阅读说明：本技术 全伺服多轴驱动托盘交换机构 (Full-servo multi-shaft driving tray exchange mechanism ) 是由 胡颖斌 刘欢 吕华东 石磊 于 2019-10-22 设计创作，主要内容包括：本发明提供一种全伺服多轴驱动托盘交换机构,包括托盘交换前的抬升运动机构和托盘交换时的旋转运动机构,所述抬升运动机构包括伺服电机、抬升主动带轮、胀紧套、同步带、从动带轮、丝杠带轮转接套、双列角接触球轴承、交换机构底座、主轴承法兰、主轴承内圈压环、托盘抬升丝杠、丝杠导向板,所述旋转运动机构包括减速机、传递齿轮组。(The invention provides a full-servo multi-shaft driving tray exchange mechanism which comprises a lifting movement mechanism before tray exchange and a rotary movement mechanism during tray exchange, wherein the lifting movement mechanism comprises a servo motor, a lifting driving belt wheel, an expansion sleeve, a synchronous belt, a driven belt wheel, a screw belt wheel adapter sleeve, a double-row angular contact ball bearing, an exchange mechanism base, a main bearing flange, a main bearing inner ring compression ring, a tray lifting screw and a screw guide plate, and the rotary movement mechanism comprises a speed reducer and a transmission gear set.)

1. The full-servo multi-shaft driving tray exchange mechanism is characterized by comprising a lifting movement mechanism before tray exchange and a rotating movement mechanism during tray exchange;

the lifting motion mechanism comprises a servo motor, a lifting driving belt wheel, an expansion sleeve, a synchronous belt, a driven belt wheel, a screw belt wheel adapter sleeve, a double-row angular contact ball bearing, an exchange mechanism base, a main bearing flange, a main bearing inner ring compression ring, a tray lifting screw and a screw guide plate, the servo motor and the lifting driving belt wheel are fixed by an expansion sleeve, the synchronous belt transmits power to the lifting driven belt wheel, the driven belt wheel is fixed with a screw belt wheel adapter sleeve, an outer ring of the screw belt wheel adapter sleeve is matched with an inner ring of a double-row angular contact ball bearing, an outer ring of the bearing is fixed on the exchange mechanism base, the outer ring and the inner ring of the bearing are fixed with a main bearing inner ring compression ring through the main bearing flange, the outer ring of the tray lifting lead screw nut is matched and fixed with the inner ring of the lead screw belt pulley adapter sleeve, and the lead screw guide plate is fixed on the upper part of the lead screw to prevent the lead screw shaft from rotating per se;

the rotary motion mechanism comprises a speed reducer and a transmission gear set, the speed reducer is connected with a servo motor, the output end of the speed reducer is connected with a speed reducer transmission gear and is axially fixed through a gear shaft anti-release cover, and the far end of the speed reducer transmission gear is radially and auxiliary supported by a deep groove ball bearing;

the transmission gear set is composed of a motor side driven gear, a rotary driving gear mandrel, a rotary driving gear, two groups of tapered roller bearings and a rotary driving gear seat, the transmission gear set is installed on the exchange mechanism base, and a speed reducer transmission gear and the transmission gear set transmit rotary motion to the rotary driving gear on the upper portion.

2. The full-servo multi-axis drive pallet exchange mechanism of claim 1, wherein the pallet lift screw top end is engaged with a needle roller-thrust cylindrical roller bearing, the bearing inner race is locked with a lock nut, the bearing outer race is connected, the bearing outer race flange is provided with a fixedly connected lifting mechanism flange, and the lifting mechanism flange is externally connected with a pallet fork lifting support and a pallet fork.

3. The full-servo multi-axis drive pallet changing mechanism of claim 2, wherein the lifting mechanism flange plate is sleeved at a lower end thereof with a lifting mechanism guide post, and the lifting mechanism flange plate rotates relative to the lifting mechanism guide post by taking a self-lubricating metal composite bearing as a medium.

