A machine tool automation loading and unloading bidirectional forklift system and an automated production line

Abstract

The application discloses a machine tool automatic feeding and discharging bidirectional forklift system and an automatic production line, wherein the forklift system comprises an X-axis unit, a Z-axis unit and a Y-axis unit; the X-axis unit comprises a fixed platform, an X-axis sliding base and an X-axis sliding base driving device; the Z-axis unit comprises a door-shaped frame and a Z-direction driving device; the Y-axis unit comprises two groups of Y-direction material fork driving mechanisms; the Y-direction material fork driving mechanism comprises a Y-direction fixed seat, a sliding rail mounting seat, a first Y-direction sliding rail mechanism, a second Y-direction sliding rail mechanism, a first Y-direction driving device, a second Y-direction driving device and a material fork; the first Y-direction driving device and the second Y-direction driving device can drive the first and second Y-direction sliding rail mechanisms to move along the Y direction, and the material fork is mounted on the second Y-direction sliding rail mechanism. The forklift system disclosed by the application has the X-axis unit, the Y-axis unit and the Z-axis unit, can conveniently and quickly realize the installation of the machine tool and the taking down of workpieces, reduces the working strength of the operators and improves the machining efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of machine tool conveying systems, in particular to a machine tool automated feeding and discharging bidirectional forklift system and an automated production line. BACKGROUND

[0002] At present, in the field of traditional numerical control machining, large machining parts are transported to the machine tool workbench by crane, the transportation precision of the crane is low, the workbench is greatly impacted, manual operation is required, the safety risk is large, there are many safety hazards, and the work efficiency is low. SUMMARY

[0003] The present application proposes a machine tool automated feeding and discharging bidirectional forklift system.

[0004] The technical means adopted by the present application are as follows:

[0005] A machine tool automated feeding and discharging bidirectional forklift system, comprising an X-axis unit, a Z-axis unit and a Y-axis unit;

[0006] The X-axis unit comprises a fixed platform, an X-axis sliding seat arranged on the fixed platform and capable of moving horizontally along the X-axis direction, and an X-axis sliding seat driving device for driving the X-axis sliding seat to move horizontally;

[0007] The Z-axis unit comprises a door-shaped frame arranged on the X-axis sliding seat and a Z-direction driving device arranged on the door-shaped frame for driving the Y-axis unit to lift along the Z-axis direction;

[0008] The Y-axis unit comprises two groups of Y-direction fork driving mechanisms arranged oppositely in the door-shaped frame, the Y-direction fork driving mechanism comprising a Y-direction fixed seat, a sliding rail mounting seat, a first Y-direction sliding rail mechanism, a second Y-direction sliding rail mechanism, a first Y-direction driving device, a second Y-direction driving device and a fork;

[0009] The Y-direction fixed seat is mounted on the door-shaped frame and connected with the Z-direction driving device, and the Z-direction driving device can drive the Y-direction fixed seat to move up and down along the Z-axis direction;

[0010] The sliding rail mounting seat is fixedly mounted on the Y-direction fixed seat;

[0011] The first Y-direction sliding rail mechanism is mounted on the sliding rail mounting seat, and the first Y-direction driving device can drive the first Y-direction sliding rail mechanism to move horizontally along the Y-direction on the sliding rail mounting seat;

[0012] The second Y-direction sliding rail mechanism is installed on the first Y-direction sliding rail mechanism, and the second Y-direction driving device can drive the second Y-direction sliding rail mechanism to move horizontally along the Y direction on the first Y-direction sliding rail mechanism and move the second Y-direction sliding rail mechanism from one end of the first Y-direction sliding rail mechanism to the other end.

[0013] The forks are installed on the second Y-direction sliding rail mechanism.

[0014] Further, the first Y-direction driving device comprises a first gear set and a first rack;

[0015] The first gear set is installed on the sliding rail mounting seat, the first rack is fixed on the first Y-direction sliding rail mechanism, the first gear set is engaged with the first rack, and the input end of the first gear set is connected with a first servo motor.

[0016] Further, the first Y-direction driving device comprises a first gear set, a first rack and a connecting shaft;

[0017] The first gear set is installed on the sliding rail mounting seat, the first rack is fixed on the first Y-direction sliding rail mechanism, the first gear set is engaged with the first rack, and the input end of one of the first gear sets is connected with a first servo motor.

