Z-axis material taking reversing device

Abstract

The utility model discloses a Z-axis material taking reversing device which comprises a machine frame, a first synchronous belt capable of rotating forwards and backwards around the Y axis and a first servo motor used for driving the first synchronous belt to rotate are arranged on the machine frame, and a vertical guide rail extending in the Z-axis direction is arranged on the machine frame. A lifting seat capable of moving up and down along the vertical guide rail is connected to the vertical guide rail in a limiting mode, a vertical rod capable of rotating around the Z axis and extending downwards is fixedly connected to the lifting seat, and the lifting seat is fixedly connected with one section of the first synchronous belt. The rack is further provided with a second synchronous belt capable of rotating forwards and backwards around the Z axis and a second servo motor used for driving the second synchronous belt to rotate, the second synchronous belt is in transmission connection with the vertical rod so as to drive the vertical rod to rotate around the Z axis, the lower end of the rack is provided with a guide seat allowing the vertical rod to penetrate through, and the lower end of the vertical rod is provided with a material taking head.

Description

TECHNICAL FIELD

[0001] The utility model relates to a kind of Z-axis material taking reversing devices. BACKGROUND

[0002] Z-axis material taking reversing device is often installed in the action end of XY-axis driving mechanism, is translated and / or rotated along XY-axis by XY-axis driving mechanism, and is used for carrying material clamp to complete material taking and placing action of positive and negative translation along Z-axis and material reversing action of rotation around Z-axis. The currently common Z-axis material taking reversing device mostly uses linear cylinder and rotary cylinder to cooperate as the power source for completing Z-axis direction translation and rotation, and generally needs to complete action by two sets of platform combination, i.e. the first set of platform is used to realize the translation along Z-axis direction, and the second set of platform is used to realize the rotation around Z-axis direction, and the second set of platform is installed on the first set of platform and is driven by the first set of platform, so that the material taking head is installed on the second set of platform, to realize the translation of material taking head along Z-axis direction and the rotation around Z-axis direction. This can cause the volume and weight of the whole Z-axis material taking reversing device to be larger, and the action accuracy of pneumatic itself is relatively poor. In addition, the device itself with large volume and large weight is often difficult to meet the requirement of high accuracy when facing some processing working conditions requiring accurate action.

[0003] Therefore, how to overcome the above-mentioned defects has become an important topic for technicians in the field to solve urgently. CONTENT OF THE UTILITY MODEL

[0004] The utility model overcomes the deficiency of above-mentioned technology, and provides a kind of Z-axis material taking reversing device.

[0005] To achieve the above-mentioned purpose, the utility model adopts the following technical scheme:

[0006] A kind of Z-axis material taking reversing device, including rack 1, the first synchronous belt 2 that can rotate around Y axis positive and negative is equipped on the rack 1, and the first servo motor 3 for driving the first synchronous belt 2 rotation is equipped, vertical guide rail 4 extending along Z-axis direction is equipped on the rack 1, the lifting seat 5 that can move up and down along vertical guide rail 4 is limit connected on the vertical guide rail 4, vertically down extending vertical rod 6 that can rotate around Z-axis is fixedly connected on the lifting seat 5, the lifting seat 5 is fixedly connected with one segment of the first synchronous belt 2, the second synchronous belt 7 that can rotate around Z-axis positive and negative is further equipped on the rack 1, and the second servo motor 8 for driving the second synchronous belt 7 rotation is equipped, the second synchronous belt 7 is transmission connection with vertical rod 6 so as to drive vertical rod 6 rotate around Z-axis, the guide seat 9 that the vertical rod 6 passes through is equipped on the lower end of the rack 1, and material taking head 10 is equipped on the lower end of the vertical rod 6.

[0007] Preferably, the first servo motor 3 is fixed on the upper end of the frame 1, the rotating shaft of the first servo motor 3 is arranged along the Y axis, a first synchronous wheel 11 is coaxially fixed on the rotating shaft of the first servo motor 3, a second synchronous wheel 12 is rotatably connected on the frame 1 and arranged in parallel with the first synchronous wheel 11 and below the first synchronous wheel 11, the first synchronous belt 2 is sleeved between the first synchronous wheel 11 and the second synchronous wheel 12 and rotates around the Y axis, a fixed arm 13 is connected between the lifting seat 5 and the first synchronous belt 2, one end of the fixed arm 13 is fixed on the lifting seat 5 and the other end is fixed on one section of the first synchronous belt 2.

