Heavy load high speed high precision double-globoid cam PPU mechanism

Abstract

The utility model discloses a kind of heavy load high-speed high-precision double cambered surface cam PPU mechanism, it is related to PPU handling mechanism field, including servo motor, rotation is driven by transmission assembly transmission shaft;Control handling cam and control lifting cam, both interval installation on transmission shaft, and rotate synchronously with transmission shaft;Horizontal handling swing arm, swing along the horizontal direction of shell;Vertical lifting swing arm, swing along the vertical direction of shell;And sliding assembly, for connecting load, horizontal handling swing arm is movably connected on sliding assembly, to drive load movement along the horizontal direction of shell;Vertical lifting swing arm is also movably connected on sliding assembly, to drive load movement along the vertical direction of shell.The utility model adopts two groups cambered surface cam to integrate, place on a transmission shaft, by setting different curve path for each cambered surface cam, to control each mechanical structure connected with two groups cambered surface cam movement along the set path.

Description

Technical Field

[0001] This utility model relates to the field of PPU handling mechanisms, specifically to a heavy-duty, high-speed, high-precision double-arc cam PPU mechanism. Background Technology

[0002] In the field of industrial automation, PPU handling mechanisms are highly efficient devices used to achieve rapid, precise picking, placing, and transferring of materials. They are particularly suitable for replacing manual labor or traditional pneumatic equipment in assembly line operations with extremely high requirements for cycle time and precision, such as electronic assembly and new energy battery production.

[0003] Currently, conventional PPU mechanisms employ cam-driven designs, but these struggle to simultaneously achieve high response speed, high load capacity, and high-precision handling. Therefore, a completely new PPU mechanism is needed that meets all three stringent requirements, achieving zero backlash, mechanical conjugation, high rigidity, high response, long lifespan, and ultra-high stability. Utility Model Content

[0004] The purpose of this invention is to overcome the shortcomings of the existing technology and provide a heavy-duty, high-speed, high-precision double-arc cam PPU mechanism. It integrates two sets of arc cams and places them on a drive shaft. By setting different curve paths for each set of arc cams, the mechanical structures connected by the two sets of arc cams are controlled to move along the set paths.

[0005] The objective of this utility model is achieved through the following technical solution: This heavy-duty, high-speed, high-precision double-arc cam PPU mechanism includes: The servo motor drives the drive shaft to rotate through the transmission assembly. The drive shaft is supported on the housing, and the servo motor is fixed relative to the housing. The control cam and the control lifting cam are installed alternately on the drive shaft and rotate synchronously with the drive shaft. Several curved grooves are opened on the outer wall of both. A horizontal transport arm is rotatably connected to a housing below a control transport cam. The horizontal transport arm is driven by a drive shaft to swing along the horizontal direction of the housing by installing several bearings A that correspond one-to-one with the curved grooves on the control transport cam. A vertical lifting swing arm is rotatably connected to a housing below a control lifting cam. This swing arm is fitted with several bearings B that correspond one-to-one with the curved grooves on the control lifting cam. A drive shaft drives the swing arm to swing vertically along the housing. A sliding assembly, disposed within the housing, is used to connect the load. A horizontal transport arm is movably connected to the sliding assembly, thereby driving the load to move horizontally along the housing. Simultaneously, a vertical lifting arm is also movably connected to the sliding assembly, thereby driving the load to move vertically along the housing.

[0006] As a further technical solution, the transmission assembly includes a synchronous pulley A driven by a servo motor, which drives a synchronous pulley B via a synchronous belt. The synchronous pulley B is mounted on the transmission shaft.

[0007] As a further technical solution, the sliding assembly includes a load fixing plate and a load vertical motion control plate. The load vertical motion control plate is mounted on a vertical motion linear guide rail by two vertical sliders sliding up and down. The load fixing plate is mounted on a horizontal motion linear guide rail by two horizontal sliders sliding left and right. The horizontal motion linear guide rail is fixed to the load vertical motion control plate.

