adjustment, which greatly limits their flexibility. While dual-axis mechanisms can move in two directions, they still cannot meet the requirements for some installation tasks that require precise position adjustment in three dimensions, making it difficult to achieve fast and accurate positioning. Therefore, a three-axis moving mechanism for mounting reducer tooth backlash shims is proposed to address the above problems. Summary of the Invention

[0004] The three-axis moving mechanism for installing gear tooth backlash shims provided in this embodiment is mostly single-axis or dual-axis moving, which lacks sufficient motion flexibility and positioning accuracy, making it difficult to meet the requirements of complex three-dimensional space installation tasks.

[0005] According to one aspect of this application, a three-axis moving mechanism for mounting a gear reducer tooth backlash shim is provided, including a base, on which a frame is fixedly mounted, and a Z-axis transmission assembly, a Y-axis transmission assembly and an X-axis transmission assembly are disposed inside the frame, with a Y-axis transmission assembly disposed on the Z-axis transmission assembly and an X-axis transmission assembly disposed on the Y-axis transmission assembly;

[0006] Two connecting rods are fixedly installed on the frame, two upper plates and one lower plate are fixedly installed on the frame, and the lower plate is fixedly installed between the two connecting rods. Limiting grooves are provided on both upper plates and both lower plates. Two rotating shafts are rotatably connected to the support plate through bearings. Auxiliary wheels are fixedly installed on both rotating shafts, and the two auxiliary wheels abut against the limiting grooves on the upper plates and the lower plates, respectively.

[0007] In this technical solution, two mounting plates are fixedly installed between the two connecting rods and the frame. A third lead screw is rotatably connected between the two mounting plates via a bearing. A third stepper motor is fixedly installed on one of the mounting plates. The output shaft of the third stepper motor passes through the mounting plate and is fixedly connected to one end of the third lead screw. A third slider is threaded onto the third lead screw.

[0008] In this technical solution, two third slide rods are fixedly installed between the two mounting plates, and the third slider is slidably connected to the two third slide rods.

[0009] In this technical solution, a vertical plate is fixedly installed on the third slider, a support plate is fixedly installed at the top of the vertical plate, a first stepper motor is fixedly installed on the support plate, a first lead screw is rotatably connected between the support plate and the third slider through a bearing, and the output shaft of the first stepper motor passes through the support plate and is fixedly connected to one end of the first lead screw. The first slider is threadedly connected to the first lead screw.

[0010] In this technical solution, two first sliding rods are fixedly installed between the support plate and the third slider, and the first slider is slidably connected to the two first sliding rods.

[0011] In this technical solution, an L-shaped frame is fixedly installed on the first slider, a horizontal plate is fixedly installed on the L-shaped frame, and side plates are fixedly installed on both sides of the horizontal plate.

[0012] In this technical solution, a second stepper motor is fixedly installed on one of the side plates, and a second lead screw is rotatably connected between the two side plates through a bearing. The output shaft of the second stepper motor passes through the side plate and is fixedly connected to one end of the second lead screw. A second slider is threadedly connected to the second lead screw, and an execution table is fixedly installed on the second slider.

[0013] In this technical solution, two second slide rods are fixedly installed between the two side plates, and the second slider is slidably connected to the two second slide rods.

[0014] In this technical solution, the frame is provided with three material trays, and each of the three material trays is provided with two sensors.

[0015] In this technical solution, a touch screen bracket is fixedly installed on the base, and a touch screen is fixedly installed on the touch screen bracket.

[0016] Through the above embodiments of this application, by setting up Y-axis transmission components, X-axis transmission components and Z-axis transmission components, and dividing the work according to Z-axis, Y-axis and X-axis, the control system can more easily plan the pick-up-move-place path, reduce the composite motion requirements of each axis, reduce control complexity, and allow each axis to control the direction independently, which can avoid the risk of collision caused by structural overlap when multiple axes are linked.

[0017] By setting two auxiliary wheels on the Y-axis transmission assembly, a multi-point support structure is formed through the contact between the auxiliary wheels and the top plate. This can distribute the force on the Y-axis and Z-axis guide rails, suppress the sway amplitude, ensure the precise alignment of the shims in the vertical direction, and avoid shim misalignment, missing installation, or damage to parts due to swaying. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application 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 application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the overall three-dimensional structure of one embodiment of this application;

[0020] Figure 2 This is a schematic diagram of the overall internal structure of one embodiment of this application;

[0021] Figure 3 This is a side view of the internal structure of one embodiment of this application.

