WO2021189747A1

WO2021189747A1 - Manipulator transmission mechanism for press

Info

Publication number: WO2021189747A1
Application number: PCT/CN2020/106626
Authority: WO
Inventors: 苑诗宾; 王川; 杨凡; 齐向平; 刘浩
Original assignee: 苏州三人智能科技有限公司
Priority date: 2020-03-24
Filing date: 2020-08-03
Publication date: 2021-09-30
Also published as: CN111267084A; CN211992989U

Abstract

A manipulator transmission mechanism for a press, comprising: a Y-axis support (1), a Y-axis frame (2), diagonal bracing supports (3), suspension beams (4), an X-axis frame (5), a Z-axis frame (6), and a speed multiplication rod (7). The diagonal bracing supports (3) for reinforcing and damping are provided on both sides of the Y-axis support (1); a Y-axis motor drives the Y-axis frame (2) to move back and forth on the Y-axis support (1) by means of a gear and a rack; the suspension beams (4) are vertically arranged on both sides of the bottom of the Y-axis frame (2); the X-axis frame (5) is provided on the suspension beams (4); a slide carriage is fixedly connected to a conveyor belt; an X-axis motor drives the slide carriage to move back and forth on the X-axis frame (5) by means of a transmission wheel and the conveyor belt; the speed multiplication rod (7) is provided at the bottom of the Z-axis frame (6); a Z-axis motor drives the Z-axis frame (6) to move up and down on the slide carriage by means of a gear and a rack. The manipulator transmission mechanism can effectively reduce the instability caused by vibration of the press, saves the weight, and achieves speed multiplication movement of a 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 technique

The manipulator is a commonly used mechanical equipment, which is often used in conjunction with other mechanical equipment.

The manipulator can realize the movement of XYZ coordinates, but the existing manipulator transmission structure is not ideal in space position, has large vibration interference, limited horizontal movement, wastes a lot of space and size, and cannot well meet the requirements of small space and stability.

Summary of the invention

The main technical problem solved by the present invention is to provide a manipulator transmission mechanism for a press, which has the advantages of high reliability, accurate positioning, compact structure, etc., and has a broad market prospect in the application and popularization of the manipulator transmission structure.

To solve the above technical problems, a technical solution adopted by the present invention is:

A manipulator transmission mechanism for a press is provided, which includes: Y-axis bracket, Y-axis bracket, diagonal brace, suspension beam, X-axis bracket, Z-axis bracket, double-speed rod,

Both sides of the Y-axis bracket are provided with diagonal braces for reinforcement and shock absorption. The Y-axis motor drives the Y-axis bracket to move back and forth on the Y-axis bracket through gears and racks to drive the manipulator into or out of the work station.

The suspension beams are vertically arranged on both sides of the bottom of the Y axle frame, the X axle frame is arranged on the suspension beam, the slide plate is fixedly connected to the conveyor belt, and the X-axis motor drives the slide plate in the place through the transmission wheel and the conveyor belt. The X-axis frame moves back and forth, and the multi-speed rod used to drive the manipulator to move in the X-axis direction is arranged at the bottom of the Z-axis frame. The sliding board moves up and down to adjust the height of the double-speed lever and cooperate with the manipulator to take and unload 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 that meshes with the gear.

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

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

In a preferred embodiment of the present invention, a Z-axis guide rail is provided on the sliding plate, and the Z-axis bracket moves up and down along the Z-axis guide rail.

In a preferred embodiment of the present invention, a rack stroke limiter is provided on the Z-axis bracket and the Y-axis bracket.