[0008] As a further technical solution, a vertical motion groove is provided on the load vertical motion control plate along the horizontal direction. A bearing D is fixed at the end of the vertical lifting arm away from the control lifting cam. The bearing D is slidably installed in the vertical motion groove. The load vertical motion control plate is driven to slide up and down along the vertical motion linear guide by the vertical lifting arm.

[0009] As a further technical solution, a horizontal motion groove is provided on the load fixing plate along the vertical direction. A bearing C is fixed at the end of the horizontal transport arm away from the control transport cam. The bearing C is slidably installed in the horizontal motion groove. The load fixing plate is driven to slide left and right along the horizontal motion linear guide by the horizontal transport arm.

[0010] As a further technical solution, a window is opened on the housing at a position corresponding to the load fixing plate, and the load fixing plate is exposed through the window for connecting and driving the mounting frame. Several material picking and placing mechanisms are fixed on the mounting frame.

[0011] As a further technical solution, the horizontal transport arm and the vertical lifting arm are rotatably connected to the housing via a single arm shaft.

[0012] As a further technical solution, a support plate is fixed to the shell for support.

[0013] The beneficial effects of this utility model are as follows: 1. The motor rotates continuously 360 degrees to drive the drive shaft. There is no acceleration or deceleration process that exists in the forward and reverse rotation of conventional motors. The response speed is faster, the inertia generated by the forward and reverse rotation of the motor on the mechanism is reduced, and the handling speed is improved. 2. The transmission method adopts a mechanical conjugate connection between a double-arc cam and a roller bearing, resulting in a small pressure angle on the force-bearing surface, higher stability and lifespan. The roller bearing and cam adopt a zero-backlash contact design, resulting in higher transmission displacement accuracy. 3. Horizontal and vertical displacement is controlled by the curve of the arc-shaped cam body. The arc-shaped cam is mechanically conjugate and the high rigidity connection controls the swing arm movement. Because of the 360-degree continuous rotation and closed-loop movement, there is no additional mechanical contact limit action, so there is no noise generated by mechanical contact impact. 4. The horizontal slider mainly bears the load in the vertical direction. The two parallel widened heavy-duty sliders can withstand higher loads and increase rigidity. At the same time, the two widened high-precision vertical sliders can improve mechanical strength and also improve the vertical guiding accuracy. Attached Figure Description

[0014] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0015] Figure 2 This is a schematic diagram of the main structure of this utility model (hidden part of the shell).

[0016] Figure 3 This is a schematic diagram of the connection structure of the drive shaft, cam and rocker arm in this utility model.

[0017] Figure 4 This is a schematic diagram of the sliding component in this utility model.

[0018] Figure 5 This is a structural schematic diagram of the present invention in the material taking position (state).

[0019] Figure 6 This is a structural schematic diagram of the present invention in the raised position (state).

[0020] Figure 7 This is a structural schematic diagram of the present invention in the transport position (state).

[0021] Figure 8 This is a structural schematic diagram of the present invention in the material feeding position (state).

[0022] Explanation of reference numerals in the attached drawings: 1. Servo motor; 2. Synchronous pulley A; 3. Synchronous belt; 4. Control cam; 5. Synchronous pulley B; 6. Drive shaft; 7. Bearing A; 8. Horizontal transport arm; 9. Bearing B; 10. Horizontal motion slide; 11. Load fixing plate; 12. Horizontal motion linear guide; 13. Control lifting cam; 14. Vertical lifting arm; 15. Load vertical motion control plate; 16. Vertical motion linear guide; 17. Mechanism upright plate; 18. Vertical motion slide; 19. Housing; 20. Picking and unloading mechanism; 21. Picking and unloading platform reference surface; 22. Arm shaft; 23. Mounting bracket; 24. Window; 25. Bearing C; 26. Bearing D; 27. Horizontal slider; 28. Vertical slider. Detailed Implementation

