阅读说明：本技术 电机驱动结合楔形定位的工位回转机构 (Station slewing mechanism combining motor drive with wedge positioning ) 是由 王兴中 于 2021-02-08 设计创作，主要内容包括：本发明公开了一种电机驱动结合楔形定位的工位回转机构,包括机架及安装板,安装板设置在机架的顶部。回转输出机构设置在安装板上,回转输出机构包括回转输出轴及从动轮；回转输出轴通过双向支撑轴承与安装板垂直地设置在安装板上,且回转输出轴的一部分伸出安装板以上用以安装工装安装基板；从动轮通过滚动轴承与回转输出轴的下端枢接；弹性回转驱动机构设置在从动轮和回转输出轴的下端面上,从动轮通过弹性回转驱动机构带动回转输出轴回转。楔形定位机构设置在安装板和工装安装基板上,用以对工装安装基板进行工位定位。动力输入机构,其设置在安装板上,用以驱动从动轮回转。工位回转机构具有成本低廉、定位精准可控、弹性驱动回转等特点。(The invention discloses a station slewing mechanism combining motor drive and wedge positioning, which comprises a rack and an installation plate, wherein the installation plate is arranged at the top of the rack. The rotary output mechanism is arranged on the mounting plate and comprises a rotary output shaft and a driven wheel; the rotary output shaft is vertically arranged on the mounting plate through the bidirectional support bearing and the mounting plate, and part of the rotary output shaft extends out of the mounting plate to be used for mounting a tool mounting substrate; the driven wheel is pivoted with the lower end of the rotary output shaft through a rolling bearing; the elastic rotation driving mechanism is arranged on the lower end faces of the driven wheel and the rotation output shaft, and the driven wheel drives the rotation output shaft to rotate through the elastic rotation driving mechanism. The wedge-shaped positioning mechanism is arranged on the mounting plate and the tool mounting substrate and used for carrying out station positioning on the tool mounting substrate. And the power input mechanism is arranged on the mounting plate and used for driving the driven wheel to rotate. The station slewing mechanism has the characteristics of low cost, accurate and controllable positioning, elastic driving, slewing and the like.)

1. A station slewing mechanism with motor drive combined with wedge positioning is characterized by comprising:

the supporting mechanism comprises a rack and a mounting plate, and the mounting plate is arranged at the top of the rack;

a rotary output mechanism disposed on the mounting plate, the rotary output mechanism comprising:

the rotary output shaft is vertically arranged on the mounting plate through a bidirectional supporting bearing and extends out of the mounting plate to be used for mounting a tool mounting substrate; and

the driven wheel is pivoted with the lower end of the rotary output shaft through a rolling bearing;

the elastic rotary driving mechanism is arranged on the driven wheel and the lower end surface of the rotary output shaft, and the driven wheel drives the rotary output shaft to rotate through the elastic rotary driving mechanism;

the wedge-shaped positioning mechanism is arranged on the mounting plate and the tool mounting substrate and used for carrying out station positioning on the tool mounting substrate; and

and the power input mechanism is arranged on the mounting plate and used for driving the driven wheel to rotate.

2. The motor-driven wedge-positioning combined station swing mechanism of claim 1, wherein the resilient swing drive comprises:

the passive swing rod is arranged on the lower end face of the rotary output shaft and extends outwards to the outside of the excircle of the rotary output shaft along the radial central line of the rotary output shaft;

the driving column support is fixedly arranged on the lower end face of the driven wheel, cylindrical holes are formed in two ends of the driving column support, and the central axis of each cylindrical hole is perpendicular to the radial central line of the driven wheel;

the two elastic driving columns are respectively arranged in the cylindrical holes at the two ends of the driving column bracket in a penetrating way, the two elastic driving columns can slide in the cylindrical holes, one end of each elastic driving column is provided with a mushroom head, the mushroom heads of the two elastic driving columns are oppositely arranged, and the diameter of each mushroom head is larger than that of each elastic driving column; and

the two force application springs are respectively arranged on the two elastic driving columns in a penetrating way and are positioned between the mushroom heads and the cylindrical hole;

the outward extending part of the driven swing rod is clamped between the two mushroom heads, and the two mushroom heads are propped against two sides of the outward extending part of the driven swing rod by means of the tension of the two stress springs.