[0018] Further, the second Y-direction driving device comprises a second gear set, a second rack and a third rack;

[0019] The second rack is fixed on the sliding rail mounting seat, the second gear set is installed on the first Y-direction sliding rail mechanism, the third rack is fixed on the second Y-direction sliding rail mechanism, the second rack and the third rack are oppositely arranged and located on both sides of the second gear set, and the second rack and the third rack are engaged with the second gear set.

[0020] Further, the first Y-direction sliding rail mechanism comprises two first Y-direction sliding rail plates oppositely arranged and fixedly connected through a connecting column, and sliding grooves and rollers for relative sliding are arranged between the outer sides of the first Y-direction sliding rail plates and the sliding rail mounting seat and the second Y-direction sliding rail mechanism.

[0021] Further, the outer side of the first Y-direction sliding rail plate is further provided with a guide wheel.

[0022] Further, a second gear set mounting space for accommodating the second gear set is formed between the two first Y-direction sliding rail plates, and the second gear set is installed on the two first Y-direction sliding rail plates and located in the second gear set mounting space.

[0023] Further, the first gear set comprises a first driving gear and two first driven gears, the two first driven gears are symmetrically arranged on both sides of the first driving gear and are in mesh with the first driving gear; the first driven gear is in mesh with the first rack.

[0024] Further, the second gear set comprises a second driving gear, two second adjusting gears and two second driven gears; the two second adjusting gears are symmetrically arranged on both sides of the second driving gear and are in mesh with the second driving gear; the second driven gear is arranged outside the second adjusting gear and is in mesh with the second adjusting gear; the second driving gear is in mesh with the second rack, and the second driven gear is in mesh with the third rack.

[0025] Further, the X-axis sliding seat is installed on the fixed platform through a guide rail and a sliding block.

[0026] The X-axis sliding seat driving device comprises a third servo motor installed on the X-axis sliding seat, a third gear connected with the third servo motor and a fourth rack fixed on the fixed platform, and the third gear is in mesh with the fourth rack.

[0027] The Z-direction driving device comprises a fourth servo motor fixed on the door-shaped frame, a ball screw installed on the door-shaped frame and a nut installed on the Y-direction fixed seat and connected with the ball screw.

[0028] An automatic production line comprises at least one machine tool, at least one material warehouse, a rotary feeding table and the machine tool automatic feeding and discharging two-way forklift system disclosed in the present application.

[0029] The machine tool and the material warehouse are arranged side by side on both sides of the machine tool automatic feeding and discharging two-way forklift system, and one end of the machine tool automatic feeding and discharging two-way forklift system is provided with the rotary feeding table.

[0030] Compared with the prior art, the machine tool automatic feeding and discharging two-way forklift system disclosed in the present application has the following beneficial effects: since the machine tool automatic feeding and discharging two-way forklift system comprises an X-axis unit, a Y-axis unit and a Z-axis unit, the installation of the machine tool and the taking down of the workpiece can be conveniently and quickly realized, the working strength of the operator is reduced, and the processing efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 It is a structural diagram of the machine tool automatic feeding and discharging two-way forklift system disclosed in the present application.

[0032] Figure 2 It is a structural diagram of the Y-axis unit disclosed in the present application.

[0033] Figure 3 It isFigure 2 top view of the Y direction fork driving mechanism of the present application;

[0034] Figure 4 top view of the Y direction fork driving mechanism of the present application;

[0035] Figure 5 end view of the Y direction fork driving mechanism of the present application;

[0036] Figure 6 axial view of the Y axis unit of the present application;

[0037] Figure 7 Figure 4 sectional view at B-B in FIG. 8;

[0038] Figure 8 stroke schematic of the first Y direction slide rail mechanism of the present application;

[0039] Figure 9 Figure 4 sectional view at A-A in FIG. 9;

[0040] Figure 10 stroke schematic of the second Y direction slide rail mechanism of the present application;

[0041] Figure 11 stroke schematic of the first and second Y direction slide rail mechanisms of the Y axis unit of the present application when moving along the Y axis direction;

[0042] Figure 12 structure diagram of the automated production line of the present application.

