CN112192244A - Multi-axis moving system - Google Patents
Multi-axis moving system Download PDFInfo
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- CN112192244A CN112192244A CN202010864378.1A CN202010864378A CN112192244A CN 112192244 A CN112192244 A CN 112192244A CN 202010864378 A CN202010864378 A CN 202010864378A CN 112192244 A CN112192244 A CN 112192244A
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- axis
- axis moving
- lead screw
- assembly
- moving block
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/01—Frames, beds, pillars or like members; Arrangement of ways
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/005—Feeding or manipulating devices specially adapted to grinding machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/02—Frames; Beds; Carriages
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Machine Tool Units (AREA)
Abstract
The application relates to a multi-axis moving system, belonging to the technical field of driving systems; the device comprises a workbench, and a first driving mechanism, a second driving mechanism, a third driving mechanism and a fourth driving mechanism which are arranged on the workbench; the first driving mechanism comprises a z-axis moving assembly and a b-axis rotation assembly arranged on the z-axis moving assembly; the second driving mechanism comprises an x-axis motion platform, a y-axis motion platform arranged on the x-axis motion platform and a c-axis rotation assembly arranged on the y-axis motion platform; the third driving mechanism comprises an x-axis moving assembly, a z-axis moving assembly arranged on the x-axis moving assembly and a z-axis moving block arranged on the z-axis moving assembly; the fourth driving mechanism comprises a y-axis moving assembly and a y-axis moving plate arranged on the y-axis moving assembly; this application has simultaneous control cutter and work piece motion in the course of working, improves work efficiency's effect.
Description
Technical Field
The present application relates to the field of drive systems, and more particularly, to a multi-axis movement system.
Background
In the field of machining, most of the machining tools or workpieces to be machined move, but such a moving system is a unilateral moving system, which affects the machining angle and efficiency, and a moving system for improving the machining efficiency is needed.
Disclosure of Invention
In order to improve machining efficiency, the application provides a multiaxis mobile system.
The multi-axis moving system provided by the application adopts the following technical scheme:
a multi-axis moving system comprises a workbench, and a first driving mechanism, a second driving mechanism, a third driving mechanism and a fourth driving mechanism which are arranged on the workbench, wherein the first driving mechanism and the third driving mechanism are respectively positioned at two adjacent sides of the second driving mechanism, and the fourth driving mechanism is positioned at one end of the third driving mechanism, which is far away from the second driving mechanism;
the first driving mechanism comprises a z-axis moving assembly and a b-axis rotation assembly arranged on the z-axis moving assembly;
the second driving mechanism comprises an x-axis motion platform, a y-axis motion platform arranged on the x-axis motion platform and a c-axis rotation assembly arranged on the y-axis motion platform;
the third driving mechanism comprises an x-axis moving assembly, a z-axis moving assembly arranged on the x-axis moving assembly and a z-axis moving block arranged on the z-axis moving assembly;
the fourth driving mechanism comprises a y-axis moving assembly and a y-axis moving plate arranged on the y-axis moving assembly;
the y-axis moving assembly is positioned below one end of the x-axis moving assembly, which is far away from the second driving mechanism;
the z-axis motion assembly drives the b-axis rotation assembly to vertically reciprocate, and an output shaft of the b-axis rotation assembly rotates along the axis of the b-axis rotation assembly;
an output shaft of the b-axis rotation assembly is perpendicular to the side wall of the z-axis movement assembly close to the second driving mechanism, and a cutter for machining or a workpiece to be machined is arranged on the output shaft of the b-axis rotation assembly;
the x-axis motion platform drives the y-axis motion platform to reciprocate on the plane along the length direction of the x-axis motion platform, the y-axis moving block platform drives the c-axis rotation component to reciprocate on the plane along the length direction of the y-axis motion platform, an output shaft of the c-axis rotation component is vertically arranged upwards, and an output shaft of the c-axis rotation component rotates along the axis of the c-axis rotation component;
a cutter for processing or a workpiece to be processed is arranged on an output shaft of the c-axis rotation assembly, and the tail ends of the output shaft of the b-axis rotation assembly and the output shaft of the c-axis rotation assembly are arranged close to each other;
the x-axis moving assembly drives the z-axis moving assembly to reciprocate along the length direction of the x-axis moving assembly, and the z-axis moving assembly drives the z-axis moving block to reciprocate vertically;
the y-axis moving assembly drives the y-axis moving block to reciprocate along the length direction of the y-axis moving assembly.