[0023] The present invention will now be described in detail with reference to the accompanying drawings: Example: As attached Figures 1-8 As shown, this heavy-duty, high-speed, high-precision double-arc cam PPU mechanism includes a servo motor 1, a synchronous pulley A2, a synchronous belt 3, a control transport cam 4, a synchronous pulley B5, a transmission shaft 6, a bearing A7, a horizontal transport swing arm 8, a bearing B9, a horizontal motion slide 10, a load fixing plate 11, a horizontal motion linear guide rail 12, a control lifting cam 13, a vertical lifting swing arm 14, a load vertical motion control plate 15, a vertical motion linear guide rail 16, a mechanism upright plate 17, a vertical motion slide 18, a housing 19, a material handling mechanism 20, a material handling platform reference surface 21, a swing arm shaft 22, a mounting bracket 23, a window 24, a bearing C25, a bearing D26, a horizontal slider 27, and a vertical slider 28.

[0024] Reference Appendix Figure 1 , 2 The servo motor 1 drives the drive shaft 6 to rotate via a transmission assembly. The drive shaft 6 is supported on the housing 19 by corresponding bearings, and the servo motor 1 is fixed relative to the housing 19. Furthermore, the transmission assembly includes a synchronous pulley A2 driven by the servo motor 1. The synchronous pulley A2 is connected to and drives a synchronous pulley B5 via a synchronous belt 3. The synchronous pulley B5 is mounted on the drive shaft 6 (driving the drive shaft 6 to rotate).

[0025] like Figure 3 As shown, the control transport cam 4 and the control lifting cam 13 are installed on the transmission shaft 6 at a certain distance apart and rotate synchronously with the transmission shaft 6. At the same time, several curved grooves are opened on the outer wall of both. The curved groove trajectories on the control transport cam 4 and the control lifting cam 13 are different, so that when the transmission shaft 6 rotates, the arc-shaped cam will also move according to the set curved trajectory.

[0026] Reference Appendix Figure 2 , 3 The horizontal transport arm 8 is rotatably connected to the housing 19 below the control transport cam 4 via a swing arm shaft 22. The horizontal transport arm 8 has multiple mounting slots (holes) to facilitate the installation of bearings A7. Each bearing A7 corresponds to and fits with the curved groove on the control transport cam 4 (preferably, the bearing A7 is a roller bearing, and the roller bearing and the cam are designed with zero backlash contact). The horizontal transport arm 8 is driven by the transmission shaft 6 to swing in the horizontal direction of the housing 19.

[0027] Furthermore, the vertical lifting arm 14 is rotatably connected to the housing 19 below the control lifting cam 13 via another arm shaft 22. The vertical lifting arm 14 also has multiple mounting slots (holes) to facilitate the installation of bearings B9. Each bearing B9 corresponds to and fits with the curved groove on the control lifting cam 13 (similarly, the bearings B9 are also roller bearings, and the roller bearings and cams are designed with zero backlash). The vertical lifting arm 14 is driven by the transmission shaft 6 to swing in the vertical direction of the housing 19.

[0028] like Figure 2 , 3 As shown in Figure 4, a sliding assembly is provided at the lower part of the housing 19, which is used to connect the load. Further, the sliding assembly includes a load fixing plate 11 and a load vertical motion control plate 15. The load vertical motion control plate 15 is slidably mounted on the vertical motion linear guide 16 via two vertical sliders 28 (the two widened, high-precision vertical sliders improve mechanical strength and vertical guiding accuracy). The load fixing plate 11 is slidably mounted on the horizontal motion linear guide 12 via two horizontal sliders 27 (the horizontal sliders mainly bear the vertical load; the two parallel, widened, heavy-duty sliders can withstand higher loads and increase rigidity). The horizontal motion linear guide 12 is fixed to the load vertical motion control plate 15. A vertical motion control plate 15 has a vertical motion groove 18 along the horizontal direction. A bearing D26 is bolted to the end of a vertical lifting arm 14 away from the control lifting cam 13. The bearing D26 is slidably installed within the vertical motion groove 18. The vertical lifting arm 14 drives the load vertical motion control plate 15 to slide up and down along the vertical motion linear guide rail 16. A horizontal motion groove 10 is formed on the load fixing plate 11 along the vertical direction. A bearing C25 is bolted to the end of a horizontal transport arm 8 away from the control transport cam 4. The bearing C25 is slidably installed within the horizontal motion groove 10. The horizontal transport arm 8 drives the load fixing plate 11 to slide left and right along the horizontal motion linear guide rail 12. The horizontal transport arm 8 drives the load to move horizontally along the housing 19; simultaneously, the vertical lifting arm 14 drives the load to move vertically along the housing 19.