[0043] ​​In the figure: 1, X-axis unit, 10, fixed platform, 11, X-axis slide, 12, X-axis slide driving device, 120, third servo motor, 121, third gear, 122, fourth rack, 13, guide rail, 14, sliding block, 2, Z-axis unit, 20, door type frame, 200, door type frame column, 201, crossbeam, 21, Z-direction driving device, 210, fourth servo motor, 211, ball screw, 212, nut, 3, Y-axis unit, 30, Y-direction fork driving mechanism, 31, Y-direction fixed seat, 32, slide rail mounting seat, 320, slide rail mounting seat bottom plate, 321, slide rail mounting seat side plate, 33, first Y-direction slide rail mechanism, 330, first Y-direction slide rail plate, 331, connecting column, 332, sliding groove, 333, roller, 334, guide wheel, 335, second gear set mounting space, 34, second Y-direction slide rail mechanism, 340, second Y-direction slide rail mechanism bottom plate, 341, second Y-direction slide rail mechanism side plate, 35, first Y-direction driving device, 350, first gear set, 351, first rack, 352, connecting shaft, 353, first driving gear, 354, first driven gear, 36, second Y-direction driving device, 360, second gear set, 361, second rack, 362, third rack, 363, second driving gear, 364, second adjusting gear, 365, second driven gear, 37, fork, 4, first servo motor, 50, machine tool, 51, warehouse. DETAILED DESCRIPTION

[0044] As Figure 1 , Figure 2 and Figure 3 the machine tool automation loading and unloading bidirectional forklift system disclosed by the application, comprising an X-axis unit 1, a Z-axis unit 2 and a Y-axis unit 3;

[0045] The X-axis unit 1 comprises a fixed platform 10, an X-axis slide 11 arranged on the fixed platform 10 and capable of moving horizontally along the X-axis direction, and an X-axis slide driving device 12 for driving the X-axis slide 11 to move horizontally;

[0046] The Z-axis unit 2 comprises a door type frame 20 arranged on the X-axis slide 11 and a Z-direction driving device 21 arranged on the door type frame 20 for driving the Y-axis unit 3 to ascend and descend along the Z-axis direction;

[0047] Specifically, the door type frame 20 comprises four oppositely arranged door type frame columns 200, the door type frame columns 200 are connected through a crossbeam 201, and a group of Z-direction driving devices 21 are arranged between two door type frame columns 200 located on the same side along the X direction;

[0048] The Y-axis unit 3 comprises two sets of Y-direction fork driving mechanisms 30 arranged oppositely in the door-shaped frame 20, the Y-direction fork driving mechanisms 30 comprising a Y-direction fixed seat 31, a slide rail mounting seat 32, a first Y-direction slide rail mechanism 33, a second Y-direction slide rail mechanism 34, a first Y-direction driving device 35, a second Y-direction driving device 36 and a fork;

[0049] The Y-direction fixed seat 31 is mounted on the door-shaped frame 20 and connected with the Z-direction driving device 21, the Z-direction driving device 21 being capable of driving the Y-direction fixed seat 31 to move up and down along the Z-axis direction;

[0050] The slide rail mounting seat 32 is fixedly mounted on the Y-direction fixed seat 31;

[0051] The first Y-direction slide rail mechanism 33 is mounted on the slide rail mounting seat 32, and the first Y-direction driving device 35 is capable of driving the first Y-direction slide rail mechanism 33 to move horizontally along the Y-direction on the slide rail mounting seat 32;

[0052] The second Y-direction slide rail mechanism 34 is mounted on the first Y-direction slide rail mechanism 33, the second Y-direction driving device 36 being capable of driving the second Y-direction slide rail mechanism 34 to move horizontally along the Y-direction on the first Y-direction slide rail mechanism 33 and moving the second Y-direction slide rail mechanism 34 from one end of the first Y-direction slide rail mechanism 33 to the other end;

[0053] The fork 37 is mounted on the second Y-direction slide rail mechanism 34.

[0054] As Figure 12As shown, the automatic production line with the machine tool automation loading and unloading bidirectional forklift system disclosed by the application comprises at least one machine tool 50, at least one warehouse 51, a rotary loading table and the machine tool automation loading and unloading bidirectional forklift system disclosed by the application; the machine tool and the warehouse are arranged side by side on both sides of the machine tool automation loading and unloading bidirectional forklift system, and one end of the machine tool automation loading and unloading bidirectional forklift system is provided with the rotary loading table. The machine tool automation loading and unloading bidirectional forklift system is arranged on the side of the machine tool provided with a protective door. Since the machine tool automation loading and unloading bidirectional forklift system is arranged, the operator can install the workpiece to be processed on the zero-point positioning sub-plate tooling at the rotary loading table away from the machine tool, the fork structure is driven to move to the rotary loading table by the X-axis unit, the Y-axis unit and the Z-axis unit, and then the zero-point positioning sub-plate tooling on which the workpiece is installed is driven to be installed on the zero-point positioning mother plate tooling on the corresponding machine tool, the zero-point positioning mother plate tooling and the zero-point positioning sub-plate tooling are connected and locked by the zero-point positioning system and the zero-point drawn nail. If there is no empty position on the machine tool, the machine tool automation loading and unloading bidirectional forklift system will place the zero-point positioning sub-plate tooling on which the workpiece is installed in the warehouse. Correspondingly, after the machine tool completes the processing of the workpiece, the machine tool automation loading and unloading bidirectional forklift system can take down the zero-point positioning sub-plate tooling on which the processed workpiece is installed from the machine tool and transport it to the rotary loading table, and the operator completes the disassembly of the workpiece.