[0022] In the diagram: 1. Base; 2. Frame; 3. Tray; 4. Sensor; 5. Support plate; 6. First stepper motor; 7. Upper plate; 8. Auxiliary wheel; 9. Lower plate; 10. Limiting groove; 11. Vertical plate; 12. Side plate; 13. Second stepper motor; 14. L-shaped frame; 15. First lead screw; 16. First slide bar; 17. Third slide bar; 18. Third slider; 19. Third lead screw; 20. Mounting plate; 21. Horizontal plate; 22. Second slider; 23. Second lead screw; 24. Connecting rod; 25. Execution table; 26. First slider; 27. Second slide bar; 28. Third stepper motor; 29. ​​Touch screen bracket; 30. Touch screen. Detailed Implementation

[0023] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0024] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0025] In this application, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0026] Furthermore, in addition to indicating location or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0027] Furthermore, the terms "installation," "setup," "equipped with," "connection," "linking," and "socketing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0028] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0029] Please see Figure 1-3 As shown, a three-axis moving mechanism for mounting gear tooth clearance shims includes a base 1 and a support plate 5. In this technical solution, a frame 2 is fixedly mounted on the base 1. The frame 2 is internally provided with a Z-axis transmission assembly, a Y-axis transmission assembly and an X-axis transmission assembly. The Z-axis transmission assembly is provided with a Y-axis transmission assembly, and the Y-axis transmission assembly is provided with an X-axis transmission assembly.

[0030] Two connecting rods 24 are fixedly installed on the frame 2. Two upper plates 7 and one lower plate 9 are fixedly installed on the frame 2. The lower plate 9 is fixedly installed between the two connecting rods 24. Limiting grooves 10 are provided on both upper plates 7 and both lower plates 9. Two rotating shafts are rotatably connected to the support plate 5 through bearings. Auxiliary wheels 8 are fixedly installed on both rotating shafts. The two auxiliary wheels 8 abut against the limiting grooves 10 on the upper plates 7 and lower plates 9, respectively.

[0031] In this technical solution, two mounting plates 20 are fixedly installed between the two connecting rods 24 and the frame 2. A third lead screw 19 is rotatably connected between the two mounting plates 20 through bearings. A third stepper motor 28 is fixedly installed on one of the mounting plates 20. The output shaft of the third stepper motor 28 passes through the mounting plate 20 and is fixedly connected to one end of the third lead screw 19. A third slider 18 is threadedly connected to the third lead screw 19.

[0032] In this technical solution, two third slide rods 17 are fixedly installed between the two mounting plates 20, and the third slider 18 is slidably connected to the two third slide rods 17.

[0033] In this technical solution, a vertical plate 11 is fixedly installed on the third slider 18, a support plate 5 is fixedly installed on the top of the vertical plate 11, a first stepper motor 6 is fixedly installed on the support plate 5, a first lead screw 15 is rotatably connected between the support plate 5 and the third slider 18 through a bearing, the output shaft of the first stepper motor 6 passes through the support plate 5 and is fixedly connected to one end of the first lead screw 15, and a first slider 26 is threadedly connected to the first lead screw 15.

[0034] In this technical solution, two first slide rods 16 are fixedly installed between the support plate 5 and the third slider 18, and the first slider 26 is slidably connected to the two first slide rods 16.

[0035] In this technical solution, an L-shaped frame 14 is fixedly installed on the first slider 26, a horizontal plate 21 is fixedly installed on the L-shaped frame 14, and side plates 12 are fixedly installed on both sides of the horizontal plate 21.

[0036] In this technical solution, a second stepper motor 13 is fixedly installed on one of the side plates 12, and a second lead screw 23 is rotatably connected between the two side plates 12 through a bearing. The output shaft of the second stepper motor 13 passes through the side plate 12 and is fixedly connected to one end of the second lead screw 23. A second slider 22 is threadedly connected to the second lead screw 23, and an execution table 25 is fixedly installed on the second slider 22.

[0037] In this technical solution, two second slide rods 27 are fixedly installed between the two side plates 12, and the second slider 22 is slidably connected to the two second slide rods 27.

[0038] In this technical solution, the frame 2 is provided with three material trays 3, and each of the three material trays 3 is provided with two sensors 4.