4. The full-servo multi-shaft driving pallet exchanging mechanism according to claim 2, wherein the pallet fork lifting support is provided with a fixedly connected guide sleeve, a self-lubricating metal composite bearing is embedded in the guide sleeve, a turntable guide post is arranged at the upper end of the guide sleeve, and two sets of turntable guide posts and the guide sleeve are matched with the self-lubricating metal composite bearing to realize the support of the lifting movement.

5. The full-servo multi-shaft driving tray exchange mechanism according to claim 4, wherein a connecting rod is arranged in the center of the exchange mechanism base, the connecting rod is arranged at the top end of the revolving table guide column, the upper end of the connecting rod is provided with a top floating centering plate and a top floating centering seat, and the top floating centering plate and the revolving table guide column generate relative rotation movement and up-and-down movement in the tray exchange process through a self-lubricating metal composite bearing.

6. The full-servo multi-axis drive pallet exchange mechanism of claim 1 or 4, wherein the exchange mechanism base is further provided with a gear bearing, an inner ring of the gear bearing is fixed on the exchange mechanism base, an outer ring of the gear bearing is fixedly connected with a guide post mounting plate, and the rotary driving gear transmits rotary motion to an outer ring of the gear bearing and drives the guide post mounting plate to rotate.

Technical Field

The invention relates to the technical field of exchange mechanisms, in particular to a full-servo multi-shaft driving tray exchange mechanism.

Background

A tray exchange mechanism of a common horizontal machining center generally adopts a hydraulic oil cylinder to complete the lifting of a tray and an oil cylinder and a rack mechanism to complete the rotary motion. The structure can generate larger impact and vibration in the lifting and rotating processes, and the tray can shake on the exchange mechanism. Such a structure is not favorable for the accurate positioning of the tray and the workbench, and the service life of the tray and the exchange mechanism is greatly influenced.

Disclosure of Invention

In order to fully solve the problems, in particular to overcome the defects in the prior art, the invention provides a full-servo multi-shaft driving tray exchange mechanism.

In order to achieve the purpose, the invention adopts the following technical means:

the full-servo multi-shaft driving tray exchange mechanism comprises a lifting movement mechanism before tray exchange and a rotating movement mechanism during tray exchange;

the lifting motion mechanism comprises a servo motor, a lifting driving belt wheel, an expansion sleeve, a synchronous belt, a driven belt wheel, a screw belt wheel adapter sleeve, a double-row angular contact ball bearing, an exchange mechanism base, a main bearing flange, a main bearing inner ring compression ring, a tray lifting screw and a screw guide plate, the servo motor and the lifting driving belt wheel are fixed by an expansion sleeve, the synchronous belt transmits power to the lifting driven belt wheel, the driven belt wheel is fixed with a screw belt wheel adapter sleeve, an outer ring of the screw belt wheel adapter sleeve is matched with an inner ring of a double-row angular contact ball bearing, an outer ring of the bearing is fixed on the exchange mechanism base, the outer ring and the inner ring of the bearing are fixed with a main bearing inner ring compression ring through the main bearing flange, the outer ring of the tray lifting lead screw nut is matched and fixed with the inner ring of the lead screw belt pulley adapter sleeve, and the lead screw guide plate is fixed on the upper part of the lead screw to prevent the lead screw shaft from rotating per se;

the rotary motion mechanism comprises a speed reducer and a transmission gear set, the speed reducer is connected with a servo motor, the output end of the speed reducer is connected with a speed reducer transmission gear and is axially fixed through a gear shaft anti-release cover, and the far end of the speed reducer transmission gear is radially and auxiliary supported by a deep groove ball bearing;

the transmission gear set is composed of a motor side driven gear, a rotary driving gear mandrel, a rotary driving gear, two groups of tapered roller bearings and a rotary driving gear seat, the transmission gear set is installed on the exchange mechanism base, and a speed reducer transmission gear and the transmission gear set transmit rotary motion to the rotary driving gear on the upper portion.

