CN210476945U

CN210476945U - Triaxial robot for injection molding machine

Info

Publication number: CN210476945U
Application number: CN201920723878.6U
Authority: CN
Inventors: 曹鲜红
Original assignee: Shenzhen Linglve CNC Equipment Co Ltd
Current assignee: Shenzhen Linglve CNC Equipment Co Ltd
Priority date: 2019-05-20
Filing date: 2019-05-20
Publication date: 2020-05-08
Anticipated expiration: 2029-05-20

Abstract

The utility model discloses a triaxial robot for injection molding machine contains base, first arm, second arm, third arm, fourth arm, band pulley fixed plate, servo motor, speed reducer, rack, linear guide, gear, support, forearm, first speed reducer, second speed reducer, first servo, second servo, first cross roller bearing, first band pulley, first synchronous belt, second band pulley, band pulley axle, third band pulley, second synchronous belt, fourth band pulley, parts such as second cross roller bearing, base, first arm, second arm, third arm, fourth arm, forearm constitute five link mechanism in plane, make base and forearm keep parallel gesture all the time through first band pulley, second band pulley, third band pulley, fourth band pulley, first synchronous belt, second synchronous belt, the rack is fixed on linear guide, realizes the oscilaltion by the gear. The utility model discloses novel structure adopts parallelly connected structure to realize planar motion, realizes elevating movement by rack and pinion.

Description

Triaxial robot for injection molding machine

Technical Field

The utility model relates to a triaxial robot field, especially a triaxial robot for injection molding machine.

Background

With the improvement of the industrial automation degree, a plurality of dangerous heavy physical labor occasions such as inflammability, explosiveness and the like on an industrial field are necessarily replaced by the robot, so that the labor intensity of workers can be reduced, and the labor productivity can be greatly improved. In the production process of the injection molding machine, the loading and unloading of workpieces and materials are often completed manually, which wastes time and labor and affects efficiency. The manipulator of the injection molding machine on the market usually adopts a rectangular coordinate manipulator.

Disclosure of Invention

The utility model aims to solve the technical problem that a triaxial robot for injection molding machine adopts parallel structure to realize XY plane motion, realizes Z to elevating movement by rack and pinion, makes whole manipulator light and handy nimble, and is fast.

The utility model discloses a realize through following technical scheme: a three-axis robot for an injection molding machine comprises a plane five-bar mechanism, a belt pulley fixing plate, a servo motor, a speed reducer, a rack, a linear guide rail, a gear, a support, a first speed reducer, a second speed reducer, a first servo, a second servo, a first crossed roller bearing, a first belt pulley, a first synchronous belt, a second belt pulley, a belt pulley shaft, a third belt pulley, a second synchronous belt, a fourth belt pulley and a second crossed roller bearing; the plane five-bar mechanism comprises a base, a first arm, a second arm, a third arm, a fourth arm and a front arm; the rack is fixed on the linear guide rail, the rack is meshed with the gear, and the rack is lifted up and down through the gear.

Preferably, the first servo motor and the first speed reducer control rotation of the first arm, the second servo motor and the second speed reducer control rotation of the third arm, the speed reducer is mounted on the servo motor, and the servo motor and the speed reducer control rotation of the gear.

As a preferred technical scheme, two sets of a first belt wheel, a second belt wheel, a third belt wheel and a fourth belt wheel, a first synchronous belt and a second synchronous belt are respectively arranged between a first arm, a second arm, a third arm and a fourth arm; the two ends of the first synchronous belt are connected with the first belt wheel and the second belt wheel, and the two ends of the second synchronous belt are connected with the third belt wheel and the fourth belt wheel.

As a preferred technical solution, the first arm and the second arm are hinged; the third arm and the fourth arm are hinged; a first bearing mounting hole is formed between the first arm and the second arm and is aligned with the first arm, and a first crossed roller bearing is mounted in the first bearing mounting hole; and a second bearing mounting hole which is aligned is formed between the third arm and the fourth arm, and a second crossed roller bearing is mounted in the second bearing mounting hole.

Preferably, the first servo, the first speed reducer, the second servo, and the second speed reducer are all mounted on the base.

The utility model has the advantages that: the utility model has the advantages that: the parallel structure is adopted to realize XY plane motion, and the gear rack realizes Z-direction lifting motion, so that the whole manipulator is light, flexible and high in speed.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic view of the 3-dimensional structure of the present invention;

fig. 2 is a schematic top view of the present invention;

FIG. 3 is a sectional view taken along line I-I of the present invention;

fig. 4 is a rotary sectional view of the present invention in H-H.

The codes in the figure are respectively: 1. the synchronous belt comprises a base, 2, a first arm, 3, a second arm, 4, a third arm, 5, a fourth arm, 6, a belt wheel fixing plate, 7, a servo motor, 8, a speed reducer, 9, a rack, 10, a linear guide rail, 11, a gear, 12, a support, 13, a front arm, 14, a first speed reducer, 15, a second speed reducer, 16, a first servo, 17, a second servo, 18, a first crossed roller bearing, 19, a first belt wheel, 20, a first synchronous belt, 21, a second belt wheel, 22, a belt wheel shaft, 23, a third belt wheel, 24, a second synchronous belt, 25, a fourth belt wheel, 26 and a second crossed roller bearing.

Detailed Description

All of the features disclosed in this specification, or all of the steps in any method or process so disclosed, may be combined in any combination, except combinations of features and/or steps that are mutually exclusive.