[0055] Since the machine tool automation loading and unloading bidirectional forklift system is arranged, the X-axis unit, the Y-axis unit and the Z-axis unit of the machine tool automation loading and unloading bidirectional forklift system can conveniently and quickly realize the installation and taking down of the workpiece on the machine tool, reduce the working strength of the operator and improve the processing efficiency.

[0056] In one embodiment of the application, the first Y-direction driving device 35 comprises a first gear set 350 and a first rack 351; the first gear set 350 is installed on the slide rail mounting seat 32, the first rack 351 is fixed on the first Y-direction slide rail mechanism 33, the first gear set 350 is engaged with the first rack 351, and the input end of the first gear set 350 is connected with a first servo motor 4.

[0057] Specifically, as Figure 4 , Figure 5 , Figure 6 and Figure 7As shown, the slide rail mounting base 32 includes a slide rail mounting base base plate 320 and a slide rail mounting base side plate 321 relatively fixedly disposed on the slide rail mounting base base plate 320. The slide rail mounting base base plate 320 and the slide rail mounting base side plate 321 form a groove structure. A first gear set 350 is installed in a first gear set housing and is mounted on the lower part of the slide rail mounting base base plate 320 through the first gear set housing. A first Y-axis slide rail mechanism is installed in the slide rail mounting base. A first rack 351 is fixedly installed on the lower part of the first Y-axis slide rail mechanism. An opening slot is provided on the slide rail mounting base base plate 320. Some gears in the first gear set extend from the opening slot and mesh with the first rack. The input end of the first gear set is connected to a first servo motor. The forward and reverse rotation of the first servo motor can drive the first gear set to rotate forward and reverse, thereby driving the first Y-axis drive device to reciprocate along the Y direction through the first gear set and the first rack. In this embodiment, the first Y-axis drive device 35 requires a servo motor for driving.

[0058] In another embodiment disclosed in this invention, such as Figure 4 As shown, the first Y-axis drive device 35 includes a first gear set 350, a first rack 351, and a connecting shaft 352; the first gear set 350 is mounted on the slide rail mounting base 32, the first rack 351 is fixed on the first Y-axis slide rail mechanism 33, the first gear set 350 meshes with the first rack 351, and the two sets of first gear sets 350 are connected by the connecting shaft 352; the input end of one set of first gear sets 350 is connected to the first servo motor 4.

[0059] Specifically, the slide rail mounting seat 32 comprises a slide rail mounting seat bottom plate 320 and a slide rail mounting seat side plate 321 fixedly arranged opposite to the slide rail mounting seat bottom plate 320, the slide rail mounting seat bottom plate 320 and the slide rail mounting seat side plate 321 form a groove structure, a first gear set 350 is installed in a first gear set housing and is installed at the lower part of the slide rail mounting seat bottom plate 320 through the first gear set housing, a first Y-direction slide rail mechanism is installed in the slide rail mounting seat, in the embodiment, the first Y-direction slide rail mechanism 33 comprises two first Y-direction slide rail plates 330 arranged opposite to each other and fixedly connected through a connecting column 331, a first rack 351 is fixedly installed on the lower surface of one of the first Y-direction slide rail plates 330, an open slot is arranged on the slide rail mounting seat bottom plate 320, part of the gears in the first gear set protrude from the open slot and mesh with the first rack, one group of input ends of the first gear set is connected with a first servo motor, the input ends of the other group of the first gear set are connected with the first gear set of the first group through a connecting shaft, that is, the two groups of the first gear set are connected in series through the connecting shaft, the forward and reverse rotation of the first servo motor can drive the forward and reverse rotation of the first gear set, and then the first Y-direction driving device is driven to reciprocate along the Y direction through the first gear set and the first rack. In the embodiment, the first Y-direction driving device only needs one servo motor for driving, which is convenient for control and simplifies the structure and reduces the cost.