3. The motor-driven wedge-positioning combined station swing mechanism of claim 2, wherein the wedge-positioning mechanism comprises:

the plurality of station positioning blocks are arranged at a plurality of station points on the lower plane of the tool mounting base plate, each station positioning block comprises a wedge-shaped positioning groove, and the large opening of each station positioning block faces the mounting plate below;

the positioning sliding sleeve is arranged on the mounting plate and is positioned on one side of the rotary output shaft, and the distance between the central axis of the positioning sliding sleeve and the central axis of the rotary output shaft is matched with the distance between the wedge-shaped positioning grooves of the station positioning blocks and the central axis of the rotary output shaft;

the wedge-shaped positioning shaft penetrates through the positioning sliding sleeve and can slide in the positioning sliding sleeve along the axis of the positioning sliding sleeve, the upper end part of the wedge-shaped positioning shaft is provided with a wedge-shaped positioning part, and the shape of the wedge-shaped positioning part is matched with that of the wedge-shaped positioning groove; and

the driving cylinder is arranged at the lower end of the positioning sliding sleeve, and a piston rod of the driving cylinder is connected with the lower end of the wedge-shaped positioning shaft;

when a certain station positioning block rotates to the position above the positioning sliding sleeve along with the tool mounting base plate, the driving cylinder drives the wedge-shaped positioning shaft to extend upwards, and the wedge-shaped positioning part is inserted into the wedge-shaped positioning groove so that the tool mounting base plate is accurately positioned.

4. The motor-driven wedge-positioning-combined station swing mechanism of claim 1, wherein the power input mechanism comprises:

the upper end of the motor support is arranged on the lower plane of the mounting plate and is positioned on one side of the rotary output shaft, and a rotary space is formed inside the motor support;

the driving motor is arranged at the lower end of the motor support, a motor shaft of the driving motor extends into the rotary space, and a central axis of the motor shaft is parallel to a central axis of the rotary output shaft; and

the driving wheel is sleeved on the motor shaft and is positioned in the rotation space, and the driving wheel is used for driving the driven wheel to rotate.

5. The station slewing mechanism with combination of motor drive and wedge positioning as claimed in claim 1, further comprising a servo control mechanism comprising a plurality of sensor sets disposed under the driven wheel, wherein the included angles between the plurality of sensor sets and the central axis line of the slewing output shaft correspond to the included angles between the plurality of station positioning blocks and the central axis line of the slewing output shaft, and the distances from the plurality of sensor sets to the central axis line of the slewing output shaft are matched with the distances from the elastic slewing drive mechanism to the central axis line of the slewing output shaft.

6. The motor-driven wedge-positioning combined station swing mechanism of claim 5, wherein the plurality of sensor sets are electrically connected to the power input mechanism, each sensor set comprising:

the power input mechanism is used for reducing the driving speed of the driven wheel when the elastic rotary driving mechanism triggers the speed reduction sensor;

the elastic rotation driving mechanism is used for triggering the rotation in-place sensor, and the power input mechanism stops driving the driven wheel; and

and the over-travel protection sensor is used for stopping driving the driven wheel by the power input mechanism when the elastic rotation driving mechanism triggers the rotation in-place sensor and the driven wheel continues to rotate to enable the elastic rotation driving mechanism to trigger the over-travel protection sensor after the power input mechanism does not stop driving the driven wheel.

7. The motor-driven wedge-positioning-combined station slewing mechanism of claim 3, further comprising:

the positioning stop block is arranged on the upper plane of the mounting plate and is positioned outside the positioning sliding sleeve; and

the positioning adjusting stud is arranged on the stud hole of the station positioning block;

when a certain station positioning block rotates to the position above the positioning sliding sleeve along with the tool mounting base plate, the positioning adjusting stud is just abutted against the positioning stop block.

8. The machine-driven wedge-positioning combined station swing mechanism of claim 7, wherein the positioning adjustment stud is capable of being threaded for position adjustment within the stud hole.

9. The machine-driven wedge-positioning combined station slewing mechanism according to claim 4, wherein the driving wheel and the driven wheel are gears, pulleys or sprockets.

10. The motor-driven wedge-positioning-combined station swing mechanism of claim 1, further comprising:

the bearing mounting sleeve is arranged on the lower plane of the mounting plate; and

the radial support bearing is arranged in the bearing installation sleeve, and the rotary output shaft penetrates through the radial support bearing and the bearing installation sleeve.

Technical Field

The invention relates to a station slewing mechanism combining motor drive and wedge-shaped positioning.

Background

The prior art station reciprocating swing mechanism (taking two stations as an example) mainly has the following driving modes: driving a cam dividing mechanism; the motor is directly connected with a rotating shaft for driving; the pneumatic actuator (a linear cylinder gear rack or a swinging rotary cylinder) drives; the hydraulic actuator (a linear oil cylinder gear rack or a swinging rotary oil cylinder) is used for driving;

the station reciprocating swing mechanism in the prior art has the following defects:

cam split mechanism drive disadvantages: under the same supporting load, the radial space is occupied greatly, the diameter of the rotary disc must be increased to ensure the rotary space of the tool at the bottom of the rotary disc, and three defects occur, namely large rotational inertia, large starting and stopping impact and poor running stability. Secondly, the mechanism occupies large space and is not beneficial to arrangement of other mechanisms. Thirdly, the manufacturing cost is increased.

The motor directly links the drive shortcoming of revolving shaft: under the same supporting load, three defects occur due to the fact that the motor is rigidly and directly connected with the rotating shaft, firstly, the positioning precision is low, and the whole mechanism is impacted greatly in the starting and stopping stage. Secondly, an effective safety protection device is lacked in the operation process. Thirdly, the use and maintenance cost is high.