Furthermore, the top end of the tray lifting lead screw is matched with the roller pin-thrust cylindrical roller bearing, the inner ring of the bearing is locked by a locking nut, the outer ring of the bearing is connected, a flange of the outer ring of the bearing is provided with a lifting mechanism flange plate which is fixedly connected, and the lifting mechanism flange plate is externally connected with a pallet fork lifting support and a tray pallet fork.

Furthermore, the lower end of the lifting mechanism flange plate is sleeved with a lifting mechanism guide post, and the lifting mechanism flange plate rotates relative to the lifting mechanism guide post as a medium through a self-lubricating metal composite bearing.

Furthermore, the fork lifting support is provided with a guide sleeve fixedly connected, a self-lubricating metal composite bearing is embedded in the guide sleeve, a rotary table guide post is arranged at the upper end of the guide sleeve, and the rotary table guide post and the guide sleeve are matched with the self-lubricating metal composite bearing to support lifting movement.

Further, exchange mechanism base center mid-mounting has the connecting rod, the connecting rod sets up in the revolving platform guide post top, the upper end of connecting rod is equipped with the unsteady centering plate in top and the unsteady centering seat in top, the unsteady centering plate in top can produce relative rotary motion and up-and-down motion through self-lubricating metal composite bearing and revolving platform guide post in the tray exchange process.

Further, still be equipped with gear bearing on the exchange mechanism base, gear bearing inner race is fixed on the exchange mechanism base, gear bearing's outer lane fixedly connected with guide post mounting panel, rotatory driving gear transmits rotary motion to gear bearing outer lane and drives the guide post mounting panel rotation.

The invention has the beneficial effects that: based on the problems of the common hydraulic drive type tray exchange mechanism, the invention optimizes servo parameters such as acceleration and deceleration of each movement in the tray exchange process by matching a transmission mechanism such as a ball screw, a synchronous belt, a speed reducer and the like with a servo motor and combining the advantages of the transmission mechanism, realizes smoother and efficient movement of the exchange mechanism in the exchange process, improves the positioning precision between the tray and the workbench, reduces abnormal contact abrasion of the positioning cone, improves the tray exchange speed, and greatly prolongs the service life of the tray and the workbench positioning cone.

Drawings

Fig. 1 is a first schematic structural diagram of the present invention.

Fig. 2 is a cross-sectional view taken at fig. 1A of the present invention.

FIG. 3 is a second schematic structural diagram of the present invention.

Fig. 4 is a cross-sectional view at fig. 3B of the present invention.

Fig. 5 is a third schematic structural diagram of the present invention.

Fig. 6 is a cross-sectional view of the invention of fig. 5.

Detailed Description

The technical scheme of the invention is clearly and completely described in the following with reference to the accompanying drawings.

As shown in fig. 1 to 6, the invention provides a full-servo multi-axis driving tray exchange mechanism, belonging to machine tool functional components. The exchange mechanism system consists of two transmission mechanisms, namely a lifting movement mechanism before tray exchange and a rotating movement mechanism during tray exchange.