[0060] Further, as shown in Figure 9 the second Y-direction driving device 36 comprises a second gear set 360, a second rack 361 and a third rack 362; the second rack 361 is fixed on the slide rail mounting seat 32, the second gear set 360 is installed on the first Y-direction slide rail mechanism 33, the third rack 362 is fixed on the second Y-direction slide rail mechanism 34, the second rack 361 and the third rack 362 are arranged opposite to each other and are located on both sides of the second gear set 360, and the second rack 361 and the third rack 362 are both meshed with the second gear set 360.

[0061] Specifically, as shown in Figure 9As shown, the first Y-direction sliding rail mechanism 33 includes two first Y-direction sliding rail plates 330 oppositely arranged and fixedly connected through a connecting column 331, a second gear set mounting space 335 for accommodating the second gear set 360 is formed between the two first Y-direction sliding rail plates 330, the second Y-direction sliding rail mechanism 34 includes a second Y-direction sliding rail mechanism bottom plate 340 and a second Y-direction sliding rail mechanism side plate 341 oppositely fixedly arranged on the second Y-direction sliding rail mechanism bottom plate 340, the second Y-direction sliding rail mechanism bottom plate 340 and the second Y-direction sliding rail mechanism side plate 341 form a groove type structure, the second Y-direction sliding rail mechanism is buckled on the first Y-direction sliding rail mechanism, the lower surface of the second Y-direction sliding rail mechanism bottom plate is fixedly provided with the third rack 362, the second rack 361 is fixedly installed in the sliding rail mounting seat 32, the second rack 361 and the third rack 362 are oppositely arranged, the second gear set 360 is installed on the two first Y-direction sliding rail plates 330 and located in the second gear set mounting space 335, the second rack 361 and the third rack 362 are engaged with the second gear set 360, when the first servo motor drives the first Y-direction sliding rail mechanism to reciprocate along the Y-direction through the first gear set and the first rack, the first Y-direction sliding rail mechanism drives the first gear set to move along the Y-direction, because the second gear set is engaged with the second rack and the second rack is fixedly arranged on the sliding rail mounting seat, therefore, when the first Y-direction sliding rail mechanism drives the second gear set to move along the Y-direction, the engagement between the second gear set and the second rack can make the inner gear of the second gear set rotate, the second gear set is engaged with the third rack, thereby driving the second Y-direction sliding rail mechanism to move along the same direction with the first Y-direction sliding rail mechanism, further, the second Y-direction sliding rail mechanism can be moved from one end to the other end by the first Y-direction sliding rail mechanism, the fork is installed on the second Y-direction sliding rail mechanism, the fork can realize the fork taking of the zero point positioning sub-plate tooling, thereby the zero point positioning sub-plate tooling can be placed in the machine tool or the warehouse, meanwhile, in the present application, the two-stage Y-direction movement of the first Y-direction sliding rail mechanism and the second Y-direction sliding rail mechanism can be realized through a group of servo motors, two gear sets and racks, the structure and control are simplified, and the cost is reduced, further, as shown in Figure 11 Because the first Y-direction sliding rail mechanism and the second Y-direction sliding rail mechanism move along the same direction and synchronously, when the fork moves from one end to the other end along the Y-direction, the speed of the fork will be doubled, that is, when the first Y-direction sliding rail mechanism moves a certain distance along the Y-direction, the movement distance of the second Y-direction sliding rail mechanism is the movement distance of the first Y-direction sliding rail mechanism and the relative movement distance of the second Y-direction sliding rail mechanism to the first Y-direction sliding rail mechanism, for example, when the transmission ratio of the second gear set is 1, the movement speed of the second Y-direction sliding rail mechanism along the Y-direction is twice that of the first Y-direction sliding rail mechanism, for example Figure 11As shown in the figure, when the first Y-direction driving device drives the first Y-axis sliding rail mechanism to move rightward by a distance q along the arrow C, the second Y-direction driving device drives the second Y-axis sliding rail mechanism to move rightward by a distance q1 along the arrow C, at this time, the second Y-axis sliding rail mechanism moves rightward by a distance Q=q+q1 as a whole, so as to accelerate the moving speed of the forks, thereby improving the efficiency.

[0062] Further, the outer side of the first Y-direction sliding rail plate 330 is provided with a sliding groove 332 and a roller 333 between the sliding rail mounting seat 32 and the second Y-direction sliding rail mechanism 34 for relative sliding; the outer side of the first Y-direction sliding rail plate 330 is further provided with a guide wheel 334.