The driving defect of a pneumatic actuator; the driving of a common pneumatic actuator is limited by a driving principle, and the common pneumatic actuator has three defects during operation: firstly, the pressure fluctuation of the air source causes obvious fluctuation of the running speed (linear speed or angular speed), and the impact is large especially in the starting/stopping stage. Secondly, when the load changes (the influence of lubrication, temperature and the like), the running speed (linear speed or angular speed) obviously fluctuates, and the ideal running speed cannot be obtained in the whole running process. Thirdly, the running process lacks effective safety protection.

The driving defect of a hydraulic actuator; although the hydraulic actuator drive has the advantages of small space and stable operation as the new mechanism, compared with the new mechanism, the hydraulic actuator drive has the following three defects: one is that hydraulic systems are costly (including manufacturing and maintenance costs) and are prone to environmental contamination. Secondly, the hydraulic pipeline occupies a large space. And thirdly, effective safety protection is lacked.

The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.

Disclosure of Invention

The invention aims to provide a station slewing mechanism combining motor drive and wedge positioning, which can well overcome the defects of the station reciprocating slewing mechanism in the prior art.

In order to achieve the purpose, the invention provides a station slewing mechanism combining motor drive and wedge-shaped positioning, which comprises a supporting mechanism, a slewing output mechanism, an elastic slewing driving mechanism, a wedge-shaped positioning mechanism and a power input mechanism. The supporting mechanism comprises a rack and a mounting plate, and the mounting plate is arranged at the top of the rack. The rotary output mechanism is arranged on the mounting plate and comprises a rotary output shaft and a driven wheel; the rotary output shaft is vertically arranged on the mounting plate through the bidirectional support bearing and the mounting plate, and part of the rotary output shaft extends out of the mounting plate to be used for mounting a tool mounting substrate; the driven wheel is pivoted with the lower end of the rotary output shaft through a rolling bearing; the elastic rotation driving mechanism is arranged on the lower end faces of the driven wheel and the rotation output shaft, and the driven wheel drives the rotation output shaft to rotate through the elastic rotation driving mechanism. The wedge-shaped positioning mechanism is arranged on the mounting plate and the tool mounting substrate and used for carrying out station positioning on the tool mounting substrate. And the power input mechanism is arranged on the mounting plate and used for driving the driven wheel to rotate.

In a preferred embodiment, the elastic rotary drive mechanism comprises a passive swing link, a drive column support, two elastic drive columns and two force springs. The driven swing rod is arranged on the lower end face of the rotary output shaft and extends outwards beyond the excircle of the rotary output shaft along the radial central line of the rotary output shaft; the driving column support is fixedly arranged on the lower end face of the driven wheel, cylindrical holes are formed in two ends of the driving column support, and the central axis of each cylindrical hole is perpendicular to the radial central line of the driven wheel; the two elastic driving columns are respectively arranged in the cylindrical holes at the two ends of the driving column bracket in a penetrating manner, the two elastic driving columns can slide in the cylindrical holes, one end of each elastic driving column is provided with a mushroom head, the mushroom heads of the two elastic driving columns are oppositely arranged, and the diameter of each mushroom head is larger than that of each elastic driving column; the two force application springs are respectively arranged on the two elastic driving columns in a penetrating way and are positioned between the mushroom heads and the cylindrical holes; the outward extending part of the driven swing rod is clamped between the two mushroom heads, and the two mushroom heads are propped against the two sides of the outward extending part of the driven swing rod by the tension of the two stress springs.

In a preferred embodiment, the wedge-shaped positioning mechanism comprises a plurality of station positioning blocks, a positioning sliding sleeve, a wedge-shaped positioning shaft and a driving cylinder; the plurality of station positioning blocks are arranged at a plurality of station points on the lower plane of the tool mounting substrate, each station positioning block comprises a wedge-shaped positioning groove, and the large opening of each station positioning block faces the mounting plate below; the positioning sliding sleeve is arranged on the mounting plate and is positioned on one side of the rotary output shaft, and the distance between the central axis of the positioning sliding sleeve and the central axis of the rotary output shaft is matched with the distance between the wedge-shaped positioning grooves of the station positioning blocks and the central axis of the rotary output shaft; the wedge-shaped positioning shaft is arranged in the positioning sliding sleeve in a penetrating mode and can slide in the positioning sliding sleeve along the axis of the positioning sliding sleeve, the upper end portion of the wedge-shaped positioning shaft is provided with a wedge-shaped positioning portion, and the shape of the wedge-shaped positioning portion is matched with that of the wedge-shaped positioning groove; the driving cylinder is arranged at the lower end of the positioning sliding sleeve, and a piston rod of the driving cylinder is connected with the lower end of the wedge-shaped positioning shaft; wherein when a certain station locating piece rotates to the top of location sliding sleeve along with frock mounting substrate, drive actuating cylinder drive wedge location axial and upwards stretch out, wedge location portion inserts in the wedge constant head tank so that the accurate location of frock mounting substrate.