[0008] Preferably, two first baffles 14 are arranged on the lifting seat 5 and distributed upwards and downwards, two first photoelectric sensors 15 are arranged on the frame 1 and distributed upwards and downwards, the first baffle 14 above can trigger the first photoelectric sensor 15 above when the lifting seat 5 rises to the limit position, and the first baffle 14 below can trigger the first photoelectric sensor 15 below when the lifting seat 5 falls to the limit position.

[0009] Preferably, the second servo motor 8 is fixed on the lower end of the frame 1, the guide seat 9 and the second servo motor 8 are fixed on the front and back of the frame 1 respectively, the rotating shaft of the second servo motor 8 is arranged along the Z axis, a third synchronous wheel 16 is coaxially fixed on the rotating shaft of the second servo motor 8, a fourth synchronous wheel 17 is rotatably connected on the guide seat 9 and arranged coaxially with the vertical rod 6, the vertical rod 6 also passes through the fourth synchronous wheel 17 and rotates synchronously with the fourth synchronous wheel 17 through spline transmission, the second synchronous belt 7 is sleeved between the third synchronous wheel 16 and the fourth synchronous wheel 17 and rotates around the Z axis, and a hollow slot 18 is arranged on the section of the frame 1 between the third synchronous wheel 16 and the fourth synchronous wheel 17 for the second synchronous belt 7 to pass through.

[0010] Preferably, a second baffle 19 is fixed on the third synchronous wheel 16 and rotates synchronously, a second photoelectric sensor 20 is arranged on the frame 1 and fixed beside the third synchronous wheel 16, and the second baffle 19 will trigger the second photoelectric sensor 20 once every time the third synchronous wheel 16 rotates by a certain angle.

[0011] Preferably, an air duct is arranged inside the vertical rod 6 and penetrates upwards and downwards, the lower end of the air duct is connected with the material taking head 10 and the upper end is open to be connected with an external air source, or the air duct can also be used to pass through a circuit connected with the material taking head 10.

[0012] Preferably, the vertical guide rail 4, the lifting seat 5 and the vertical rod 6 are located on the front face of the frame 1, the first servo motor 3 and the first synchronous belt 2 are located on the back face of the frame 1, the back face of the frame 1 is further provided with a connecting seat 21 for connecting external equipment thereon, the connecting seat 21 comprises an extension part 211 extending rearward from the back face of the frame 1 and passing through the center of the first synchronous belt 2, a connecting part 212 extending leftward and rightward is connected to the end of the extension part 211 so as to be fixedly connected with external equipment, and an empty space 213 for the movement of the first synchronous belt 2 is formed between the back face of the frame 1 and the connecting part 212 on both sides of the extension part 211.

[0013] Compared with the prior art, the utility model has the beneficial effects that:

[0014] The actions of the two servo motors can be converted into the actions of the material taking head through the synchronous belts respectively and individually, so that the action of the material taking head along the Z axis and around the Z axis can be realized without setting two front and back spliced action platforms, thereby greatly reducing the volume of the Z axis material taking reversing device. In addition, compared with the traditional scheme of driving by the air cylinder, the application can greatly improve the action accuracy by driving the synchronous belt through the servo motor to drive the vertical rod and the material taking head, thereby meeting the requirements of high-precision machining. BRIEF DESCRIPTION OF DRAWINGS

[0015] Fig. 1 is one of the schematic diagrams of the Z axis material taking reversing device.

[0016] Fig. 2 is the second schematic diagram of the Z axis material taking reversing device. DETAILED DESCRIPTION

[0017] The features and other related features of the utility model will be further described in detail through the following examples, so as to facilitate the understanding of the technical personnel in the same industry:

[0018] As shown in Figs. 1-2 A Z axis material taking reversing device is characterized by comprising a frame 1, the frame 1 is provided with a first synchronous belt 2 capable of rotating around the Y axis in the positive and negative directions and a first servo motor 3 for driving the first synchronous belt 2 to rotate, the frame 1 is provided with a vertical guide rail 4 extending along the Z axis direction, the vertical guide rail 4 is provided with a lifting seat 5 capable of moving up and down along the vertical guide rail 4, the lifting seat 5 is fixedly connected with a vertical rod 6 capable of rotating around the Z axis and extending downward, the lifting seat 5 is fixedly connected with one section of the first synchronous belt 2, the frame 1 is further provided with a second synchronous belt 7 capable of rotating around the Z axis in the positive and negative directions and a second servo motor 8 for driving the second synchronous belt 7 to rotate, the second synchronous belt 7 is in transmission connection with the vertical rod 6 so as to drive the vertical rod 6 to rotate around the Z axis, the lower end of the frame 1 is provided with a guide seat 9 for the vertical rod 6 to pass through, and the lower end of the vertical rod 6 is provided with a material taking head 10.