[0063] Specifically, in the embodiment, the outer side of the first Y-direction sliding rail plate 330 is fixed with two rows of rollers 333, the inner side of the sliding rail mounting seat side plate 321 is provided with a sliding groove 332, the inner side of the second Y-direction sliding rail mechanism side plate 341 is provided with a sliding groove 332, and the two rows of rollers on the first Y-direction sliding rail are respectively arranged in the sliding grooves 332 of the sliding rail mounting seat side plate and the second Y-direction sliding rail mechanism side plate 341 to realize the sliding connection. By adopting the roller and sliding groove structure, the stability of the operation is ensured, and the stability of the connection is improved. Further, in the application, since the first Y-direction sliding rail mechanism and the second Y-direction sliding rail mechanism move along the Y-direction, the rigidity of the entire forklift system can be improved due to the large rigidity of the sliding rail mechanism itself, thereby ensuring the stability of the system operation. That is, since the Y-direction sliding rail itself has high strength, the rigidity of the Y-direction unit itself can be enhanced by adopting the sliding rail movement mode, thereby ensuring that the Y-direction unit still has large rigidity after the zero-point positioning sub-plate tooling and the workpiece are installed thereon, thereby improving the stability of the operation and the accuracy of the operation position. The forks are connected with the Y-direction sliding rail through the roller and sliding groove structure, thereby ensuring the stability of the movement between the forks and the Y-direction sliding rail. The outer side of the first Y-direction sliding rail plate 330 is further provided with two rows of guide wheels 334, and the guide wheels are arranged to further ensure the stability of the movement.

[0064] Further, the first gear set 350 comprises a first driving gear 353 and two first driven gears 354, the two first driven gears 354 are symmetrically arranged on both sides of the first driving gear 353 and are in mesh with the first driving gear 353; the first driven gear 354 is in mesh with the first rack 351, in the present application, the first gear set has one driving gear and two driven gears, the driving gear is driven by the first servo motor through the reducer, the driving gear is in mesh with the driven gear, the driven gear is in mesh with the rack, from the forward and reverse rotation of the driving gear, the first driven gear is driven to rotate, thereby driving the first Y-direction sliding rail mechanism to move along the Y-direction through the first rack, since two driven gears are arranged symmetrically on both sides of the driving gear, since the two driven gears simultaneously drive the first rack, not only the stability of driving the first rack is ensured, but also the stroke of the first Y-direction sliding rail mechanism along the Y-direction is increased, that is, when the first driven gear drives the first rack, one end of the first rack can be separated from one of the first driven gears, that is, as shown in the figure, the total stroke L1 of the first Y-direction sliding rail mechanism is equal to the length m1 of the first Y-direction sliding rail mechanism plus the center distance n1 of the two first driven gears, thereby the length of the first Y-direction sliding rail mechanism can be reduced, thereby the volume of the forklift system is reduced and the space is saved. Figure 8

[0065] Further, the second gear set 360 comprises a second driving gear 363, two second adjusting gears 364 and two second driven gears 365; the two second adjusting gears 364 are symmetrically arranged on both sides of the second driving gear 363 and are in mesh with the second driving gear 363; the second driven gear 365 is arranged outside the second adjusting gear 364 and is in mesh with the second adjusting gear 364; the second driving gear 363 is in mesh with the second rack 361, and the second driven gear 365 is in mesh with the third rack 362, in the present application, since the second gear set comprises a second driving gear, a second adjusting gear and a second driven gear, when the first Y-direction sliding rail mechanism moves along the Y-direction under the driving of the first Y-direction driving device, the second driving gear rotates by the interaction with the second rack, the second driving gear drives the second adjusting gear to rotate, the second adjusting gear drives the second driven gear to rotate, thereby driving the second Y-direction sliding rail mechanism to move along the Y-direction with the first Y-direction sliding rail mechanism through the interaction of the second driven gear with the third rack, since two second driven gears are symmetrically arranged on both sides of the driving gear through two second adjusting gears, since the two driven gears simultaneously drive the third rack, not only the stability of driving the third rack is ensured, but also the stroke of the second Y-direction sliding rail mechanism along the Y-direction is increased, that is, when the second driven gear drives the third rack, one end of the third rack can be separated from one of the second driven gears, that is, as shown in the figure, the total stroke L2 of the second Y-direction sliding rail mechanism is equal to the length m2 of the second Y-direction sliding rail mechanism plus the center distance n2 of the two second driven gears, thereby the length of the second Y-direction sliding rail mechanism can be reduced, thereby the volume of the forklift system is reduced and the space is saved.​Figure 10 The second gear set structure disclosed in the application can make the total stroke L2 of the second Y-direction sliding rail mechanism relative to the first Y-direction sliding rail mechanism equal to the length m2 of the second Y-direction sliding rail mechanism plus the center distance n2 of the two second driven gears, so that the length of the second Y-direction sliding rail mechanism can be reduced, thereby reducing the size of the forklift system and saving space.