In a preferred embodiment, the power input mechanism comprises a motor bracket, a driving motor and a driving wheel; the upper end of the motor support is arranged on the lower plane of the mounting plate and is positioned on one side of the rotary output shaft, and a rotary space is arranged in the motor support; the driving motor is arranged at the lower end of the motor support, a motor shaft of the driving motor extends into the rotating space, and a central axis of the motor shaft is arranged in parallel with a central axis of the rotating output shaft; the driving wheel is sleeved on the motor shaft and is positioned in the rotating space, and the driving wheel is used for driving the driven wheel to rotate.

In a preferred embodiment, the station rotating mechanism with the combination of motor drive and wedge positioning further comprises a servo control mechanism, the servo control mechanism comprises a plurality of sensor groups arranged below the driven wheel, the included angle between the sensor groups and the central axis line of the rotating output shaft corresponds to the included angle between the station positioning blocks and the central axis line of the rotating output shaft, and the distance between the sensor groups and the central axis line of the rotating output shaft is matched with the distance between the elastic rotating drive mechanism and the central axis line of the rotating output shaft.

In a preferred embodiment, a plurality of sensor groups are electrically connected with the power input mechanism, and each sensor group comprises a deceleration sensor, a rotation in-position sensor and an overtravel protection sensor; when the elastic rotary driving mechanism triggers the speed reduction sensor, the power input mechanism reduces the driving speed of the driven wheel; when the elastic rotary driving mechanism triggers the rotary in-place sensor, the power input mechanism stops driving the driven wheel; when the elastic rotation driving mechanism triggers the rotation in-place sensor, the power input mechanism does not stop driving the driven wheel, and the driven wheel continues to rotate to enable the elastic rotation driving mechanism to trigger the over-travel protection sensor, the power input mechanism stops driving the driven wheel.

In a preferred embodiment, the motor-driven station slewing mechanism incorporating wedge positioning further comprises: a positioning stop block and a positioning adjusting stud; the positioning stop block is arranged on the upper plane of the mounting plate and positioned outside the positioning sliding sleeve; the positioning adjusting stud is arranged on a stud hole of the station positioning block; when a certain station positioning block rotates to the position above the positioning sliding sleeve along with the tool mounting base plate, the positioning adjusting stud is just abutted against the positioning stop block.

In a preferred embodiment, the positioning adjustment stud is capable of being position adjusted within the stud bore by threading.

In a preferred embodiment, the driving wheel and the driven wheel are gears, pulleys or sprockets.

In a preferred embodiment, the station slewing mechanism with the motor drive combined with the wedge positioning further comprises a bearing mounting sleeve and a radial support bearing; the bearing mounting sleeve is arranged on the lower plane of the mounting plate; the radial support bearing is arranged in the bearing mounting sleeve, and the rotary output shaft penetrates through the radial support bearing and the bearing mounting sleeve.

Compared with the prior art, the station slewing mechanism combining motor drive and wedge positioning has the following beneficial effects: because of the adoption of the mechanical wedge-shaped positioning mechanism, the positioning precision is high, the precision repeatability is good, the overall precision is equivalent to that of a cam dividing mechanism, the positioning precision of the direct-connected type motor is superior to that of a structure that the motor is directly connected with a rotary output shaft, the direct-connected type positioning precision of the motor is determined by the stop position of the motor, factors (such as the reaction time of a control system, the load inertia, the precision of a sensor, the mechanical transmission clearance and the like) influencing the positioning precision are. Under the same output torque condition, the radial dimension is equivalent to the direct connection mode of the motor and is smaller than the cam dividing mechanism, so that the tool is convenient to arrange in the axial direction, the rotating diameter of the rotating disc can be reduced, and the space is saved. The mechanism is directly connected with the cam cutting mechanism and the motor relatively, a rotating overload protection sensor is additionally arranged, when the rotating output shaft at any position in the whole rotating process is blocked (for example, the rotating output shaft is not reset in cooperation with a rotating disc, foreign matters enter the rotating output shaft, and the like), the driven toothed wheel and the fixed swing rod can generate relative corner displacement larger than that in normal operation, one end of the corresponding groove-shaped induction block can trigger the rotating overload protection sensor, so that the mechanism can be stopped to alarm in time, and equipment and personnel are protected to the maximum extent. Compared with a motor direct-connection mechanism, due to the fact that elastic driving is adopted, rigid impact is avoided at the stop position under the dual cooperation of the rotation overload protection sensor and the motor over-travel protection sensor, the whole set of driving mechanism is well protected, and irreversible damage to equipment is avoided. Compared with a linear cylinder gear rack mechanism or a swinging rotary cylinder, under the condition of maximum load, the rotary angular speed is not influenced by other external factors (air source pressure, lubricating state, tray load and the like), and the starting and running rotating speeds can be accurately controlled. The running speed rate is slightly lower than that of the cam dividing mechanism, but is obviously higher than that of a motor direct-connection mechanism and pneumatic drive.