By adopting the technical scheme, a workpiece to be machined can be arranged on the c-axis autorotation assembly or the b-axis autorotation assembly, and a cutter used for machining can be arranged on the b-axis autorotation assembly or the c-axis autorotation assembly; the z-axis motion assembly drives the b-axis rotation assembly to move up and down, the b-axis rotation assembly drives the cutter or the workpiece to rotate, meanwhile, the x-axis motion platform and the y-axis motion platform are matched with each other to drive the c-axis rotation assembly to move in four directions, namely front, back, left and right, in a plane, and the c-axis rotation platform drives the cutter or the workpiece to rotate; therefore, in the processing process, the cutter and the workpiece are in motion and rotation, the workpiece can be processed more conveniently, and the workpiece can be processed in multiple angles, under the cooperation of the first driving mechanism and the second driving mechanism, the workpiece can be processed within the range of 0-360 degrees at most, the fixed angle of the workpiece or the angle of the cutter for processing is not required to be adjusted, and the processing efficiency is improved; therefore, the driving system can process the workpiece with the special-shaped surface after the machining tool is installed, and the application range of the driving system is expanded.
The fourth driving mechanism can be provided with a material storage mechanism, the third driving mechanism can be provided with a material grabbing device, the fourth driving mechanism can drive the material storage mechanism to reciprocate on the plane along one direction, the third driving mechanism grabs the material mechanism to reciprocate on the plane along one direction and vertically, the moving directions of the x-axis moving assembly and the y-axis moving assembly are mutually vertical, and the z-axis vertical moves.
Preferably, the z-axis moving assembly comprises a support frame bolted on the workbench and a z-axis motor fixedly installed at the upper end of the support frame;
the support frame comprises a bottom plate and two vertical plates vertically arranged on the bottom plate at intervals, and a guide groove is formed between the two vertical plates;
a z-direction ball screw is arranged in the guide groove along the length direction of the guide groove, the lower end of the z-direction ball screw is rotatably connected to the bottom plate, and the output shaft of the z-axis motor is fixedly connected with the upper end of the z-direction ball screw;
a z-direction moving block is assembled on the z-direction ball screw, the z-direction moving block is in threaded fit with the z-direction ball screw, and the z-direction moving block reciprocates on the z-direction ball screw;
vertical z-axis slide rails are mounted on two sides of the opening of the guide groove, and one end, close to the opening of the guide groove, of the z-direction moving block extends to the position of the z-axis slide rails and is in sliding fit with the z-axis slide rails.
By adopting the technical scheme, the z-direction moving assembly drives the z-direction moving block to move through the rotation of the z-direction ball screw, so that the aim of driving the b-axis rotation assembly to move is fulfilled, the b-axis rotation assembly is more stable in the moving process, and the probability of offset generated in the moving process of the b-axis rotation assembly is reduced.
Preferably, the b-axis rotation assembly comprises an installation plate bolted to the z-direction moving block, and a b-direction reduction motor and a reversing gear box which are installed on the installation plate;
and an output shaft of the b-direction speed reducing motor is connected with a power input shaft of the reversing gear box, and a power output shaft of the reversing gear box is vertical to the surface of the mounting plate to form an output shaft of a b-axis rotation assembly.
By adopting the technical scheme, the output shaft of the b-axis rotation component is perpendicular to the side wall of the first driving mechanism, so that a machined tool or a workpiece to be machined can be conveniently installed on the output shaft of the b-axis rotation component; meanwhile, the b-direction speed reducing motor is adopted for driving, so that the output shaft of the b-axis rotation part assembly can be driven to rotate at a low speed.
Preferably, the x-axis moving platform comprises an x-axis supporting plate and two x-axis sliding rails arranged on the x-axis supporting plate in parallel, and the length directions of the x-axis sliding rails and the x-axis supporting plate are the same;
an x-axis moving block is arranged on the two x-axis slide rails in a spanning mode, the x-axis moving block moves along the length direction of the x-axis slide rails, and a y-axis moving platform is installed on the x-axis moving block;
one end of the x-axis supporting plate is fixedly connected with an x-axis motor, an output shaft of the x-axis motor is fixedly connected with an x-axis lead screw, the x-axis lead screw penetrates through an x-axis moving block, and the x-axis lead screw is in threaded fit with the x-axis moving block; therefore, the x-axis motor drives the x-axis lead screw to rotate so as to drive the x-axis moving block to reciprocate along the x-axis sliding rail.
