CN111267084A

CN111267084A - Manipulator transmission mechanism for press

Info

Publication number: CN111267084A
Application number: CN202010216573.3A
Authority: CN
Inventors: 苑诗宾; 王川; 杨凡; 齐向平; 刘浩
Original assignee: Suzhou Sanren Intelligent Technology Co Ltd
Current assignee: Suzhou Sanren Intelligent Technology Co Ltd
Priority date: 2020-03-24
Filing date: 2020-03-25
Publication date: 2020-06-12
Also published as: WO2021189747A1; CN211992989U

Abstract

The invention discloses a manipulator transmission mechanism for a press, which comprises: the device comprises a Y-axis support, an inclined strut support, a suspension beam, an X-axis support, a Z-axis support and a speed doubling rod. Through the mode, the manipulator transmission mechanism for the press not only effectively reduces instability caused by vibration of the press, but also can improve speed efficiency and stability, save weight and realize double-speed movement of the manipulator.

Description

Manipulator transmission mechanism for press

Technical Field

The invention relates to the field of manipulator transmission structures, in particular to a manipulator transmission mechanism for a press.

Background

A robot is a common mechanical device, and is often used in combination with other mechanical devices.

The mechanical arm can realize the movement of XYZ three-coordinate, but the current mechanical arm transmission structure spatial position is not ideal enough, and vibrations are disturbed greatly, and horizontal migration is limited, extravagant a lot of space dimensions, and the satisfied space that can not be fine is little and the stability requirement.

Disclosure of Invention

The invention mainly solves the technical problem of providing a mechanical arm transmission mechanism for a press, which has the advantages of high reliability, accurate positioning, compact structure and the like, and has wide market prospect in the application and popularization of the mechanical arm transmission mechanism.

In order to solve the technical problems, the invention adopts a technical scheme that:

a robot transmission mechanism for a press is provided, comprising: a Y-axis bracket, an inclined strut bracket, a suspension beam, an X-axis bracket, a Z-axis bracket and a speed doubling rod,

inclined strut brackets for reinforcing and damping are arranged on two sides of the Y-axis bracket, a Y-axis motor drives the Y-axis bracket to move back and forth on the Y-axis bracket through a gear and a rack so as to drive a manipulator to enter or exit a station,

the suspension beam is vertically arranged on two sides of the bottom of the Y-axis frame, the X-axis frame is arranged on the suspension beam, the slide carriage is fixedly connected with the conveyor belt, the X-axis motor drives the slide carriage to move back and forth on the X-axis frame through the transmission wheel and the conveyor belt, the speed doubling rod for driving the manipulator to move at a speed doubling speed in the X-axis direction is arranged at the bottom of the Z-axis frame, and the Z-axis motor drives the Z-axis frame to move up and down on the slide carriage through the gear and the rack so as to adjust the height of the speed doubling rod and match the manipulator to take and discharge materials.

In a preferred embodiment of the present invention, the output shaft of the Y-axis motor is provided with a gear, and the Y-axis frame is provided with the rack engaged with the gear.

In a preferred embodiment of the invention, the Y-axis support is provided with a Y-axis guide rail, and the Y-axis support moves back and forth along the Y-axis guide rail.

In a preferred embodiment of the present invention, the output shaft of the Z-axis motor is provided with a gear, and the Z-axis frame is provided with the rack engaged with the gear.

In a preferred embodiment of the invention, the slide carriage is provided with a Z-axis guide rail, and the Z-axis frame moves up and down along the Z-axis guide rail.

In a preferred embodiment of the present invention, rack travel limiters are disposed on the Z-axis frame and the Y-axis frame.

In a preferred embodiment of the invention, the Y-axis support and the diagonal support are connected to the press at the same time.