Drawings

FIG. 1 is a schematic front view of a station swing mechanism according to an embodiment of the present disclosure;

FIG. 2 is a schematic cross-sectional view taken at A-A of FIG. 1;

FIG. 3 is a schematic cross-sectional view taken at B-B of FIG. 1;

FIG. 4 is a schematic cross-sectional view taken at C-C of FIG. 1;

FIG. 5 is a perspective view of a workstation rotation mechanism according to one embodiment of the present disclosure;

FIG. 6 is a perspective view of another perspective of a station rotation mechanism according to one embodiment of the present disclosure;

FIG. 7 is a perspective view of a further perspective of a station rotation mechanism according to an embodiment of the present disclosure;

FIG. 8 is an enlarged partial view at I of FIG. 7;

FIG. 9 is an enlarged partial schematic view at II of FIG. 7;

FIG. 10 is a rear view schematic of a station swing mechanism according to an embodiment of the present invention;

FIG. 11 is a schematic partial right view of a workstation rotate mechanism according to an embodiment of the present disclosure;

FIG. 12 is a schematic top view of a portion of a station rotation mechanism according to an embodiment of the present disclosure;

FIG. 13 is a schematic cross-sectional view taken at D-D of FIG. 11;

FIG. 14 is a partial perspective view of yet another perspective of a station rotation mechanism according to one embodiment of the present disclosure;

fig. 15 is a partial perspective view of a perspective view of an elastic swiveling drive mechanism according to an embodiment of the present invention.

Description of the main reference numerals:

1-a frame, 2-a mounting plate, 3-a rotary output shaft, 4-a driven wheel, 5-a positioning stop block, 6-a bidirectional supporting bearing, 7-a radial supporting bearing, 8-a driving wheel, 9-a driving motor, 10-a driven swing rod, 11-a forcing spring, 12-an elastic driving column, 13-a driving column bracket, 1301-a mushroom head, 14-a station positioning block, 141-a positioning adjusting stud, 142-a wedge-shaped positioning groove, 15-a positioning sliding sleeve, 16-a wedge-shaped positioning shaft, 161-a wedge-shaped positioning part, 162-an anti-rotation plane, 17-a driving air cylinder, 18-a bearing mounting sleeve, 19-an anti-rotation block, 20-a tool mounting base plate, 21-a rotary overload protection sensor, 2101-an overload protection bracket, 22-a groove-shaped induction block, 2201-an overload induction groove, 23-a deceleration sensor, 24-a rotation in-place sensor, 25-an over travel protection sensor, 26-a sensor mounting frame, 27-a motor support, 28-a rolling bearing and 29-a sensor support assembly.

Detailed Description

The following detailed description of the present invention is provided in conjunction with the accompanying drawings, but it should be understood that the scope of the present invention is not limited to the specific embodiments.

Throughout the specification and claims, unless explicitly stated otherwise, the word "comprise", or variations such as "comprises" or "comprising", will be understood to imply the inclusion of a stated element or component but not the exclusion of any other element or component.

Referring to fig. 1 to 7, a two-position rotating mechanism with 180 ° apart is exemplified as a motor-driven and wedge-shaped positioning combined station rotating mechanism according to a preferred embodiment of the present invention, but the present invention is not limited thereto. The station swing mechanism mainly comprises a supporting mechanism, a swing output mechanism, an elastic swing driving mechanism, a wedge-shaped positioning mechanism, a power input mechanism and the like. The supporting mechanism comprises a rack 1 and a mounting plate 2, wherein the mounting plate 2 is arranged at the top of the rack 1. The rotary output mechanism is arranged on the mounting plate 2 and comprises a rotary output shaft 3 and a driven wheel 4. The rotary output shaft 3 is vertically arranged on the mounting plate 2 through the bidirectional supporting bearing 6 and the mounting plate 2, and a part of the rotary output shaft 3 extends out of the mounting plate 2 to be used for mounting a tool mounting substrate 20. The driven wheel 4 is pivotally connected to the lower end of the rotary output shaft 3 via a rolling bearing 28. The elastic rotation driving mechanism is arranged on the lower end faces of the driven wheel 4 and the rotation output shaft 3, and the driven wheel 4 drives the rotation output shaft 3 to rotate through the elastic rotation driving mechanism. The wedge-shaped positioning mechanism is arranged on the mounting plate 2 and the tool mounting substrate 20 and used for carrying out station positioning on the tool mounting substrate 20. The power input mechanism is arranged on the mounting plate 2 and used for driving the driven wheel 4 to rotate.