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

In a preferred embodiment of the present invention, the double-speed lever includes a double-speed lever main body, a drive motor, a motor mounting seat, a transition wheel, a driving wheel, an active belt, a passive wheel, a passive belt, a passive 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 on 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 main body of the multiplier rod, The motor mounting seat is provided with a transition wheel and a driving wheel, the driving wheel is arranged on the output shaft of the driving motor, the driving belt passes through the driving wheel and the transition wheel, and both ends of the driving belt are fixed In the main body of the double-speed lever, the passive wheel is respectively arranged at both ends of the main body of the double-speed lever through the passive wheel mounting seat, the passive belt surrounds the passive wheel, the upper part of the passive belt is fixedly connected with the motor mounting seat, and the lower part is fixedly connected with For the bottom plate, the driving motor drives the main body of the double-speed lever to move horizontally through the active belt, and at the same time drives the bottom plate to move horizontally through the passive belt, so that the manipulator connected to the double-speed lever can move relatively at the double speed.

In a preferred embodiment of the present invention, the motor mounting seat is fixedly connected with the upper part of the passive belt through the passive belt pressing plate and the upper part of the passive belt.

In a preferred embodiment of the present invention, the drag chain is arranged inside the main body of the double-speed lever and is wrapped by an annular pressure drag chain belt provided on one side of the passive belt.

The beneficial effects of the invention are: only effectively reducing the instability caused by the vibration of the press, and can improve the speed efficiency and stability, can also save weight and realize the double-speed movement of the manipulator.

Description of the drawings

In order to explain the technical solutions in the embodiments of the present invention more clearly, the following will briefly introduce the drawings needed in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative work, other drawings can be obtained based on these drawings, among which:

Figure 1 is a schematic structural view of a preferred embodiment of a manipulator transmission mechanism for a press according to the present invention;

Figure 2 is a schematic side view of a preferred embodiment of a manipulator transmission mechanism for a press according to the present invention;

Fig. 3 is a schematic top view of a preferred embodiment of a manipulator transmission mechanism for a press according to the present invention;

4 is a schematic diagram of the Y-axis bracket of a preferred embodiment of a manipulator transmission mechanism for a press according to the present invention;

Fig. 5 is a schematic diagram of the structure of a preferred embodiment of the multi-speed lever of a manipulator transmission mechanism for a press according to the present invention;

6 is a schematic diagram of a motor mounting seat of a preferred embodiment of a mechanical arm transmission mechanism for a press of the present invention;

Fig. 7 is a schematic side view of a preferred embodiment of a multi-speed lever of a manipulator transmission mechanism for a press according to the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be described clearly and completely below. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

Please refer to Figures 1-7, the embodiments of the present invention include:

A manipulator transmission mechanism for a press, which structure includes: Y-axis bracket 1, Y-axis bracket 2, diagonal brace bracket 3, suspension beam 4, X-axis bracket 5, Z-axis bracket 6, and double-speed rod 7.

Both sides of the Y-axis bracket are provided with diagonal bracing brackets for strengthening and shock absorption, and the Y-axis bracket and the diagonal bracing bracket are connected with the press at the same time to improve stability.

The Y-axis motor drives the Y-axis frame to move back and forth on the Y-axis support through gears and racks. The output shaft of the Y-axis motor is provided with a gear, and the Y-axis frame is provided with the teeth meshing with the gear. A Y-axis guide rail is arranged on the Y-axis support, and the Y-axis support moves back and forth along the Y-axis guide rail to drive the manipulator to enter or exit the station.

The suspension beams are vertically arranged on both sides of the bottom of the Y axle frame, the X axle frame is arranged on the suspension beam, the slide plate is fixedly connected to the conveyor belt, and the X-axis motor drives the slide plate in the place through the transmission wheel and the conveyor belt. The X-axis frame moves back and forth, and the multi-speed rod used to drive the manipulator to move in the X-axis direction is arranged at the bottom of the Z-axis frame. The slide plate moves up and down, the output shaft of the Z-axis motor is provided with a gear, the Z-axis frame is provided with the rack that meshes with the gear, and the slide plate is provided with a Z-axis guide rail. The Z-axis frame moves up and down along the Z-axis guide rail to adjust the height of the double-speed rod and cooperate with the manipulator to take and unload materials.

The Z-axis bracket and the Y-axis bracket are provided with a rack stroke limiter to prevent the rack and gear from disengaging, accurate stroke and convenient control.

