Full servo multi-axis drive pallet changer

Abstract

The present invention provides a fully servo multi-axis driven pallet changer mechanism, which includes a lifting motion mechanism before pallet changing and a rotating motion mechanism during pallet changing. The lifting motion mechanism includes a servo motor, a lifting driving pulley, a tensioning sleeve, a synchronous belt, a driven pulley, a lead screw pulley adapter sleeve, a double-row angular contact ball bearing, a changer mechanism base, a main bearing flange, a main bearing inner ring pressing ring, a pallet lifting lead screw, and a lead screw guide plate. The rotating motion mechanism includes a speed reducer and a transmission gear set.

Description

Technical Field

[0001] The present invention relates to the technical field of switching mechanisms, and particularly to a fully servo multi-axis driven pallet switching mechanism. Background Art

[0002] For the pallet switching mechanism of a common horizontal machining center, a hydraulic cylinder is generally used to complete the lifting of the pallet, and an oil cylinder and a rack mechanism are used to complete the rotary motion. During the lifting and rotary processes, such a structure will generate relatively large impacts and vibrations, causing the pallet to shake on the switching mechanism. Such a structure is not conducive to the accurate positioning of the pallet and the workbench, and the service lives of the pallet and the switching mechanism are also affected to a great extent. Summary of the Invention

[0003] To comprehensively solve the above problems, especially the deficiencies existing in the prior art, the present invention provides a fully servo multi-axis driven pallet switching mechanism.

[0004] To achieve the above object, the present invention adopts the following technical means:

[0005] The fully servo multi-axis driven pallet switching mechanism includes a lifting motion mechanism before pallet switching and a rotary motion mechanism during pallet switching;

[0006] The lifting motion mechanism includes a servo motor, a lifting driving pulley, a shrink disc, a synchronous belt, a driven pulley, a lead screw pulley adapter sleeve, a double-row angular contact ball bearing, a switching mechanism base, a main bearing flange, a main bearing inner ring pressing ring, a pallet lifting lead screw, and a lead screw guide plate. The servo motor and the lifting driving pulley are fixed by the shrink disc. The synchronous belt transmits power to the lifting driven pulley. The driven pulley is fixed to the lead screw pulley adapter sleeve. The outer ring of the lead screw pulley adapter sleeve is fitted with the inner ring of the double-row angular contact ball bearing, and the outer ring of the bearing is fixed on the switching mechanism base. The outer ring and the inner ring of the bearing are fixed by the main bearing flange and the main bearing inner ring pressing ring. The outer ring of the pallet lifting lead screw nut is fitted and fixed with the inner ring of the lead screw pulley adapter sleeve. The lead screw guide plate is fixed to the upper part of the lead screw to prevent the possible self-rotation of the lead screw shaft;

[0007] The rotary motion mechanism includes a speed reducer and a transmission gear set. The speed reducer is connected to a servo motor. The output end of the speed reducer is connected to a speed reducer transmission gear and axially fixed by a gear shaft anti-loosening cover. The distal end of the speed reducer transmission gear is radially supported by a deep groove ball bearing;

[0008] The transmission gear set consists of a motor-side driven gear, a rotary driving gear core shaft, a rotary driving gear, two sets of tapered roller bearings, and a rotary driving gear seat. The transmission gear set is installed on the switching mechanism base. The speed reducer transmission gear and the transmission gear set transmit the rotary motion to the upper rotary driving gear.

[0009] Further, the top end of the tray lifting lead screw is fitted with a needle-roller thrust cylindrical roller bearing. The inner ring of the bearing is locked with a lock nut, and the outer ring of the bearing is connected. The flange of the outer ring of the bearing is provided with a lifting mechanism flange plate fixedly connected thereto. The lifting mechanism flange plate is externally connected to a fork lifting support and a tray fork.

[0010] Further, a lifting mechanism guide post is sleeved at the lower end of the lifting mechanism flange plate. The lifting mechanism flange plate rotates relative to the lifting mechanism guide post through a self-lubricating metal composite bearing as a medium.

[0011] Further, a guide sleeve fixedly connected thereto is provided on the fork lifting support. A self-lubricating metal composite bearing is embedded inside the guide sleeve. A rotary table guide post is provided at the upper end of the guide sleeve. The two groups of rotary table guide posts and the guide sleeve cooperate with the self-lubricating metal composite bearing to achieve the support of the lifting movement.

[0012] Further, a connecting rod is installed in the middle of the center of the base of the exchange mechanism. The connecting rod is arranged at the top end of the rotary table guide post. A top floating centering plate and a top floating centering seat are provided at the upper end of the connecting rod. The top floating centering plate rotates relative to the rotary table guide post through a self-lubricating metal composite bearing during the tray exchange process and moves up and down.

[0013] Further, a gear bearing is also provided on the base of the exchange mechanism. The inner ring of the gear bearing is fixed on the base of the exchange mechanism. The outer ring of the gear bearing is fixedly connected with a guide post mounting plate. The rotating driving gear transmits the rotational movement to the outer ring of the gear bearing and drives the guide post mounting plate to rotate.