[0029] Preferably, such as Figure 1 As shown, a window 24 is opened on the housing 19 at a position corresponding to the load fixing plate 11, through which the load fixing plate 11 protrudes, facilitating the connection of the drive mounting bracket 23. Five (five in this embodiment, but other numbers are also possible) material handling mechanisms 20 are fixed on the mounting bracket 23. Preferably, a mechanism upright plate 17 is fixed at the lower part of the housing 19 for support.

[0030] The working principle of this utility model: The double-arc cam PPU mechanism uses a drive motor 1 as its power source, transmitting power to a synchronous pulley A2 connected to it. The synchronous pulley A2 then transmits the power to a synchronous belt 3 and a synchronous pulley B5 connected to it, and finally to a drive shaft 6 connected to the synchronous pulley B5. Two sets of arc-shaped cams are fixed on the drive shaft 6: a control cam 4 for handling and a control cam 13 for lifting. The curved grooves of these two sets of cams are tangentially engaged with the cam roller bearings (bearing A7 and bearing B9) on the horizontal handling arm 8 and the vertical lifting arm 14, respectively. When the drive shaft 6 rotates, the arc-shaped cams move according to a set curved trajectory, and the matching horizontal handling arm 8 and vertical lifting arm 14 perform regular movements according to a set timing sequence. The horizontal handling arm 8, guided by the horizontal linear guide rail 12, controls the load fixing plate 11 to move horizontally left and right, while the vertical lifting arm 14 controls the load vertical movement control plate 15 to move up and down under the guidance of the vertical linear guide rail 16.

[0031] The material handling mechanism 20 is located above the reference plane 21 of the material handling platform, such as... Figure 5 As shown, at the start of the handling process, the material is first picked up by the picking and placing mechanism 20. Then, the servo motor 1 drives the transmission shaft 6 to rotate, and the bearing B9 slides along the curved groove trajectory of the control lifting cam 13. The vertical lifting arm 14 then synchronously raises the load vertical motion control plate 15, the load fixing plate 11, and the mounting bracket 23, maintaining a constant horizontal position. The material on the picking and placing mechanism 20 is in a raised state. Figure 6 As shown. Servo motor 1 continues to drive drive shaft 6 to rotate, as... Figure 7 As shown, bearing A7 slides along the curved groove trajectory of the control transport cam 4, and the horizontal transport arm 8 then transports the load fixing plate 11 and mounting bracket 23 (in the horizontal direction) to the right, while maintaining the vertical position. The material on the pick-and-place mechanism 20 is in the transport state. The servo motor 1 continues to drive the transmission shaft 6 to rotate, as... Figure 8 As shown, bearing B9 slides along the curved groove trajectory of the control lifting cam 13, and the vertical lifting arm 14 then synchronously lowers the load vertical motion control plate 15, load fixing plate 11, and mounting bracket 23, entering the material unloading state. The material is then lowered onto the reference surface 21 of the material unloading platform by the material handling mechanism 20. The entire handling process presents an inverted "U" shaped trajectory. In addition, the servo motor 1 (drive shaft 6) maintains a continuous 360-degree rotation, without the acceleration and deceleration process present in the forward and reverse rotation of conventional motors, resulting in a faster response speed and reducing the inertia generated by the forward and reverse rotation of the motor on the mechanism.

[0032] It is understood that, for those skilled in the art, any equivalent substitutions or modifications to the technical solutions and inventive concepts of this utility model should fall within the protection scope of the appended claims.