[0066] Further, the X-axis sliding seat 11 is installed on the fixed platform 10 through a guide rail 13 and a sliding block 14; the X-axis sliding seat driving device 12 comprises a third servo motor 120 installed on the X-axis sliding seat 11, a third gear 121 connected with the third servo motor 120, and a fourth rack 122 fixed on the fixed platform 10, and the third gear 121 is engaged with the fourth rack 122; since the linear guide rail form is used for movement, it has the advantages of high speed, high precision and low noise, preferably, the third gear is connected with the third servo motor through a speed reducer, the X-axis unit adopts a high-precision gear and rack structure, and is driven by a servo motor and a speed reducer, and high-precision positioning transmission of the X-axis is realized through an absolute value encoder and a limit detection switch, the absolute encoder is mechanically position-determined coding, and has the advantages of no need to remember, no need to find a reference point, no need to count all the time, and can read the position at any time. Meanwhile, a grating ruler is matched, the grating ruler is also called a grating ruler displacement sensor, and is a measurement feedback device working by using the optical principle of the grating. The absolute value encoder and the grating ruler are matched to realize closed-loop control of the X-axis system. The measurement output signal is a digital pulse, has the characteristics of large detection range, high detection precision and fast response speed, the grating ruler has a division rate of 5 μm, in order to realize the X-axis motion repeated positioning precision within ±0.03 mm, the transmission mode of the X-axis unit in the application adopts a gear and rack with a precision grade of 5 and a module of 3, and the transmission pitch error is 26 μm.

[0067] The Z-direction driving device 21 comprises a fourth servo motor 210 fixed on the door-shaped frame 20, a ball screw 211 installed on the door-shaped frame 20, and a nut 212 installed on the Y-direction fixed seat 31 and connected with the ball screw 211. In the embodiment, the fourth servo motor is installed on the lower end of the door-shaped frame and connected with the ball screw through a speed reducer. Preferably, the fourth servo motor is a servo motor with a built-in brake function, and the servo motor is connected with the ball screw through a speed reducer. The Z-direction driving device adopts a high-precision ball screw, a servo motor and a speed reducer for transmission, realizes high-precision transmission of the Z-axis through cooperation of an absolute value encoder and a grating ruler, realizes high-precision control of the Z-axis through cooperation of the absolute value encoder and the grating ruler, and has the advantages of mechanical position determination coding, no need for memory, no need for reference points, no need for constant counting, and the ability to read the position at any time. Meanwhile, the grating ruler, also known as a grating ruler displacement sensor, is a measurement feedback device working on the optical principle of a grating. The absolute value encoder and the grating ruler are cooperated to realize closed-loop control of the Z-axis unit. The measurement output signal is a digital pulse, and the grating ruler has the characteristics of large detection range, high detection precision and fast response speed. The grating ruler has a division rate of 5 μm, the Z-axis transmission mode adopts a ball screw transmission mode, and a C3-grade precision ball screw is adopted. The positioning precision of the C3-precision ball screw within the Z-axis stroke range is within ±24 μm, so the repeat positioning precision of the Z-axis system can be within ±0.03 mm.

[0068] The above merely describes the preferred embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can make equivalent replacements or changes to the technical solutions and the inventive concept of the present application within the technical scope disclosed by the present application, and all of them should be covered within the protection scope of the present application.