[0014] The beneficial effects of the present invention: Based on the problems existing in the ordinary hydraulic drive type tray exchange mechanism, through transmission mechanisms such as ball screws, synchronous belts, and speed reducers, in cooperation with a servo motor, and combining its advantages, the servo parameters such as acceleration and deceleration of various movements during the tray exchange process are optimized, so as to achieve smoother and more efficient movement of the exchange mechanism during the exchange process. At the same time, the positioning accuracy between the tray and the workbench is improved, the wear of the positioning cone due to abnormal contact is reduced, the tray exchange speed is also increased, and the service life of the tray and the positioning cone of the workbench is greatly extended. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is the structural schematic diagram of the present invention Figure 1 .

[0016] Figure 2 is the present invention Figure 1 A cross-sectional view at position A.

[0017] Figure 3 is the structural schematic diagram of the present invention Figure 2 .

[0018] Figure 4 is the present invention Figure 3 A cross-sectional view at position B.

[0019] Figure 5 is the structural schematic diagram of the present invention Figure 3 .

[0020] Figure 6 is the present invention Figure 5 cross-sectional view. Detailed implementation manners

[0021] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0022] As Figures 1 to 6 shown, the present invention provides a fully servo multi-axis drive pallet changer mechanism, which belongs to the functional components of a machine tool. The changer mechanism system consists of two major transmission mechanisms, namely the lifting motion mechanism before pallet changing and the rotational motion mechanism during pallet changing.

[0023] The lifting motion mechanism is responsible for the lifting motion before pallet changing to disengage the male and female positioning cones between the pallet and the workbench. Its structure mainly consists of a ball screw, a synchronous pulley, and a servo motor. The servo motor 1 and the lifting driving pulley 2 are fixed by a shrink disc 3, and the power is transmitted to the lifting driven pulley 5 through a synchronous belt 4. The driven pulley 5 is fixed to the screw pulley adapter sleeve 6. The outer ring of the screw pulley adapter sleeve 6 is fitted with the inner ring of a double-row angular contact ball bearing 7, and the outer ring of the bearing is fixed to the changer mechanism base 8. The outer and inner rings of the bearing are fixed by a main bearing flange 9 and a main bearing inner ring retaining ring 10. The outer ring of the nut of the pallet lifting screw 11 is fitted and fixed with the inner ring of the screw pulley adapter sleeve 6. The screw guide plate 12 is fixed to the upper part of the screw to prevent the possible self-rotation of the screw shaft. At this time, when the servo motor 1 rotates, the screw nut can be rotated by means of the synchronous belt to push the screw shaft to perform a linear up-and-down motion (the screw shaft itself does not rotate). The top of the pallet lifting screw 11 is fitted with a needle-roller thrust cylindrical roller bearing 13. The inner ring of the bearing is locked with a lock nut, and the outer ring of the bearing is connected. The outer ring flange of the bearing is fixed to the lifting mechanism flange plate 14, and the lifting mechanism flange plate 14 is fixed to the fork lifting support 15 and the pallet fork 16. The screw is only responsible for the up-and-down motion, and the weights and eccentric loads of the pallet, workpiece, etc. during the actual operation are supported by two sets of rotary table guide columns 17 and guide sleeves 18 in cooperation with self-lubricating metal composite bearings 19 to achieve the lifting motion. The self-lubricating metal composite bearing 19 is embedded inside the guide sleeve 18, and then the whole is fixed to the fork lifting support 15. At this time, the lifting motion mechanism can rely on the rotation of the servo motor to drive the rotation of the screw nut, generate the up-and-down motion of the screw shaft, and push the lifting of the pallet fork by means of the guide columns on both sides.

[0024] The rotary motion mechanism is responsible for exchanging the pallets in the processing area and the non-processing area through rotation. Its structure mainly consists of gears, a speed reducer, and a servo motor. The servo motor 1 is connected to the speed reducer 20, and the output end of the speed reducer is connected to the transmission gear 21 of the speed reducer. The axial fixation is carried out by the gear shaft anti-disengagement cover 22, and the distal end of the transmission gear 21 of the speed reducer is radially supported by the deep groove ball bearing 23. The transmission gear set consists of the driven gear 24 on the motor side, the rotary driving gear core shaft 25, the rotary driving gear 26, two sets of tapered roller bearings 27, and the rotary driving gear seat 28. The whole set of transmission gear sets is installed on the exchange mechanism base 8, and the rotary motion is transmitted to the upper rotary driving gear 26 through the transmission gear 21 of the speed reducer and the transmission gear set. The inner ring of the gear bearing 29 is fixed on the exchange mechanism base 8, and its outer ring is fixed on the guide post mounting plate 30. The rotary driving gear 26 at 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. The two sets of rotary table guide posts 17 installed on the guide post mounting plate 30 drive the guide sleeve 18, the fork lifting support 15, and the pallet fork 16 to rotate radially. The lifting mechanism guide post 31 and the lifting mechanism flange 14 are used as the central support shafts of the rotary motion at this time. The two parts rotate relative to each other, and the self-lubricating metal composite bearing 32 is used as the medium to improve the rotary accuracy and reduce wear at the same time.