Claims

1. A heavy-duty, high-speed, high-precision double-arc cam PPU mechanism, characterized in that, include: The servo motor (1) drives the transmission shaft (6) to rotate through the transmission assembly. The transmission shaft (6) is supported on the housing (19), and the servo motor (1) is fixed relative to the housing (19). The control conveying cam (4) and the control lifting cam (13) are installed on the transmission shaft (6) at intervals and rotate synchronously with the transmission shaft (6). Several curved grooves are opened on the outer wall of both. The horizontal transport arm (8) is rotatably connected in the housing (19) below the control transport cam (4). The horizontal transport arm (8) is driven by the transmission shaft (6) to swing along the horizontal direction of the housing (19) by installing several bearings A (7) that correspond one-to-one with the curved grooves on the control transport cam (4). A vertical lifting arm (14) is rotatably connected to a housing (19) below a control lifting cam (13). The vertical lifting arm (14) is connected to a series of bearings B (9) that correspond one-to-one with the curved grooves on the control lifting cam (13). Driven by a transmission shaft (6), the vertical lifting arm (14) swings vertically along the housing (19). A sliding assembly is disposed inside the housing (19) for connecting the load. A horizontal transport arm (8) is movably connected to the sliding assembly, thereby driving the load to move in the horizontal direction of the housing (19). At the same time, a vertical lifting arm (14) is also movably connected to the sliding assembly, thereby driving the load to move in the vertical direction of the housing (19).

2. The heavy-duty, high-speed, high-precision double-arc cam PPU mechanism according to claim 1, characterized in that: The transmission assembly includes a synchronous wheel A (2) driven by a servo motor (1), which drives a synchronous wheel B (5) via a synchronous belt (3). The synchronous wheel B (5) is mounted on a transmission shaft (6).

3. The heavy-duty, high-speed, high-precision double-arc cam PPU mechanism according to claim 1, characterized in that: The sliding assembly includes a load fixing plate (11) and a load vertical motion control plate (15). The load vertical motion control plate (15) is mounted on the vertical motion linear guide (16) by two vertical sliders (28) sliding up and down. The load fixing plate (11) is mounted on the horizontal motion linear guide (12) by two horizontal sliders (27) sliding left and right. The horizontal motion linear guide (12) is fixed to the load vertical motion control plate (15).

4. The heavy-duty, high-speed, high-precision double-arc cam PPU mechanism according to claim 3, characterized in that: The load vertical motion control plate (15) is provided with a vertical motion groove (18) along the horizontal direction. The end of the vertical lifting arm (14) away from the control lifting cam (13) is fixed with a bearing D (26). The bearing D (26) is slidably installed in the vertical motion groove (18). The load vertical motion control plate (15) is driven to slide up and down along the vertical motion linear guide rail (16) by the vertical lifting arm (14).

5. The heavy-duty, high-speed, high-precision double-arc cam PPU mechanism according to claim 3 or 4, characterized in that: The load fixing plate (11) is provided with a horizontal motion slide groove (10) in the vertical direction. The end of the horizontal transport arm (8) away from the control transport cam (4) is fixed with a bearing C (25). The bearing C (25) is slidably installed in the horizontal motion slide groove (10). The load fixing plate (11) is driven to slide left and right along the horizontal motion linear guide rail (12) by the horizontal transport arm (8).

6. The heavy-duty, high-speed, high-precision double-arc cam PPU mechanism according to claim 5, characterized in that: A window (24) is opened on the housing (19) at a position corresponding to the load fixing plate (11). The load fixing plate (11) is exposed through the window (24) and is used to connect to the drive mounting frame (23). Several material picking and placing mechanisms (20) are fixed on the mounting frame (23).

7. The heavy-duty, high-speed, high-precision double-arc cam PPU mechanism according to claim 1, characterized in that: The horizontal transport arm (8) and the vertical lifting arm (14) are rotatably connected to the housing (19) through a swing arm shaft (22).

8. The heavy-duty, high-speed, high-precision double-arc cam PPU mechanism according to claim 1, characterized in that: The housing (19) is fixed with a mechanism stand plate (17) for support.

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