[0019] Specifically, the rotation track of the first synchronous belt 2 is a runway shape, i.e. the upper and lower ends are semicircular arcs and the middle is a straight line.

[0020] Specifically, the transmission connection between the second synchronous belt 7 and the vertical rod 6 only transmits torque.

[0021] The material taking head 10 of the Z-axis material taking and reversing device is arranged at the lower end of the vertical rod 6, and the vertical rod 6 is fixed on the lifting seat 5. The lifting seat 5 is connected on the frame 1 through vertical guide rails 4 to move up and down. The frame 1 is also driven by the first servo motor 3 to rotate around the Y-axis in the positive and negative directions, and the lifting seat 5 is fixedly connected with one segment of the first synchronous belt 2. In this way, when the first synchronous belt 2 rotates in the positive and negative directions within a certain range, it can drive the lifting seat 5 to move up and down synchronously, and then indirectly drive the material taking head 10 to move up and down, so as to realize the translation of the material taking head 10 along the Z-axis direction. Moreover, the frame 1 is provided with a guide seat 9 through which the vertical rod 6 passes, so as to avoid the shaking of the vertical rod 6 when the lifting seat 5 moves up and down. In addition, the frame 1 is also driven by the second servo motor 8 to rotate around the Z-axis in the positive and negative directions and is in transmission connection with the second synchronous belt 7. In this way, the rotation of the second synchronous belt 7 can drive the rotation of the vertical rod 6, and then indirectly drive the rotation of the material taking head 10 to realize the reversing of the workpiece.

[0022] As described above, the actions of the two servo motors can be converted into the actions of the material taking head 10 through the synchronous belts respectively and individually. In this way, it is not necessary to set two action platforms spliced in front and back, and the actions of the translation of the material taking head 10 along the Z-axis and the rotation of the material taking head 10 around the Z-axis can be realized, so as to greatly reduce the volume of the Z-axis material taking and reversing device. In addition, compared with the conventional scheme of using a cylinder to drive, the application can greatly improve the action accuracy by driving the synchronous belts through the servo motors to drive the actions of the vertical rod 6 and the material taking head 10, so as to meet the requirements of high-precision machining.

[0023] As shown in the Figs. 1-2 Preferably, the first servo motor 3 is fixed on the upper end of the frame 1, the rotating shaft of the first servo motor 3 is arranged along the Y-axis direction, a first synchronous pulley 11 is fixed coaxially on the rotating shaft of the first servo motor 3, a second synchronous pulley 12 is rotatably connected on the frame 1, the axis of the second synchronous pulley 12 is parallel to the first synchronous pulley 11 and located below the first synchronous pulley 11, the first synchronous belt 2 is sleeved between the first synchronous pulley 11 and the second synchronous pulley 12 to rotate around the Y-axis, a fixed arm 13 is connected between the lifting seat 5 and the first synchronous belt 2, one end of the fixed arm 13 is fixed on the lifting seat 5 and the other end is fixed on one segment of the first synchronous belt 2.

[0024] As described above, by placing the first synchronous belt 2 between the first synchronous pulley 11 and the second synchronous pulley 12, the first synchronous belt 2 can be driven to rotate around the Y-axis by the first servo motor 3 through the first synchronous pulley 11. In addition, by connecting the lifting seat 5 and a section of the first synchronous belt 2 through the fixed arm 13, the lifting seat 5 can be driven to move up and down by the first servo motor 3.

[0025] like Figs. 1-2 As shown, preferably, the lifting seat 5 is provided with two first baffles 14 distributed vertically, and the frame 1 is also provided with two first photoelectric sensors 15 distributed vertically. When the lifting seat 5 rises to the limit position, the upper first baffle 14 can trigger the upper first photoelectric sensor 15. When the lifting seat 5 falls to the limit position, the lower first baffle 14 can trigger the lower first photoelectric sensor 15.

[0026] As described above, when the first servo motor 3 drives the lifting platform 5 to move up and down, the lifting platform 5 will trigger the corresponding first photoelectric sensor 15 through the corresponding first stop plate 14 when it moves up or down to its limit position. In this way, the first photoelectric sensor 15 can better control the operation of the first servo motor 3 and prevent the lifting platform 5 from moving up and down beyond its limit position. In addition, the signal from the first photoelectric sensor 15 can also be used to sense the two limit positions of the lifting platform 5, thereby correcting the action parameters of the first servo motor 3.