Referring to fig. 1 to 7, in some embodiments, the elastic rotation driving mechanism includes a passive swing link 10, a driving post bracket 13, two elastic driving posts 12 and two biasing springs 11. The driven swing link 10 is rigidly fixed on the lower end face of the rotary output shaft 3 and extends outwards beyond the excircle of the rotary output shaft 3 along the radial central line of the rotary output shaft 3. The driving column support 13 is fixedly arranged on the lower end face of the driven wheel 4, cylindrical holes are formed in two ends of the driving column support 13, and the central axis of each cylindrical hole is perpendicular to the radial central line of the driven wheel 4. Two elastic drive posts 12 wear to establish respectively in the cylinder hole at drive post support 13 both ends, and two elastic drive posts 12 homoenergetic slide in the cylinder hole, and the one end of every elastic drive post 12 is provided with mushroom head 1301, and the mushroom head 1301 of two elastic drive posts 12 sets up relatively, and the diameter of mushroom head 1301 is greater than the diameter of elastic drive post 12. Two force application springs 11 are respectively arranged on the two elastic driving columns 12 in a penetrating mode and are located between the mushroom head 1301 and the cylindrical hole. The outward extending part of the passive swing rod 10 is clamped between two mushroom heads 1301, and the two mushroom heads 1301 are propped against two sides of the outward extending part of the passive swing rod 10 by means of the tension of two force application springs 11. When the driving column bracket 13 and the two elastic driving columns 12 rotate together with the driven wheel 4, the mushroom heads 1301 of the two elastic driving columns 12 clamp the driven swing rod 10 to rotate together by virtue of the tension of the forcing spring 11, and meanwhile, the driven swing rod 10 drives the rotating output shaft 3 to rotate. And then the tool mounting substrate 20 fixed on the upper end of the rotary output shaft 3 through the connecting flange rotates together. The elastic rotation driving mechanism rotates clockwise 180 degrees, the tool mounting substrate 20 rotates from the first station to the second station, and the opposite elastic rotation driving mechanism rotates anticlockwise 180 degrees, and the tool mounting substrate 20 rotates from the second station to the first station.

As shown in fig. 10 to 14 and also referring to fig. 1 to 7, in some embodiments, the wedge positioning mechanism mainly includes two station positioning blocks 14, a positioning sliding sleeve 15, a wedge positioning shaft 16, a driving cylinder 17, and the like. Two station positioning blocks 14 are disposed at two station points (such as, but not limited to, a first station and a second station) of the lower plane of the tool mounting substrate 20, each station positioning block 14 includes a wedge-shaped positioning slot 142 thereon, and the wedge-shaped positioning slot 142 is installed and disposed in the form of a mounting plate 2 with a large opening facing downward. The positioning sliding sleeve 15 is arranged on the mounting plate 2 and located on one side of the rotary output shaft 3, and the distance between the central axis of the positioning sliding sleeve 15 and the central axis of the rotary output shaft 3 is matched with the distance between the wedge-shaped positioning grooves 142 of the two station positioning blocks 14 and the central axis of the rotary output shaft 3. The wedge-shaped positioning shaft 16 penetrates through the positioning sliding sleeve 15, the wedge-shaped positioning shaft 16 can slide in the positioning sliding sleeve 15 along the axis of the wedge-shaped positioning shaft, the upper end portion of the wedge-shaped positioning shaft 16 is provided with a wedge-shaped positioning portion 161, and the shape of the wedge-shaped positioning portion 161 is matched with that of the wedge-shaped positioning groove 142. The driving air cylinder 17 is arranged at the lower end of the positioning sliding sleeve 15, and a piston rod of the driving air cylinder 17 is connected with the lower end of the wedge-shaped positioning shaft 16. When the station positioning block 14 of the first station rotates to the upper side of the positioning sliding sleeve 15 along with the tool mounting substrate 20, the driving cylinder 17 drives the wedge-shaped positioning shaft 16 to extend upwards, and the wedge-shaped positioning portion 161 is inserted into the wedge-shaped positioning groove 142 to accurately position the tool mounting substrate 20. When a slight deviation (the deviation is smaller than the difference between the width of the small end of the wedge-shaped positioning portion 161 and the width of the large opening of the wedge-shaped positioning groove 142) occurs in the rotation of the tool mounting substrate 20, after the wedge-shaped positioning shaft 16 is inserted into the wedge-shaped positioning groove 142, the wedge-shaped positioning shaft 16 can abut against the wedge-shaped positioning groove 142 to make the tool mounting substrate 20 slightly rotate in a correcting manner, so that the slight deviation is corrected. When the tool mounting substrate 20 performs the minor correction rotation, the rotary output shaft 3 and the passive swing link 10 are simultaneously driven to perform the same minor correction rotation. But at the moment, the driven wheel 4 stops rotating, and the driven swing rod 10 presses the elastic driving column 12 on one side against the tension of the one-side forcing spring 11 to slightly slide. That is, the passive rocker 10 is not located at the center of symmetry of the two resilient drive columns 12 at this time.

Referring to fig. 13, in some embodiments, the anti-rotation plane 162 is disposed on the wedge-shaped positioning shaft 16, the anti-rotation block 19 is disposed on the positioning sliding sleeve, the anti-rotation block 19 is in sliding contact with the anti-rotation plane 162, and the arrangement of the anti-rotation block 19 and the anti-rotation plane 162 can limit the wedge-shaped positioning shaft 16 to rotate along the axis line in the positioning sliding sleeve, so as to ensure that the wedge-shaped positioning portion 161 of the wedge-shaped positioning shaft 16 can be accurately positioned by matching with the wedge-shaped positioning groove 142 of the station positioning block.