[0039] In this technical solution, a touch screen bracket 29 is fixedly installed on the base 1, and a touch screen 30 is fixedly installed on the touch screen bracket 29.

[0040] In use, all electrical components mentioned in this application are externally connected to a power supply and control switch. When the device receives a shim pickup signal, it drives the Z-axis transmission assembly to move, activating the third stepper motor 28. The output shaft of the third stepper motor 28 drives the third lead screw 19 to rotate. With the cooperation of the two third slide rods 17, the third slider 18 drives the Y-axis transmission assembly and X-axis transmission assembly to move simultaneously. The forward and backward movement directly adjusts the axial position of the shim in the gear backlash of the reducer, ensuring that the front or rear end of the shim is precisely aligned with the edge of the mounting groove. This reduces the X-axis or Y-axis displacement distance of the execution table, shortens the motion trajectory, and improves assembly efficiency. Through the signal from sensor 4, the X-axis transmission assembly is driven, activating the second stepper motor 13. The output shaft of the second stepper motor 13 drives the second lead screw 23 to rotate. With the cooperation of the two second slide rods 27, the X-axis transmission assembly driven by the second slider 22 moves to the data tray 3 where the shims to be installed are stored. Below, the pad is placed in the material tray 3. The Y-axis transmission assembly is driven. The output shaft of the first stepper motor 6 drives the first lead screw 15 to rotate. With the cooperation of the two first slide rods 16, it moves upward. The Y-axis transmission assembly moves up and down to control the vertical height of the pad, ensuring that the pad can be inserted into the gear tooth clearance at a vertical angle after being picked up from the material tray 3, avoiding tilting or jamming. The material tray 3 is lifted, the Z-axis transmission unit moves backward, the Y-axis transmission assembly moves downward, and the X-axis transmission assembly moves to the left, moving the material tray 3 with the pad to the designated position. The X-axis transmission assembly moves left and right to adjust the X-axis position of the pad in the gear tooth clearance of the reducer. It can quickly adapt to the clearance width difference of different models of reducers. After the Z-axis, Y-axis and X-axis are divided into tasks, the control system can more easily plan the pick-up-move-place path, reduce the compound motion requirements of each axis, reduce the control complexity, and control the direction of each axis independently, which can avoid the risk of collision caused by structural overlap when multiple axes are linked.

[0041] By setting two auxiliary wheels 8 on the Y-axis transmission assembly, a multi-point support structure is formed through the contact between the auxiliary wheels 8 and the top plate. This can disperse the force on the Y-axis and Z-axis guide rails, suppress the shaking amplitude, ensure the precise alignment of the shims in the vertical direction, and avoid shim misalignment, missing installation, or damage to parts due to shaking.

[0042] Sensor 4 can detect the quantity or position of the gaskets on the material tray 3 in real time. When the gaskets are about to run out or are misaligned, it immediately sends a signal to the control system to trigger automatic replenishment or a pause alarm, thus preventing the equipment from running idle or gaskets from being missed due to material shortage. The sensor also identifies the gasket model, tooth size, or orientation to prevent incorrect or reversed gaskets from being sent into the assembly process, reducing rework or scrap caused by incorrect materials.

[0043] Sensor 4 provides real-time position information of the gaskets, helping the execution stage 25 to accurately align. Even if the gaskets are slightly offset due to vibration or stacking of the material tray 3, they can still be accurately picked up by adjusting the X / Y / Z axis coordinates, avoiding installation failures caused by material picking deviations. Sensor 4 can record the picking time and position of each gasket. After docking with the MES system, the entire process can be traced, facilitating the analysis of abnormal causes during assembly. Operators can directly set parameters such as gasket model, installation position coordinates, and sensor 4 sensitivity through the touch screen 30 on the touch screen bracket 29, without connecting to a computer or manually entering codes, reducing the skill requirements for operators. The touch screen 30 also displays the operating status of the three-axis moving mechanism, the detection results of sensor 4, and equipment fault codes, helping operators quickly locate problems and take measures.

[0044] The advantages of this application are:

[0045] 1. By setting up Y-axis drive components, X-axis drive components and Z-axis drive components, and dividing the work according to the Z-axis, Y-axis and X-axis, the control system can more easily plan the pick-up-move-place path, reduce the composite motion requirements of each axis, reduce control complexity, and allow each axis to control the direction independently, which can avoid the risk of collision caused by structural overlap when multiple axes are linked.