By adopting the technical scheme, the moving block is supported by the two sliding rails, so that the moving block is more stable in the moving process, the moving block is prevented from inclining in the moving process, and the x-axis motion platform is more stable to support the y-axis motion platform and drive the y-axis motion platform to move.
Preferably, the y-axis motion platform comprises a y-axis support plate and two y-axis slide rails arranged on the y-axis support plate, and the length direction of the y-axis slide rails is the same as the length direction of the y-axis support plate;
an x-axis moving block is arranged on the two x-axis slide rails in a spanning mode and moves along the length direction of the x-axis slide rails;
one end of the y-axis supporting plate is fixedly connected with a y-axis motor, an output shaft of the y-axis motor is fixedly connected with a y-axis lead screw, the y-axis lead screw penetrates through a y-axis moving block, and the y-axis lead screw is in threaded fit with the y-axis moving block; therefore, the y-axis motor drives the y-axis lead screw to rotate so as to drive the y-axis moving block to reciprocate along the y-axis sliding rail, and the c-axis autorotation assembly is arranged on the y-axis moving block.
Through adopting above-mentioned technical scheme, y axle moving platform and x axle moving platform are independent each other, can not mutual interference to make y axle moving platform and x axle moving platform can the simultaneous movement, make things convenient for drive c axle moving assembly to remove planar optional position more.
Preferably, the c-axis rotation assembly comprises a vertically arranged mounting shaft and a c-direction speed reducing motor for driving the mounting shaft to rotate;
the c is installed on the y-axis moving block towards the speed reducing motor, the c is vertically arranged upwards towards the output shaft of the speed reducing motor, and the installation shaft is fixedly connected to the output shaft of the c towards the speed reducing motor.
By adopting the technical scheme, the c-axis rotation component can drive the workpiece or the cutter to move along the axis of the c-axis rotation component, and the cutter or the workpiece is moved and rotated under the matching of the y-axis moving platform and the x-axis moving platform, so that the workpiece is conveniently machined or the cutter is conveniently machined at multiple angles on the workpiece.
Preferably, the x-axis moving assembly comprises an x-direction supporting piece and an x-direction lead screw, and the length directions of the x-direction lead screw and the x-direction supporting piece are the same;
a sliding groove is formed in one side, close to the z-axis moving assembly, of the x-direction supporting piece, the sliding groove extends along the length direction of the x-direction supporting piece, the x-direction lead screw is located in the sliding groove, and two ends of the x-direction lead screw are respectively in rotating connection with two ends of the sliding groove;
an x-direction sliding block is sleeved on the x-direction lead screw, the x-direction sliding block is in threaded fit with the x-direction lead screw, and x-direction sliding rails which are the same as the x-direction supporting piece in length direction are fixedly connected to two sides of the opening of the sliding chute;
the x-direction sliding block is in sliding fit with the x-direction sliding rail, so that the x-direction sliding block is driven to do linear reciprocating motion when the x-direction screw rod rotates.
Through adopting above-mentioned technical scheme, the slider in the x axle removes the subassembly is in the spout, and the slide rail is in spout open-ended both sides to what can be better prescribes a limit to the slider, avoids the slider to produce the rotation.
Preferably, the z-axis moving assembly comprises a z-direction supporting piece and a z-direction lead screw, the length directions of the z-direction lead screw and the z-direction supporting piece are the same, and the z-direction supporting piece is arranged on the x-direction sliding block;
two ends of the z-direction screw rod are respectively provided with a z-direction supporting plate fixedly connected to the supporting piece, and two ends of the z-direction screw rod are respectively rotatably connected with the two z-direction supporting plates;
the upper end of the z-direction supporting piece is provided with a z-direction motor capable of driving the z-direction screw rod to rotate;
the z-axis moving block is sleeved on the z-axis lead screw, is in threaded fit with the z-axis lead screw, and is fixedly connected with a z-axis sliding rail matched with the z-axis moving block on the z-axis supporting piece;
the length directions of the z-direction slide rail and the z-direction supporting piece are the same, and the z-direction slide rail limits the z-axis moving block, so that the z-axis moving block can only reciprocate along the z-direction slide rail and cannot rotate.