[0027] like Figs. 1-2 As shown, preferably, the second servo motor 8 is fixed at the lower end of the frame 1, the guide seat 9 and the second servo motor 8 are respectively fixed on the front and back sides of the frame 1, the rotating shaft of the second servo motor 8 is arranged along the Z-axis and a third synchronous pulley 16 is coaxially fixed on the rotating shaft, a fourth synchronous pulley 17 is rotatably connected to the guide seat 9 and is coaxially arranged with the vertical rod 6, the vertical rod 6 also passes through the fourth synchronous pulley 17 and rotates synchronously with the fourth synchronous pulley 17 through spline transmission, the second synchronous belt 7 is sleeved between the third synchronous pulley 16 and the fourth synchronous pulley 17 and rotates around the Z-axis, and the section of the frame 1 between the third synchronous pulley 16 and the fourth synchronous pulley 17 is provided with a hollow groove 18 for the second synchronous belt 7 to pass through.

[0028] As mentioned above, the guide seat 9 and the second servo motor 8 are arranged on the front and back of the frame 1, which can effectively avoid the interference of the second servo motor 8 to the action of the vertical rod 6, and can also improve the space utilization. On this basis, the hollow groove 18 is arranged on the frame 1, so that the second synchronous belt 7 can pass through the frame 1 and be sleeved between the third synchronous wheel 16 and the fourth synchronous wheel 17, thereby driving the fourth synchronous wheel 17 to rotate by the second servo motor 8. At the same time, the vertical rod 6 passes through the fourth synchronous wheel 17 and realizes torque transmission with the fourth synchronous wheel 17 through the spline transmission. In this way, the torque is transmitted through the spline transmission, so that the vertical rod 6 can be driven to rotate by the fourth synchronous wheel 17 without affecting the up-down movement of the vertical rod 6, and the up-down movement of the vertical rod 6 also does not affect the rotation of the vertical rod 6, so that the two servo motors can independently drive the vertical rod 6 to act.

[0029] As shown in Figs. 1-2 Preferably, the third synchronous wheel 16 is fixed with a second blocking piece 19 rotating synchronously, the frame 1 is provided with a second photoelectric sensor 20 fixed beside the third synchronous wheel 16, and the second blocking piece 19 triggers the second photoelectric sensor 20 once every time the third synchronous wheel 16 rotates by a certain angle. In this way, the control parameters of the second servo motor 8 can be corrected through the trigger signal of the second photoelectric sensor 20, so that the reversing action of the material taking head 10 is more accurate.

[0030] Specifically, the second blocking piece 19 extends outward along the radial direction of the third synchronous wheel 16 by a certain length, so that the third synchronous wheel 16 triggers the second photoelectric sensor 20 once every 360° rotation.

[0031] Preferably, the vertical rod 6 is provided with an air channel penetrating upward and downward, the lower end of the air channel is connected with the material taking head 10, and the upper end is open to connect with an external air source, or the air channel can also be used to pass through a circuit connected with the material taking head 10. In this way, the air channel can be used to provide power or pneumatic power for the material taking head 10 to drive the material taking head 10 to act.

[0032] As shown in Figs. 1-2 Preferably, the vertical guide rail 4, the lifting seat 5 and the vertical rod 6 are located on the front of the frame 1, the first servo motor 3 and the first synchronous belt 2 are located on the back of the frame 1, the back of the frame 1 is also provided with a connecting seat 21 for connecting external equipment thereon, the connecting seat 21 includes an extension part 211 extending rearward from the back of the frame 1 and passing through the center of the first synchronous belt 2, the extension part 211 is connected with a connection part 212 extending leftward and rightward to facilitate fixed connection with external equipment, and an empty space 213 for the first synchronous belt 2 to move is formed between the back of the frame 1 and the connection part 212 on both sides of the extension part 211.

[0033] As described above, the connecting seat 21 of the present application comprises an extension 211 passing through the center of the first synchronous belt 2 and connecting portions 212 extending to the left and right at the end of the extension 211, so that the area of the rack 1 surrounded by the first synchronous belt 2 can be used for connecting with external devices, and the Z-axis picking and reversing device of the present application can be connected to external devices, such as XY-axis driving mechanisms, thereby further improving the space utilization and reducing the overall volume of the device.

[0034] As described above, the protection of the present application is a Z-axis picking and reversing device, and all technical solutions the same as or similar to the present application should be considered to fall within the protection scope of the present application.