Any feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving equivalent or similar purposes, unless expressly stated otherwise. That is, unless expressly stated otherwise, each feature is only an example of a generic series of equivalent or similar features.

In the description of the present invention, it is to be understood that the terms "one end", "the other end", "the outside", "upper", "inside", "horizontal", "coaxial", "central", "end", "length", "outer end", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Furthermore, in the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

The use of terms herein such as "upper," "above," "lower," "below," and the like in describing relative spatial positions is for the purpose of facilitating description to describe one element or feature's relationship to another element or feature as illustrated in the figures. The spatially relative positional terms may be intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "below" can encompass both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

In the present invention, unless otherwise explicitly specified or limited, the terms "set", "coupled", "connected", "penetrating", "plugging", and the like are to be understood in a broad sense, and may be, for example, fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

The utility model discloses contain base 1, first arm 2, second arm 3, third arm 4, fourth arm 5, band pulley fixed plate 6, servo motor 7, speed reducer 8, rack 9, linear guide 10, gear 11, support 12, forearm 13, first speed reducer 14, second speed reducer 15, first servo 16, second servo 17, first cross roller bearing 18, first band pulley 19, first synchronous belt 20, second band pulley 21, band pulley axle 22, third band pulley 23, second synchronous belt 24, fourth band pulley 25, second cross roller bearing 26 etc., first servo 16 and first speed reducer 14 control first arm 2 are rotatory, second servo 17 and second 15 control third arm 4 are rotatory, servo motor 7 and speed reducer 8 control gear 11 are rotatory, gear 11 and rack 9 mesh. The base 1, the first arm 2, the second arm 3, the third arm 4, the fourth arm 5 and the front arm 13 form a plane five-link structure, and the front arm 13 and the base 1 are always kept in a parallel relation through a first belt wheel 19, a second belt wheel 21, a third belt wheel 23, a fourth belt wheel 25, a first synchronous belt 20 and a second synchronous belt 24.

As shown in fig. 3, the first servo 16, the first reduction gear 14, the second servo 17, and the second reduction gear 15 are all mounted on the base 1, and both constitute a planar parallel structure.

As shown in fig. 1 and 4, one end of the front arm 13 is hinged to the third arm 3, the front arm 13 is fixedly connected to the first belt pulley 19 and is transmitted to the second belt pulley 21 through the first synchronous belt 20, the second belt pulley 21 is connected to the third belt pulley 23 through the belt pulley shaft 22 and is transmitted to the fourth belt pulley 25 through the second synchronous belt 24, the fourth belt pulley 25 is fixed on the belt pulley fixing plate 6, and the belt pulley fixing plate 6 is directly installed on the base 1.

Further, the first belt pulley 19, the second belt pulley 21, the third belt pulley 23 and the fourth belt pulley 25 are belt pulleys having the same tooth shape and number, the front arm 13 and the base 1 are maintained in a parallel relationship by the first timing belt 20 and the second timing belt 24, when the first arm 2 rotates to a certain angle, since the fourth belt pulley 19 is fixed on the belt pulley fixing plate 6 on the base 1, and the second timing belt 24 is installed in the first arm 2 and rotates to a certain angle following the first arm 2, the angle is transmitted to the third belt pulley 23 and the second belt pulley 21, and the second belt pulley 21 drives the first timing belt 20 to drive the fourth belt pulley 25 to rotate to a corresponding angle, so that the base 1 and the front arm 13 are always maintained in a parallel relationship.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that are not thought of through the creative work should be covered within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope defined by the claims.

Claims

1. The utility model provides a triaxial robot for injection molding machine which characterized in that: the device comprises a plane five-bar mechanism, a belt wheel fixing plate, a servo motor, a speed reducer, a rack, a linear guide rail, a gear, a bracket, a first speed reducer, a second speed reducer, a first servo, a second servo, a first cross roller bearing, a first belt wheel, a first synchronous belt, a second belt wheel, a belt wheel shaft, a third belt wheel, a second synchronous belt, a fourth belt wheel and a second cross roller bearing; the plane five-bar mechanism comprises a base, a first arm, a second arm, a third arm, a fourth arm and a front arm; the rack is fixed on the linear guide rail, the rack is meshed with the gear, and the rack is lifted up and down through the gear.

2. The three-axis robot for an injection molding machine according to claim 1, characterized in that: the first servo and the first speed reducer control the rotation of the first arm, the second servo and the second speed reducer control the rotation of the third arm, the speed reducer is installed on the servo motor, and the servo motor and the speed reducer control the rotation of the gear.

3. The three-axis robot for an injection molding machine according to claim 1, characterized in that: the first belt wheel, the second belt wheel, the third belt wheel and the fourth belt wheel are respectively arranged between the first arm, the second arm, the third arm and the fourth arm; the two ends of the first synchronous belt are connected with the first belt wheel and the second belt wheel, and the two ends of the second synchronous belt are connected with the third belt wheel and the fourth belt wheel.

4. The three-axis robot for an injection molding machine according to claim 1, characterized in that: the first arm and the second arm are hinged; the third arm and the fourth arm are hinged; a first bearing mounting hole is formed between the first arm and the second arm and is aligned with the first arm, and a first crossed roller bearing is mounted in the first bearing mounting hole; and a second bearing mounting hole which is aligned is formed between the third arm and the fourth arm, and a second crossed roller bearing is mounted in the second bearing mounting hole.

5. The three-axis robot for an injection molding machine according to claim 1, characterized in that: the first servo, the first speed reducer, the second servo and the second speed reducer are all arranged on the base.