By adopting the technical scheme: the z-axis lead screw can better drive the z-axis moving block to move, the vibration of the z-axis moving block can be reduced, the z-axis lead screw is in threaded fit with the z-axis moving block, the z-axis moving block can also generate a self-locking function, and the z-axis moving block is prevented from falling.
Preferably, the y-axis moving assembly comprises two y-direction supporting pieces fixedly connected to the workbench and a y-direction lead screw arranged on one y-direction supporting piece, and the length directions of the y-direction lead screw and the y-direction supporting piece are the same;
the two ends of the y-direction supporting piece are fixedly connected with rectangular plates, the two ends of the y-direction lead screw are respectively and rotatably connected with the two rectangular plates, and one end of the y-direction lead screw is also provided with a driving motor for driving the y-direction lead screw to rotate;
a y-direction sliding block is sleeved on the y-direction lead screw, the y-direction sliding block is in threaded fit with the y-direction lead screw, and a y-direction sliding rail matched with the y-direction sliding block is also fixedly connected to the y-direction supporting piece;
the y is the same to slide rail and y to support piece length direction, and the y carries on spacingly to the y to the slider to the slide rail, makes the y to the slider only can be along y to slide rail reciprocating motion, and can not produce the rotation, and the y axle movable plate is installed on the y to the slider.
By adopting the technical scheme, the method has the advantages that,
in summary, the present application includes at least one of the following beneficial technical effects: the two support frames support the moving plate, the moving plate can be better driven to move, and the moving plate is prevented from deviating in the moving process.
1. The first driving mechanism can be provided with a tool for processing or a workpiece to be processed, and the second driving mechanism can be provided with a tool for processing or a tool for processing, so that in the processing process, the tool or the workpiece does not move independently but rotates simultaneously, each part of the workpiece is more conveniently processed, different equipment is not required to be changed for processing, the processing speed is increased, and the processing precision is also improved;
2. the third driving mechanism can be provided with a grabbing mechanism, the fourth driving mechanism can be provided with a material storage device, the third driving mechanism and the fourth driving mechanism are matched to enable the grabbing mechanism to grab workpieces at any positions on the material storage device, and the third driving mechanism conveys the workpieces to the first driving mechanism and the second driving mechanism for processing.
Drawings
Fig. 1 is a schematic diagram of the overall mechanism of the mobile system in the embodiment.
FIG. 2 is a schematic diagram of a first driving structure according to an embodiment.
FIG. 3 is a schematic diagram of a second driving structure highlighted in the embodiment.
FIG. 4 is a schematic diagram of a third driving structure highlighted in the embodiment.
Fig. 5 is an enlarged view of a portion a in fig. 4.
FIG. 6 is a schematic structural diagram of a z-axis moving assembly in the embodiment.
FIG. 7 is a cross-sectional view of the embodiment highlighting the z-slide.
FIG. 8 is a schematic diagram of a fourth driving structure highlighted in the embodiment.
Description of reference numerals: 1. a work table; 2. a first drive mechanism; 21. a z-axis motion assembly; 211. a support frame; 212. a guide groove; 213. a z-direction ball screw; 214. a z-axis motor; 215. a z-direction motion block; 216. a z-axis slide rail; 217. a slideway; 22. b-axis rotation component; 221. mounting a plate; 222. b is a speed reducing motor; 3. a second drive mechanism; 31. c-axis rotation components; 311. c is a speed reducing motor; 312. installing a shaft; 32. a y-axis motion stage; 321. a y-axis support plate; 322. a y-axis slide rail; 323. a y-axis moving block; 324. a y-axis motor; 325. a y-axis lead screw; 33. an x-axis motion stage; 331. an x-axis support plate; 332. an x-axis slide rail; 333. an x-axis moving block; 334. an x-axis motor; 335. an x-axis lead screw; 336. a bearing; 4. a third drive mechanism; 41. a support; 42. an x-axis movement assembly; 421. an x-direction support; 422. a chute; 423. a lead screw in the x direction; 424. an x-direction slide rail; 425. an x-direction slider; 426. an x-direction motor; 43. a z-axis movement assembly; 431. a z-direction support; 432. a z-direction slide rail; 433. a z-direction support plate; 434. a z-direction lead screw; 435. a z-direction motor; 436. a z-axis moving block; 5. a fourth drive mechanism; 51. a y-axis moving assembly; 511. a y-direction support; 512. a y-direction slide rail; 513. a y-direction slider; 514. a y-direction moving block; 515. a drive motor; 516. a y-direction lead screw; 517. a rectangular plate; 518. a belt pulley; 519. a belt; 52. the plate is moved along the y-axis.