Claims

1. A Z-axis pick-up reversing device, characterized in that The utility model provides a vertical lifting type pick-and-place machine, including frame (1), which is equipped with the first synchronous belt (2) that can rotate around Y axis and the first servo motor (3) for driving the rotation of first synchronous belt (2) on frame (1), and frame (1) is equipped with vertical guide rail (4) extending along Z axle direction, and vertical guide rail (4) is fixedly connected with the lifting seat (5) that can move up and down along vertical guide rail (4) on the limit, and lifting seat (5) is fixedly connected with the vertical rod (6) that can rotate around Z axle and extends downward, and lifting seat (5) is fixedly connected with one of first synchronous belt (2), and frame (1) is also equipped with the second synchronous belt (7) that can rotate around Z axle and the second servo motor (8) for driving the rotation of second synchronous belt (7), and second synchronous belt (7) is transmission connection with vertical rod (6) to drive vertical rod (6) to rotate around Z axle, and the lower end of frame (1) is equipped with the guide seat (9) that vertical rod (6) passes through, and the lower end of vertical rod (6) is equipped with the pick -up head (10).

2. A Z-axis pick-and-place device according to claim 1, wherein The first servo motor (3) is fixed on the upper end of the frame (1), and the shaft of the first servo motor (3) is arranged along the Y axis, and a first synchronous wheel (11) is coaxially fixed on the shaft of the first servo motor (3), and a second synchronous wheel (12) is rotatably connected to the frame (1), wherein the axis of the second synchronous wheel (12) is parallel to the first synchronous wheel (11) and located below the first synchronous wheel (11), and the first synchronous belt (2) is sleeved between the first synchronous wheel (11) and the second synchronous wheel (12) to rotate around the Y axis, and a fixed arm (13) is connected between the lifting seat (5) and the first synchronous belt (2), wherein one end of the fixed arm (13) is fixed to the lifting seat (5) and the other end is fixed to one of the first synchronous belt (2).

3. A Z-axis pick-and-place device according to either one of claims 1 or 2, characterized in that The lifting seat (5) is provided with two first flaps (14) distributed above and below, and the frame (1) is also provided with two first photoelectric sensors (15) distributed above and below, and when the lifting seat (5) rises to the limit position, the first flap (14) located above can trigger the first photoelectric sensor (15) located above, and when the lifting seat (5) descends to the limit position, the first flap (14) located below can trigger the first photoelectric sensor (15) located below.

4. A Z-axis pick-and-place device according to claim 1, wherein The second servo motor (8) is fixed to the lower end of the frame (1), and the guide seat (9) and the second servo motor (8) are fixed to the front and back of the frame (1) respectively, the shaft of the second servo motor (8) is arranged along the Z axis, and a third synchronous wheel (16) is coaxially fixed on the shaft of the second servo motor (8), the fourth synchronous wheel (17) is rotatably connected to the guide seat (9) and coaxially arranged with the vertical rod (6), the vertical rod (6) passes through the fourth synchronous wheel (17) and rotates synchronously with the fourth synchronous wheel (17) through the spline drive, and the second synchronous belt (7) is sleeved between the third synchronous wheel (16) and the fourth synchronous wheel (17) to rotate around the Z axis, and the segment of the frame (1) between the third synchronous wheel (16) and the fourth synchronous wheel (17) is provided with a hollow slot (18) for the second synchronous belt (7) to pass through.

5. A Z-axis pick-and-place device according to claim 4, wherein The third synchronous wheel (16) is fixed with a second synchronous rotating baffle (19), the frame (1) is equipped with a second photoelectric sensor (20) fixed beside the third synchronous wheel (16), and the second baffle (19) triggers the second photoelectric sensor (20) once every time when the third synchronous wheel (16) rotates by a certain angle.

6. A Z-axis pick-and-place device according to claim 1, wherein The vertical rod (6) is internally equipped with an air channel penetrating from top to bottom, the lower end of the air channel is connected with the material taking head (10), and the upper end is open to be connected with external air source, or the air channel can also be used to penetrate the circuit connected with the material taking head (10).

7. A Z-axis pick-and-place device according to either one of claims 1 or 2, and characterized in that The vertical guide rail (4), the lifting seat (5) and the vertical rod (6) are located on the front face of the frame (1), the first servo motor (3) and the first synchronous belt (2) are located on the back face of the frame (1), the back face of the frame (1) is also equipped with a connecting base (21) used for connecting external equipment thereon, the connecting base (21) comprises an extension part (211) extending rearward from the back face of the frame (1) and penetrating the center of the first synchronous belt (2), the extension part (211) is connected with a left-right extending connecting part (212) used for fixedly connecting with external equipment, and the back face of the frame (1) and the connecting part (212) form an avoidance space (213) on both sides of the extension part (211) for the movement of the first synchronous belt (2). The vertical rod (6) is internally equipped with an air channel penetrating from top to bottom, the lower end of the air channel is connected with the material taking head (10), and the upper end is open to be connected with external air source, or the air channel can also be used to penetrate the circuit connected with the material taking head (10).

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