As shown in fig. 9 and referring to fig. 1 to 7, in some embodiments, the power input mechanism mainly includes a motor bracket 27, a driving motor 9, a driving wheel 8, and the like. The upper end of the motor bracket 27 is arranged on the lower plane of the mounting plate 2 and is positioned at one side of the rotary output shaft 3, and a rotary space is arranged in the motor bracket 27. The driving motor 9 is arranged at the lower end of the motor bracket 27, a motor shaft of the driving motor 9 extends into the rotation space, and a central axis of the motor shaft is arranged in parallel with a central axis of the rotation output shaft 3. The driving wheel 8 is sleeved on the motor shaft and is positioned in the rotating space, and the driving wheel 8 is used for driving the driven wheel 4 to rotate.

In some embodiments, the driving wheel 8 and the driven wheel 4 can be driven by gears, pulleys or sprockets, but preferably by gears, in this embodiment, driven gears and driving gears are used. When the chain wheel or the belt wheel is adopted, a chain or a belt, a toothed belt and the like are also wrapped.

Referring to fig. 1 to 7, in some embodiments, the station revolving mechanism combining the motor drive with the wedge positioning further includes a servo control mechanism, the servo control mechanism includes two sensor sets disposed below the driven wheel 4, an included angle between the two sensor sets and a central axis line of the revolving output shaft 3 corresponds to an included angle between the two station positioning blocks 14 and a central axis line of the revolving output shaft 3 (the included angle in this embodiment is 180 °), and a distance from the two sensor sets to the central axis line of the revolving output shaft 3 matches a distance from the elastic revolving driving mechanism to the central axis line of the revolving output shaft 3.

In some embodiments, a plurality of sensor sets are electrically connected to the power input mechanism, each sensor set including a deceleration sensor 23, a swing-to-position sensor 24, and an over-travel protection sensor 25. When the elastic rotation driving mechanism rotates from one station to another station, the deceleration sensor 23 is triggered firstly, and after the deceleration sensor 23 is triggered, the power input mechanism slows down the driving speed of the driven wheel 4, so that the phenomenon that the impact is too large and the larger deviation is not easy to correct is avoided. When the elastic rotation driving mechanism performs deceleration rotation, the rotation in-place sensor 24 is triggered, and after the rotation in-place sensor 24 is started, the power input mechanism stops driving the driven wheel 4 theoretically, and then the wedge-shaped positioning mechanism is started to perform positioning. However, if the rotation-in-position sensor 24 fails, so that the power input mechanism does not stop driving the driven wheel 4 to rotate continuously, the elastic rotation driving mechanism triggers the over-travel protection sensor 25, and after the over-travel protection sensor 25 is triggered, the power input mechanism stops driving the driven wheel 4, so that the dual-protection effect is achieved. The positions of the over travel protection sensor 25 and the rotation-to-position sensor 24 should be theoretically controlled such that the rotation deviation of the elastic rotation driving mechanism is smaller than the difference between the small end width of the wedge positioning portion 161 and the large opening width of the wedge positioning groove 142.

As shown in fig. 8 and 15, in some embodiments, the servo control mechanism further comprises a rotational overload protection sensor 21 which is fixed to the drive column bracket 13 by an overload protection bracket 2101, and the position of the rotational overload protection sensor 21 is above the end of the passive swing link 10. A groove-shaped induction block 22 is fixedly arranged at the end part of the driven swing rod 10, an overload induction groove 2201 is arranged on the groove-shaped induction block 22, a trigger part of the rotary overload protection sensor 21 can only move within the range of the overload induction groove 2201, the rotary overload protection sensor 21 is triggered when the trigger part exceeds the range of the overload induction groove 2201, and after the rotary overload protection sensor 21 is triggered, the power input mechanism can theoretically stop driving the driven wheel 4 immediately. The function of the rotation overload protection sensor 21 is that, in the process of the elastic rotation driving mechanism rotating from the first station to the second station (within the range of 0 to 180 °), if the rotation output shaft 3 or the tool mounting substrate 20 is stuck and cannot rotate continuously (for example, the bidirectional support bearing 6 or the radial support bearing 7 is damaged and stuck) occurs at any point, if the power input mechanism continues to drive the driven wheel 4, the passive swing rod 10 will be damaged, or the elastic driving column 12 and the driving column support 13 will be damaged and the forcing spring 11 will fail, and further, the possibility of damaging the transmission mechanisms such as the driving wheel 8 and the driven wheel 4 can be caused. This does not happen when the rotational overload protection sensor 21 moves within the range of the overload sensing groove 2201, but it is possible to do so once it is out of the range of the overload sensing groove 2201. Therefore, the rotation overload protection sensor 21 is triggered when it exceeds the range of the overload sensing slot 2201, and once the rotation overload protection sensor 21 is triggered, the power input mechanism will immediately stop driving the driven wheel 4 to ensure that the above situation does not happen. In other words, the rotational overload protection sensor 21 is overload protection in the range of 0 to 180 °, while the deceleration sensor 23, the swing-to-position sensor 24 and the overtravel protection sensor 25 are only control and protection in the range of 175 ° to 180 °, for example (exemplary values, the present invention is not limited thereto).