When the Y-axis motor starts, the gear moves on the rack, driving the entire Y-axis, the suspension beam and the lower X-axis Y-axis double speed lever to move in the Y-axis direction to complete the entry and exit behavior of the workstation; the X-axis motor starts When the X-axis belt drives the Z-axis and the double-speed rod to move in the X-axis direction, from side to side; when the Z-axis motor starts, the rack moves up and down under the drive of the gear, driving the Z-axis and the double-speed rod to move in the Z-axis direction , Complete the height adjustment and the grasping and lowering action of the gripper on the double-speed rod; the double-speed rod motor controls the double-speed rod to complete the double-speed movement in the X-axis direction, and complete the behavior of entering and exiting the press station.

The double-speed lever adopts the principle of moving pulleys to realize double-speed transmission. The drag chain is wrapped and fixed by pressing the drag chain belt to reduce space occupation, prevent collision and interference, and is dust-proof and beautiful. The passive wheel is vertically fixed to the two ends of the main body of the transmission lever through the passive wheel mounting seat. The structure is stable, and the processing is simplified. The passive belt is compressed by the passive belt pressing plate reversely to save the horizontal space and maximize the stroke. The structure includes a double-speed lever 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 passive 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 on 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 main body of the double-speed lever.

The motor mounting seat is provided with two parallel transition wheels and a driving wheel located above the two transition wheels, the driving wheel is arranged on the output shaft of the driving motor, and the driving belt is arranged on the double-speed rod In the main body, the driving belt is movably arranged on the driving wheel, and its two ends pass between the two transition wheels and are fixed on the frame in the main body of the double-speed lever. After passing between the two transition wheels and winding on the driving wheel, they pass between the two transition wheels again to form an Ω-shaped winding.

The passive wheel is installed at the two ends of the main body of the double-speed lever through the passive wheel mounting seat to realize the integrated connection with the main body of the double-speed lever. The flat design on both ends of the main body of the double-speed lever not only ensures the stability, but also simplifies the main body of the double-speed lever. Processing. The passive belt surrounds the passive wheel, and the motor mounting seat is fixedly connected with the upper part of the passive belt through the passive belt pressing plate 1013, so that the passive belt pressing plate can be moved directly above the passive wheel to realize the movement of the motor mounting seat to the upper part of the passive belt. There is no waste of extra size at the end of the main body 1 of the double-speed lever.

When the driving motor drives the driving wheel to rotate, the driving wheel and the transition wheel cooperate to pull the driving belt, so that the main body of the double-speed lever can move along the X axis on the motor mounting seat, so that the driving motor drives the main body of the double-speed lever to move horizontally through the active belt.

The bottom plate is wrapped under the main body of the double-speed lever, and its two sides are slidingly connected with the guide rails on the side of the main body of the double-speed lever, and the bottom plate is fixedly connected with the lower part of the passive belt. At this time, the motor mounting seat and the bottom plate are formed under the drive of the driven wheel and the passive belt. The movable pulley structure, so while the active belt drives the main body of the double-speed lever to move horizontally, the bottom plate also moves horizontally under the drive of the passive belt, thereby realizing the double-speed movement of the connected equipment on the double-speed lever.

The drag chain is arranged inside the main body of the double-speed lever and is wrapped by an annular pressure drag chain belt 1012 provided on one side of the passive belt to form an upper and lower support, which not only fixes the drag chain, but also reduces space occupation, prevents collision interference, and is dust-proof and beautiful.

The beneficial effects of a manipulator transmission mechanism for a press of the present invention are:

1. The Y-axis bracket is installed on one side of the press with diagonal bracing, and the form of a single-sided cantilever effectively reduces the instability caused by the vibration of the press;

2. The Y-axis provides the overall robot moving in and out of the station, and can exit the station when it is not working, which is convenient for manual operation, equipment maintenance, and press mold replacement operations;

3. Connect the X-axis under the Y-axis bracket, that is, provide additional X-axis motion in addition to the double-speed rod. By performing the X-axis displacement with the double-speed rod at the same time, the speed efficiency is improved, and the Y-axis is provided with support to improve the stability of the Y-axis;

4. The Z-axis moves with the X-axis slide, and the displacement in the Z-axis direction is only a necessary structure of the double-speed rod, which saves weight;

5. Under the Z-axis, the double-speed lever is used to realize the double-speed, which greatly increases the X-axis stroke.