In a preferred embodiment of the invention, the speed-multiplying rod comprises a speed-multiplying rod main body, a driving motor, a motor mounting seat, a transition wheel, a driving belt, a driven wheel, a driven belt, a driven wheel mounting seat, a bottom plate and a drag chain, the driving motor is arranged on the motor mounting seat, the motor mounting seat is fixedly arranged at the bottom of the Z-axis frame, the bottom of the motor mounting seat is movably connected with a guide rail on the top surface of the speed-multiplying rod main body, the transition wheel and the driving wheel are arranged in the motor mounting seat, the driving wheel is arranged on an output shaft of the driving motor, the driving belt passes through the driving wheel and the transition wheel, two ends of the driving belt are fixed in the speed-multiplying rod main body, the driven wheels are respectively arranged at two ends in the speed-multiplying rod main body through the driven wheel mounting seat, the driven belt is encircled on the driven wheel, and the upper part of the driven belt is fixedly connected with the, the lower part of the speed doubling rod is fixedly connected with the bottom plate, the driving motor drives the speed doubling rod main body to move horizontally through the driving belt, and meanwhile, the driven belt drives the bottom plate to move horizontally, so that a manipulator connected to the speed doubling rod moves at a relatively high speed.

In a preferred embodiment of the invention, the motor mounting seat is fixedly connected with the upper reverse discount compression of the passive belt through the passive belt pressing plate.

In a preferred embodiment of the invention, the drag chain is arranged in the speed multiplying rod main body and is wrapped by an annular drag chain pressing belt arranged on one side of the driven belt.

The invention has the beneficial effects that: only the instability caused by the vibration of the press is effectively reduced, the speed efficiency and the stability can be improved, the weight can be saved, and the double-speed movement of the manipulator can be realized.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without inventive efforts, wherein:

FIG. 1 is a schematic structural view of a preferred embodiment of a robot transmission mechanism for a press according to the present invention;

FIG. 2 is a side view of a preferred embodiment of a robot actuator for a press according to the present invention;

FIG. 3 is a schematic top view of a preferred embodiment of a robot actuator for a press according to the present invention;

FIG. 4 is a schematic structural view of a Y-axis carriage of a preferred embodiment of a robot actuator for a press according to the present invention;

FIG. 5 is a schematic structural view of a speed multiplying lever of a preferred embodiment of a robot actuator for a press according to the present invention;

FIG. 6 is a schematic structural view of a motor mount of a preferred embodiment of a robot actuator for a press according to the present invention;

fig. 7 is a schematic side view of a speed multiplying lever according to a preferred embodiment of the robot transmission mechanism for a press according to the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-7, an embodiment of the present invention includes:

a manipulator transmission mechanism for a press machine structurally comprises: the device comprises a Y-axis bracket 1, a Y-axis bracket 2, a diagonal support bracket 3, a suspension beam 4, an X-axis bracket 5, a Z-axis bracket 6 and a speed doubling rod 7.

Inclined strut supports used for reinforcing and damping are arranged on two sides of the Y-axis support, and the Y-axis support and the inclined strut supports are connected with a press at the same time so as to improve stability.

The Y-axis motor drives the Y-axis frame to move back and forth on the Y-axis frame through a gear and a rack, the gear is arranged on an output shaft of the Y-axis motor, the rack meshed with the gear is arranged on the Y-axis frame, a Y-axis guide rail is arranged on the Y-axis frame, and the Y-axis frame moves back and forth along the Y-axis guide rail to drive the manipulator to enter or exit a station.

The suspension beam is vertically arranged on two sides of the bottom of the Y-axis frame, the X-axis frame is arranged on the suspension beam, an apron is fixedly connected with a conveyor belt, an X-axis motor drives the apron to move back and forth on the X-axis frame through a driving wheel and the conveyor belt, and is used for driving a manipulator to move at a speed which is multiplied in the X-axis direction, a speed multiplying rod is arranged at the bottom of the Z-axis frame, the Z-axis motor drives the Z-axis frame to move up and down on the apron through a gear and a rack, a gear is arranged on an output shaft of the Z-axis motor, the rack is arranged on the Z-axis frame and meshed with the gear, a Z-axis guide rail is arranged on the apron, and the Z-axis frame moves up and down along the Z-axis guide rail to adjust the height of the speed multiplying.