[0046] 2. By setting two auxiliary wheels 8 on the Y-axis transmission assembly, a multi-point support structure is formed through the contact between the auxiliary wheels 8 and the top plate. This can distribute the force on the Y-axis and Z-axis guide rails, suppress the shaking amplitude, ensure the precise alignment of the shims in the vertical direction, and avoid shim misalignment, missing installation, or damage to parts due to shaking.

[0047] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A three-axis moving mechanism for mounting a reducer tooth side gap shim, comprising a base (1) and a support plate (5), characterized in that: A frame (2) is fixedly installed on the base (1). The frame (2) is provided with a Z-axis transmission assembly, a Y-axis transmission assembly and an X-axis transmission assembly inside. The Z-axis transmission assembly is provided with a Y-axis transmission assembly and the Y-axis transmission assembly is provided with an X-axis transmission assembly. Two connecting rods (24) are fixedly installed on the frame (2). Two upper plates (7) and one lower plate (9) are fixedly installed on the frame (2). The lower plate (9) is fixedly installed between the two connecting rods (24). Limiting grooves (10) are provided on both upper plates (7) and both lower plates (9). Two rotating shafts are rotatably connected to the support plate (5) through bearings. Auxiliary wheels (8) are fixedly installed on both rotating shafts. The two auxiliary wheels (8) abut against the limiting grooves (10) on the upper plate (7) and the lower plate (9) respectively.

2. The three-axis moving mechanism for the installation of the side clearance shim of the reducer according to claim 1, characterized in that: Two mounting plates (20) are fixedly installed between the two connecting rods (24) and the frame (2). A third lead screw (19) is rotatably connected between the two mounting plates (20) via bearings. A third stepper motor (28) is fixedly installed on one of the mounting plates (20). The output shaft of the third stepper motor (28) passes through the mounting plate (20) and is fixedly connected to one end of the third lead screw (19). A third slider (18) is threaded onto the third lead screw (19).

3. The three-axis moving mechanism for the installation of the side clearance shim of the reducer according to claim 2, characterized in that: Two third slide rods (17) are fixedly installed between the two mounting plates (20), and the third slider (18) is slidably connected to the two third slide rods (17).

4. The three-axis moving mechanism for mounting gear tooth backlash shims according to claim 3, characterized in that: A vertical plate (11) is fixedly installed on the third slider (18). A support plate (5) is fixedly installed at the top of the vertical plate (11). A first stepper motor (6) is fixedly installed on the support plate (5). A first lead screw (15) is rotatably connected between the support plate (5) and the third slider (18) through a bearing. The output shaft of the first stepper motor (6) passes through the support plate (5) and is fixedly connected to one end of the first lead screw (15). A first slider (26) is threaded onto the first lead screw (15).

5. The three-axis moving mechanism for mounting the gear tooth backlash shim according to claim 4, characterized in that: Two first slide rods (16) are fixedly installed between the support plate (5) and the third slider (18), and the first slider (26) is slidably connected to the two first slide rods (16).

6. The three-axis moving mechanism for mounting gear tooth backlash shims according to claim 5, characterized in that: An L-shaped frame (14) is fixedly installed on the first slider (26), and a horizontal plate (21) is fixedly installed on the L-shaped frame (14). Side plates (12) are fixedly installed on both sides of the horizontal plate (21).

7. The three-axis moving mechanism for mounting gear tooth backlash shims according to claim 6, characterized in that: A second stepper motor (13) is fixedly installed on one of the side plates (12), and a second lead screw (23) is rotatably connected between the two side plates (12) through a bearing. The output shaft of the second stepper motor (13) passes through the side plate (12) and is fixedly connected to one end of the second lead screw (23). A second slider (22) is threadedly connected to the second lead screw (23), and an execution table (25) is fixedly installed on the second slider (22).

8. The three-axis moving mechanism for mounting gear tooth backlash shims according to claim 7, characterized in that: Two second slide rods (27) are fixedly installed between the two side plates (12), and the second slider (22) is slidably connected to the two second slide rods (27).

9. The three-axis moving mechanism for mounting gear tooth backlash shims according to claim 1, characterized in that: The frame (2) is provided with three trays (3), and each of the three trays (3) is provided with two sensors (4).

10. The three-axis moving mechanism for mounting gear tooth backlash shims according to claim 1, characterized in that: A touch screen bracket (29) is fixedly installed on the base (1), and a touch screen (30) is fixedly installed on the touch screen bracket (29).

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