[0025] Considering the need to place workpieces with a relatively high center of gravity on the pallet, a middle connecting rod 33 is installed in the center of the exchange mechanism and the rotary table guide post 17 installed at the top, which together with the top floating centering plate 34 and the top floating centering seat 35 with an arc surface design installed on the top of the machine tool form the upper auxiliary support points. The rotary table guide post 17 and the top floating centering plate 34 will generate relative rotary motion and vertical motion during the pallet exchange process. The self-lubricating metal composite bearing 19 is used as the medium to further improve the stability when exchanging the pallet.

[0026] The present invention is a fully servo multi-axis drive pallet exchange mechanism. Based on the problems existing in the ordinary hydraulic drive type pallet exchange mechanism, through transmission mechanisms such as ball screws, synchronous belts, and speed reducers, in cooperation with servo motors, and combining their advantages, the servo parameters such as acceleration and deceleration of various motions during the pallet exchange process are optimized, so as to achieve smoother and more efficient motion of the exchange mechanism during the exchange process. At the same time, the positioning accuracy between the pallet and the workbench is improved, the wear of abnormal contact of the positioning cone is reduced, the pallet exchange speed is also increased, and the service life of the pallet and the positioning cone of the workbench is greatly extended.

Claims

1. Full servo multi-axis drive pallet changer mechanism, Characterized in that, It includes a lifting mechanism before pallet exchange and a rotating mechanism during pallet exchange; The lifting mechanism includes a servo motor, a lifting driving pulley, a shrink disc, a synchronous belt, a driven pulley, a lead screw pulley adapter sleeve, a double-row angular contact ball bearing, a changer base, a main bearing flange, a main bearing inner ring retaining ring, a pallet lifting lead screw, and a lead screw guide plate. The servo motor and the lifting driving pulley are fixed by a shrink disc. The synchronous belt transmits power to the lifting driven pulley. The driven pulley is fixed to the lead screw pulley adapter sleeve. The outer ring of the lead screw pulley adapter sleeve is fitted with the inner ring of the double-row angular contact ball bearing. The outer ring of the bearing is fixed on the changer base. The outer ring and the inner ring of the bearing are fixed by the main bearing flange and the main bearing inner ring retaining ring. The outer ring of the pallet lifting lead screw nut is fitted and fixed with the inner ring of the lead screw pulley adapter sleeve. The lead screw guide plate is fixed on the upper part of the lead screw to prevent possible self-rotation of the lead screw shaft; The rotating mechanism includes a reducer and a transmission gear set. The reducer is connected to the servo motor. The output end of the reducer is connected to a reducer drive gear and axially fixed by a gear shaft retaining cap. The distal end of the reducer drive gear is radially supported by a deep groove ball bearing; The transmission gear set consists of a motor-side driven gear, a rotating driving gear core shaft, a rotating driving gear, two sets of tapered roller bearings, and a rotating driving gear seat. The transmission gear set is installed on the changer base. The reducer drive gear and the transmission gear set transmit the rotating motion to the upper rotating driving gear; The top end of the pallet lifting lead screw is fitted with a needle-roller thrust cylindrical roller bearing. The inner ring of the bearing is locked with a locking nut. The outer ring of the bearing is connected. The outer ring flange of the bearing is provided with a fixed-connected lifting mechanism flange plate. The lifting mechanism flange plate is externally connected to a fork lifting support and a pallet fork; The lower end of the lifting mechanism flange plate is sleeved with a lifting mechanism guide post. The lifting mechanism flange plate rotates relative to the lifting mechanism guide post through a self-lubricating metal composite bearing as a medium; The fork lifting support is provided with a fixed-connected guide sleeve. The guide sleeve is internally inlaid with a self-lubricating metal composite bearing. The upper end of the guide sleeve is provided with a turntable guide post. The two sets of turntable guide posts and the guide sleeve cooperate with the self-lubricating metal composite bearing to realize the support of the lifting motion.

2. The full servo multi-axis drive pallet changer mechanism according to claim 1, Characterized in that, A connecting rod is installed in the center of the middle part of the changer base. The connecting rod is arranged at the top end of the turntable guide post. The upper end of the connecting rod is provided with a top floating centering plate and a top floating centering seat. The top floating centering plate will generate relative rotational motion and vertical motion with the turntable guide post through a self-lubricating metal composite bearing during pallet exchange.

3. The full servo multi-axis drive pallet changer mechanism according to claim 1 or 2, Characterized in that, A gear bearing is also provided on the base of the switching mechanism. The inner ring of the gear bearing is fixed on the base of the switching mechanism, and the outer ring of the gear bearing is fixedly connected with a guide post mounting plate. The rotating driving gear transmits the rotational motion to the outer ring of the gear bearing and drives the guide post mounting plate to rotate.

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