Claims

1. A bidirectional forklift system for automated loading and unloading of machine tools, characterized in that: Includes X-axis units, Z-axis units, and Y-axis units; The X-axis unit includes a fixed platform, an X-axis slide mounted on the fixed platform and capable of horizontal movement along the X-axis direction, and an X-axis slide drive device for driving the X-axis slide to move horizontally. The Z-axis unit includes a portal frame mounted on the X-axis slide and a Z-axis drive device mounted on the portal frame for driving the Y-axis unit to move up and down along the Z-axis direction. The Y-axis unit includes two sets of Y-direction fork drive mechanisms arranged opposite to each other within the portal frame. Each Y-direction fork drive mechanism includes a Y-direction fixed seat, a slide rail mounting seat, a first Y-direction slide rail mechanism, a second Y-direction slide rail mechanism, a first Y-direction drive device, a second Y-direction drive device, and a fork. The Y-axis fixed seat is mounted on the portal frame and connected to the Z-axis driving device. The Z-axis driving device can drive the Y-axis fixed seat to move up and down along the Z-axis direction. The slide rail mounting base is fixedly installed on the Y-direction fixed base; The first Y-direction slide rail mechanism is mounted on the slide rail mounting base, and the first Y-direction driving device can drive the first Y-direction slide rail mechanism to move horizontally along the Y direction on the slide rail mounting base. The second Y-direction slide rail mechanism is mounted on the first Y-direction slide rail mechanism. The second Y-direction driving device can drive the second Y-direction slide rail mechanism to move horizontally along the Y direction on the first Y-direction slide rail mechanism, and cause the second Y-direction slide rail mechanism to move from one end of the first Y-direction slide rail mechanism to the other end. The feed fork is mounted on the second Y-axis slide rail mechanism; The first Y-axis drive device includes a first gear set and a first rack; the first gear set is mounted on the slide rail mounting base, the first rack is fixed on the first Y-axis slide rail mechanism, the first gear set meshes with the first rack, and the input end of the first gear set is connected to a first servo motor; or, the first Y-axis drive device includes a first gear set, a first rack, and a connecting shaft; the first gear set is mounted on the slide rail mounting base, the first rack is fixed on the first Y-axis slide rail mechanism, the first gear set meshes with the first rack, and the two sets of first gear sets are connected by the connecting shaft; the input end of one set of first gear sets is connected to the first servo motor. The second Y-axis drive device includes a second gear set, a second rack, and a third rack; The second rack is fixed on the slide rail mounting base, the second gear set is mounted on the first Y-direction slide rail mechanism, and the third rack is fixed on the second Y-direction slide rail mechanism. The second rack and the third rack are arranged opposite each other and located on both sides of the second gear set. Both the second rack and the third rack mesh with the second gear set.

2. The automated two-way forklift system for machine tool loading and unloading according to claim 1, characterized in that: The first Y-axis slide rail mechanism includes two first Y-axis slide rail plates that are arranged opposite to each other and fixedly connected by a connecting column. The outer side of the first Y-axis slide rail plate is provided with a slide groove and a roller for relative sliding between the slide rail mounting base and the second Y-axis slide rail mechanism.

3. The automated two-way forklift system for machine tool loading and unloading according to claim 2, characterized in that: The outer side of the first Y-axis slide rail plate is also provided with a guide wheel.

4. The automated two-way forklift system for machine tool loading and unloading according to claim 1, characterized in that: The first gear set includes a first driving gear and two first driven gears. The two first driven gears are symmetrically arranged on both sides of the first driving gear and mesh with the first driving gear. The first driven gears mesh with the first rack.

5. The automated two-way forklift system for machine tool loading and unloading according to claim 1, characterized in that: The second gear set includes a second driving gear, two second adjusting gears, and two second driven gears; the two second adjusting gears are symmetrically arranged on both sides of the second driving gear and mesh with the second driving gear; the second driven gear is arranged outside the second adjusting gear and meshes with the second adjusting gear; the second driving gear meshes with the second rack, and the second driven gear meshes with the third rack.

6. The automated two-way forklift system for machine tool loading and unloading according to claim 1, characterized in that: The X-axis slide is mounted on the fixed platform via a guide rail and a slider; The X-axis slide drive device includes a third servo motor mounted on the X-axis slide, a third gear connected to the third servo motor, and a fourth rack fixed on the fixed platform, wherein the third gear meshes with the fourth rack; The Z-axis drive device includes a fourth servo motor fixed on the portal frame, a ball screw mounted on the portal frame, and a nut mounted on the Y-axis fixed seat and connected to the ball screw.

7. An automated production line, characterized in that: It includes at least one machine tool, at least one material storage, a rotary loading platform, and the automated two-way forklift system for loading and unloading machine tools as described in any one of claims 1 to 6; The machine tool and the material storage are arranged side by side on both sides of the automated loading and unloading bidirectional forklift system for the machine tool, and the rotary loading platform is provided at one end of the automated loading and unloading bidirectional forklift system for the machine tool.

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