And rack travel limiters are arranged on the Z-axis support and the Y-axis support, so that the racks and the gears are prevented from being separated, the travel is accurate, and the control is convenient.

When a Y-axis motor is started, a gear moves on a rack to drive the whole Y-axis, a suspension beam and a lower X-axis Y-axis speed multiplying rod to move in the Y-axis direction so as to finish the actions of entering a station and exiting the station; when the X-axis motor is started, the X-axis belt drives the Z-axis and the speed multiplying rod to move in the X-axis direction from one side to the other side; when the Z-axis motor is started, the rack is driven by the gear to move up and down to drive the Z-axis and the speed doubling rod to move in the Z-axis direction, so that the height adjustment and the grabbing, taking and releasing actions of the tongs on the speed doubling rod are completed; the speed multiplying rod motor controls the speed multiplying rod to finish speed multiplying movement in the X-axis direction, and the action of entering and exiting the press station is finished.

The speed-multiplying rod adopts a movable pulley principle to realize speed-multiplying transmission, the drag chain is wrapped and fixed by pressing the drag chain belt, the occupied space is reduced, collision interference is prevented, the structure is dustproof and attractive, the driven wheel is vertically fixed at the two ends of the transmission rod main body through the driven wheel mounting seat, the structure is stable, the processing is simplified, the driven belt is compressed through reverse discount of the driven belt pressing plate, the horizontal direction space is saved, and the stroke maximization is realized. The structure of the double-speed rod comprises a double-speed rod main body 101, a driving motor 102, a motor mounting seat 103, a transition wheel 104, a driving wheel 105, a driving belt 106, a driven wheel 107, a driven belt 108, a driven wheel mounting seat 109, a bottom plate 1010 and a drag chain 1011.

The driving motor is arranged on the motor mounting seat, the motor mounting seat is fixedly arranged at the bottom of the Z-axis frame, and the bottom of the motor mounting seat is movably connected with the guide rail on the top surface of the speed multiplying rod main body.

The driving belt is movably arranged on the driving wheel, two ends of the driving belt penetrate through the two transition wheels and are fixed on a rack in the speed multiplying rod main body, namely the driving belt firstly penetrates through the two transition wheels and then is wound on the driving wheel, and then penetrates through the two transition wheels again to form an omega-shaped winding.

The driven wheel is respectively arranged at two ends in the speed multiplying rod main body through the driven wheel mounting seats, the speed multiplying rod main body is integrally connected, and the two ends of the speed multiplying rod main body are designed in a plane mode, so that the stability is guaranteed, and the machining of the speed multiplying rod main body is simplified. The driven belt is wound on the driven wheel, the motor mounting seat is fixedly connected with the upper part of the driven belt through the driven belt pressing plate 1013 and reverse discount pressing, so that the driven belt pressing plate can be moved to the position right above the driven wheel, the motor mounting seat is moved to the end part of the speed multiplying rod main body 1, and no redundant size is wasted.

When the driving motor drives the driving wheel to rotate, the driving wheel and the transition wheel are matched to pull the driving belt, so that the speed doubling rod main body can move on the motor mounting seat along the X-axis direction, and the driving motor drives the speed doubling rod main body to move horizontally through the driving belt.

The bottom plate cladding is in speed multiplying pole main part below, its both sides and the guide rail sliding connection of speed multiplying pole main part lateral part, and the lower part fixed connection of bottom plate and passive belt, and motor mount pad and bottom plate form the movable pulley structure under the drive of driven wheel and passive belt this moment, so, when the initiative belt drives speed multiplying pole main part horizontal migration, the bottom plate has also carried out the removal of horizontal direction under the drive of passive belt equally to the speed multiplying of connecting device removes on the speed multiplying pole has been realized.

The tow chain sets up in doubly fast pole main part inside and by the annular pressure tow chain belt 1012 parcel of passive belt one side setting, and the support of pushing down on forming both has fixed the tow chain, reduces the space again and occupies, prevents the collision and interferes, and is dustproof pleasing to the eye.