The above are only the embodiments of the present invention, and do not therefore limit the scope of the present invention. Any equivalent structure or equivalent process transformation made by using the content of the present invention description, or directly or indirectly applied to other related technical fields, are all The same reason is included in the scope of patent protection of the present invention.

Claims

A manipulator transmission mechanism for a press, which is characterized by comprising: Y-axis bracket, Y-axis bracket, diagonal brace, suspension beam, X-axis bracket, Z-axis bracket, double-speed rod,

Both sides of the Y-axis bracket are provided with diagonal braces for reinforcement and shock absorption. The Y-axis motor drives the Y-axis bracket to move back and forth on the Y-axis bracket through gears and racks to drive the manipulator into or out of the work station.

The suspension beams are vertically arranged on both sides of the bottom of the Y axle frame, the X axle frame is arranged on the suspension beam, the slide plate is fixedly connected to the conveyor belt, and the X-axis motor drives the slide plate in the place through the transmission wheel and the conveyor belt. The X-axis frame moves back and forth, and the multi-speed rod used to drive the manipulator to move in the X-axis direction is arranged at the bottom of the Z-axis frame. The sliding board moves up and down to adjust the height of the double-speed lever and cooperate with the manipulator to take and unload materials.
A manipulator transmission mechanism for a press according to 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 gear meshing with the gear. strip.
The manipulator transmission mechanism for a press according to claim 1, wherein 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.
The manipulator transmission mechanism for a press according to 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 gear meshing with the gear. strip.
The manipulator transmission mechanism for a press according to claim 1, wherein a Z-axis guide rail is provided on the sliding plate, and the Z-axis frame moves up and down along the Z-axis guide rail.
The manipulator transmission mechanism for a press according to claim 1, wherein the Z-axis bracket and the Y-axis bracket are provided with rack stroke limiters.
The manipulator transmission mechanism for a press according to claim 1, wherein the Y-axis support and the diagonal support are connected to the press at the same time.
A manipulator transmission mechanism for a press according to claim 1, wherein the double-speed rod includes a double-speed rod main body, a driving motor, a motor mounting seat, a transition wheel, a driving wheel, a driving belt, a driven wheel, The passive belt, the passive wheel mounting seat, the bottom plate and the drag chain, the driving motor is arranged on the motor mounting seat, the motor mounting seat is fixedly arranged on the bottom of the Z-axis frame, and the bottom of the motor mounting seat is connected to The guide rail on the top surface of the main body of the double-speed lever is movably connected, the motor mounting seat is provided with a transition wheel and a driving wheel, the driving wheel is arranged on the output shaft of the driving motor, and the driving belt passes through the driving The two ends of the active belt are fixed in the main body of the double-speed lever, and the passive wheels are respectively arranged at both ends of the main body of the double-speed lever through the passive wheel mounting seat. The passive belt surrounds the passive wheel. The upper part of the passive belt It is fixedly connected with the motor mounting base, and the bottom plate is fixedly connected to the lower part. The driving motor drives the main body of the double-speed lever to move horizontally through the active belt, and at the same time drives the bottom plate to move horizontally through the passive belt, so that the manipulator connected to the double-speed lever can move at a relative double speed.
8. The manipulator transmission mechanism for a press according to claim 8, wherein the motor mounting seat is fixedly connected with the upper part of the passive belt through the passive belt pressing plate and the upper part of the passive belt.
A manipulator transmission mechanism for a press according to claim 8, wherein the drag chain is arranged inside the main body of the double-speed lever and is wrapped by an endless drag chain belt provided on one side of the passive belt.