And the lifting motion mechanism is responsible for lifting motion before the pallet is exchanged so as to separate the male and female positioning cones between the pallet and the workbench. The structure of the device mainly comprises a ball screw, a synchronous belt pulley and a servo motor. The servo motor 1 and the lifting driving belt wheel 2 are fixed by the expansion sleeve 3, and power is transmitted to the lifting driven belt wheel 5 through the synchronous belt 4. The driven belt wheel 5 is fixed with a screw belt wheel adapter sleeve 6, the outer ring of the screw belt wheel adapter sleeve 6 is matched with the inner ring of a double-row angular contact ball bearing 7, the outer ring of the bearing is fixed on an exchange mechanism base 8, and the outer ring of the bearing and the inner ring of the bearing are fixed through a main bearing flange 9 and a main bearing inner ring pressing ring 10. Tray lifting lead screw 11 nut outer lane is fixed with the cooperation of lead screw band pulley switching cover 6 inner circle, and lead screw deflector 12 is fixed on lead screw upper portion, prevents the possible self rotation of lead screw axle. At this time, when the servo motor 1 rotates, the screw shaft itself can be pushed to perform vertical linear motion by rotating the screw nut via the timing belt without rotating. The top end of a tray lifting lead screw 11 is matched with a roller pin-thrust cylindrical roller bearing 13, a bearing inner ring is locked by a locking nut, a bearing outer ring is connected, a bearing outer ring flange is fixed with a lifting mechanism flange 14, and the lifting mechanism flange 14 is fixed with a pallet fork lifting support 15 and a tray pallet fork 16. The screw rod is only responsible for up-and-down movement, and the weight and the offset load of a tray, a workpiece and the like in the actual operation process are supported by two groups of revolving platform guide posts 17 and guide sleeves 18 matched with self-lubricating metal composite bearings 19 to realize lifting movement. The self-lubricating metal composite bearing 19 is embedded in the guide sleeve 18 and then integrally fixed on the fork lifting support 15. At the moment, the lifting motion mechanism can drive the screw nut to rotate by means of the rotation of the servo motor, the screw shaft moves up and down, and the lifting of the pallet fork is pushed by means of the guide columns on the two sides.

And the rotary motion mechanism is used for exchanging the tray in the processing area and the tray in the non-processing area through rotation. The structure of the device mainly comprises a gear, a speed reducer and a servo motor. The servo motor 1 is connected with a speed reducer 20, the output end of the speed reducer is connected with a speed reducer transmission gear 21, axial fixing is carried out by a gear shaft anti-release cover 22, and the far end of the speed reducer transmission gear 21 is radially and auxiliarily supported by a deep groove ball bearing 23. The transmission gear set consists of a motor-side driven gear 24, a rotary driving gear mandrel 25, a rotary driving gear 26, two groups of tapered roller bearings 27 and a rotary driving gear seat 28, the whole transmission gear set is arranged on the exchange mechanism base 8, and rotary motion is transmitted to the rotary driving gear 26 on the upper part through a speed reducer transmission gear 21 and the transmission gear set. The inner ring of the gear bearing 29 is fixed on the exchange mechanism base 8, the outer ring thereof is fixed on the guide post mounting plate 30, and the driving gear 26 on the upper part of the transmission gear set transmits the rotary motion to the outer ring of the gear bearing 29 and drives the guide post mounting plate 30 to rotate. Two sets of turret guide posts 17 mounted on the guide post mounting plate 30 rotate together on radial drive guide sleeves 18, fork lift supports 15 and pallet forks 16. The lifting mechanism guide column 31 and the lifting mechanism flange plate 14 are used as central support shafts for rotary motion at the moment, the two parts rotate relatively, and the self-lubricating metal composite bearing 32 is used as a medium, so that the rotary precision is improved, and meanwhile, the abrasion is reduced.

Considering the requirement of placing a workpiece with a higher center of gravity on the pallet, the center of the exchange mechanism is provided with a middle connecting rod 33 and a rotary table guide post 17 arranged on the top, the middle connecting rod and the rotary table guide post form an upper auxiliary supporting point together with a top floating centering plate 34 and a top floating centering seat 35 which are arranged on the top of a machine tool and adopt arc surface design, the rotary table guide post 17 and the top floating centering plate 34 can generate relative rotation movement and up-and-down movement in the pallet exchange process, and a self-lubricating metal composite bearing 19 is used as a medium, so that the stability in pallet exchange is further improved.

The invention relates to a full-servo multi-shaft driving tray exchange mechanism, which is based on the problems of the common hydraulic driving tray exchange mechanism, optimizes servo parameters such as acceleration and deceleration of each movement in the tray exchange process by a transmission mechanism such as a ball screw, a synchronous belt, a speed reducer and the like in combination with a servo motor, realizes smoother and efficient movement of the exchange mechanism in the exchange process, improves the positioning precision between a tray and a workbench, reduces abnormal contact abrasion of a positioning cone, improves the tray exchange speed, and greatly prolongs the service life of the tray and the workbench positioning cone.