Referring to fig. 1-7 and 10-14, in some embodiments, the motor-driven wedge-positioning-integrated station revolving mechanism further includes: a positioning stop 5 and a positioning adjusting stud 151. The locating stop block 5 is arranged on the upper plane of the mounting plate 2 and located on the outer side of the locating sliding sleeve 15, and the locating stop block 5 of the embodiment is of an inverted T-shaped structure. The positioning adjusting stud 151 is arranged on a stud hole of the station positioning block 14. When a certain station positioning block 14 rotates to the upper part of the positioning sliding sleeve 15 along with the tool mounting base plate 20, the positioning adjusting stud 151 is just abutted against the positioning stop block 5. However, the positioning stop 5 can only be used for clockwise or counterclockwise one-way upward positioning, and the two-way positioning of the tool mounting substrate 20 can be ensured only by matching with a wedge-shaped positioning mechanism. In some embodiments, the positioning adjustment stud 151 is capable of being threaded for position adjustment within a stud bore.

In some embodiments, the motor-driven work position swing mechanism incorporating wedge positioning further comprises a bearing mounting sleeve 18 and a radial support bearing 7. The bearing mounting sleeve 18 is disposed on the lower plane of the mounting plate 2. The radial support bearing 7 is arranged in the bearing mounting sleeve 18, and the rotary output shaft 3 penetrates through the radial support bearing 7 and the bearing mounting sleeve 18. The bidirectional support bearing 6 and the radial support bearing 7 can ensure the stability of the rotary output shaft 3 and the accuracy of axial positioning.

In some embodiments, two or more station positioning blocks 14 are illustrated in the embodiment, and the plurality of station positioning blocks 14 represent not only two rotating stations. However, if the positioning block 14 is a single station, the rotation control of a plurality of stations can be realized by matching with a plurality of driving cylinders 17 (assemblies). The driving cylinder 17 of the present embodiment is disposed perpendicular to the mounting plate 2, or may be disposed parallel to the mounting plate 2, and how to dispose is determined by the space under the mounting plate 2, which is not limited by the present invention.

In conclusion, the station slewing mechanism combining motor drive and wedge positioning has the following advantages: because of the adoption of the mechanical wedge-shaped positioning mechanism, the positioning precision is high, the precision repeatability is good, the overall precision is equivalent to that of a cam dividing mechanism, the positioning precision of the direct-connected type motor is superior to that of a structure that the motor is directly connected with a rotary output shaft, the direct-connected type positioning precision of the motor is determined by the stop position of the motor, factors (such as the reaction time of a control system, the load inertia, the precision of a sensor, the mechanical transmission clearance and the like) influencing the positioning precision are. Under the same output torque condition, the radial dimension is equivalent to the direct connection mode of the motor and is smaller than the cam dividing mechanism, so that the tool is convenient to arrange in the axial direction, the rotating diameter of the rotating disc can be reduced, and the space is saved. The mechanism is directly connected with the cam cutting mechanism and the motor relatively, a rotating overload protection sensor is additionally arranged, when the rotating output shaft at any position in the whole rotating process is blocked (for example, the rotating output shaft is not reset in cooperation with a rotating disc, foreign matters enter the rotating output shaft, and the like), the driven toothed wheel and the fixed swing rod can generate relative corner displacement larger than that in normal operation, one end of the corresponding groove-shaped induction block can trigger the rotating overload protection sensor, so that the mechanism can be stopped to alarm in time, and equipment and personnel are protected to the maximum extent. Compared with a motor direct-connection mechanism, due to the fact that elastic driving is adopted, rigid impact is avoided at the stop position under the dual cooperation of the rotation overload protection sensor and the motor over-travel protection sensor, the whole set of driving mechanism is well protected, and irreversible damage to equipment is avoided. Compared with a linear cylinder gear rack mechanism or a swinging rotary cylinder, under the condition of maximum load, the rotary angular speed is not influenced by other external factors (air source pressure, lubricating state, tray load and the like), and the starting and running rotating speeds can be accurately controlled. The running speed rate is slightly lower than that of the cam dividing mechanism, but is obviously higher than that of a motor direct-connection mechanism and pneumatic drive.

The foregoing descriptions of specific exemplary embodiments of the present invention have been presented for purposes of illustration and description. It is not intended to limit the invention to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain certain principles of the invention and its practical application to enable one skilled in the art to make and use various exemplary embodiments of the invention and various alternatives and modifications as are suited to the particular use contemplated. It is intended that the scope of the invention be defined by the claims and their equivalents.