The manipulator transmission mechanism for the press has the beneficial effects that:

the Y-axis support is arranged on one side of the press and supported by an inclined strut, and instability caused by vibration of the press is effectively reduced in a single-side cantilever mode;

the Y axis provides the action of the integral manipulator for entering and exiting the station, and the manipulator can exit the station when not working, thereby facilitating the operations of manual operation, equipment maintenance, die replacement of a press and the like;

3. the X-axis is connected below the Y-axis support, so that extra X-axis motion except for the speed multiplying rod is provided, the speed efficiency is improved by carrying out X-axis displacement with the speed multiplying rod at the same time, and the Y-axis stability is improved by providing support for the Y-axis;

4, the Z axis moves along with the X-axis slide carriage, and the displacement in the Z axis direction only has a necessary structure of a speed multiplying rod, so that the weight is saved;

5. the speed multiplication rod is arranged below the Z axis to realize speed multiplication, and the X axis stroke is greatly improved.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by the present specification, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A manipulator transmission mechanism for a press, comprising: a Y-axis bracket, an inclined strut bracket, a suspension beam, an X-axis bracket, a Z-axis bracket and a speed doubling rod,

2. The manipulator transmission mechanism for a press machine as claimed in claim 1, wherein the output shaft of the Y-axis motor is provided with a gear, and the Y-axis frame is provided with the rack engaged with the gear.

3. The robot transmission mechanism for a press of claim 1, wherein a Y-axis guide is provided on the Y-axis carriage, and the Y-axis carriage moves back and forth along the Y-axis guide.

4. The manipulator transmission mechanism for the press machine as claimed in claim 1, wherein the output shaft of the Z-axis motor is provided with a gear, and the Z-axis frame is provided with the rack engaged with the gear.

5. The manipulator transmission mechanism for a press as claimed in claim 1, wherein the carriage is provided with a Z-axis guide rail along which the Z-axis carriage moves up and down.

6. The robot transmission mechanism for a press of claim 1, wherein rack travel stops are provided on the Z-axis carriage and the Y-axis carriage.

7. The robot drive mechanism for a press of claim 1, wherein the Y-axis mount and the sprag mount are coupled to the press at the same time.

8. The mechanical arm transmission mechanism for the press machine as claimed in claim 1, wherein the speed doubling bar comprises a speed doubling bar main body, a driving motor, a motor mounting seat, a transition wheel, a driving belt, a driven wheel, a driven belt, a driven wheel mounting seat, a bottom plate and a drag chain, the driving motor is arranged on the motor mounting seat, the motor mounting seat is fixedly arranged at the bottom of the Z-axis frame, the bottom of the motor mounting seat is movably connected with a guide rail on the top surface of the speed doubling bar main body, the transition wheel and the driving wheel are arranged in the motor mounting seat, the driving wheel is arranged on an output shaft of the driving motor, the driving belt passes through the driving wheel and the transition wheel, two ends of the driving belt are fixed in the speed doubling bar main body, the driven wheel is respectively arranged at two ends in the speed doubling bar main body through the driven wheel mounting seat, the driven belt is wound on the driven wheel, the upper portion of the driven belt is fixedly connected with the motor mounting seat, the lower portion of the driven belt is fixedly connected with the bottom plate, the driving motor drives the speed doubling rod main body to move horizontally through the driving belt, and meanwhile the driven belt drives the bottom plate to move horizontally, so that the manipulator connected to the speed doubling rod moves relatively at a speed doubling speed.

9. The manipulator transmission mechanism for a press of claim 8, wherein the motor mount is fixedly connected to the upper reverse discount compression of the passive belt by the passive belt press plate.

10. The manipulator transmission mechanism for a press machine as claimed in claim 8, wherein the drag chain is disposed inside the speed multiplying rod body and is wrapped by an endless pressing drag chain belt disposed on one side of the driven belt.