Detailed Description
The present application is described in further detail below with reference to figures 1-8.
The embodiment of the application discloses a multi-axis moving system. Referring to fig. 1, the moving system includes a table 1, and a first driving mechanism 2, a second driving mechanism 3, a third driving mechanism 4, and a fourth driving mechanism 5 provided on the table 1; the first driving mechanism 2 and the second driving mechanism 3 can be respectively provided with a cutter or a workpiece to be machined, the first driving mechanism 2 and the second driving mechanism 3 respectively drive the cutter and the workpiece to move, namely when the first driving mechanism 2 is provided with the cutter, the second driving mechanism 3 is provided with the workpiece to be machined; the first driving mechanism 2 is provided with a workpiece to be processed, and the second driving mechanism 3 is provided with a cutter. Under the cooperation of the first driving mechanism 2 and the second driving mechanism 3, the purpose of simultaneously moving the cutter and the workpiece in the machining process is realized. The third driving mechanism 4 is provided with a grabbing mechanism, the fourth driving mechanism 5 is provided with a storage device, the third driving mechanism 4 and the fourth driving mechanism 5 are matched to enable the grabbing mechanism to grab workpieces on any position of the storage device, the third driving mechanism 4 can drive the grabbing mechanism to grab the workpieces and convey the workpieces to the first driving mechanism 2 or the second driving mechanism 3 for installation through the grabbing mechanism, and then the workpieces are processed; after the machining is finished, the workpiece is unloaded from the first driving mechanism 2 or the second driving mechanism 3 and is sent back to the discharging device; therefore, automatic feeding and discharging work is realized under the matching of the third driving mechanism 4 and the fourth driving mechanism 5, manual feeding and discharging are not needed, and potential safety hazards are reduced.
Referring to fig. 1 and 2, the first driving mechanism 2 includes a z-axis moving assembly 21 and a b-axis rotation assembly 22 mounted on the z-axis moving assembly 21; the z-axis motion assembly 21 comprises a support bracket 211 bolted on the workbench 1, a z-direction ball screw 213, a z-axis motor 214, a z-direction motion block 215, a z-axis slide rail 216 and a slide groove 217; the supporting frame 211 comprises a bottom plate and two vertical plates vertically arranged on the bottom plate at intervals, and a guide groove 212 is formed between the two vertical plates of the supporting frame 211. A z-direction ball screw 213 is installed in the guide groove 212 along the longitudinal direction of the guide groove 212, and the lower end of the z-direction ball screw 213 is rotatably connected to the bottom plate of the support bracket 211; a z-axis motor 214 is fixedly mounted at the upper end of the support frame 211, an output shaft of the z-axis motor 214 is vertically arranged downwards and is fixedly connected with the z-direction ball screw 213, and then the z-axis motor 214 can drive the z-direction ball screw 213 to rotate.
The z-direction ball screw 213 is provided with a z-direction moving block 215, the z-direction moving block 215 is screwed with the z-direction ball screw 213, and the z-direction ball screw 213 rotates to reciprocate the z-direction moving block 215 up and down. In order to prevent the z-direction moving block 215 from being rotated together with the z-axis ball screw 213, a vertical z-axis slide rail 216 is installed on each of both sides of the opening of the guide groove 212, and the z-direction moving block 215 is provided with a slide groove 217 slidably engaged with the z-axis slide rail 216 opened on each of both sides of the guide groove 212, so that the z-direction moving block 215 reciprocates along the z-axis slide rail 216.
Referring to fig. 2, the b-axis rotation mechanism 22 includes a mounting plate 221 bolted to the z-axis motion block 215, and a b-axis reduction motor 222 and a reversing gear box bolted to the mounting plate 221, an output shaft of the b-axis reduction motor 222 is horizontally arranged in parallel with respect to the mounting plate 221, an output shaft of the b-axis reduction motor 222 is connected to a power input shaft of the reversing gear box through a flange or a coupling, a power output shaft of the reversing gear box is perpendicular to the mounting plate 221, and a tool for machining or a workpiece to be machined is mounted on the power output shaft of the reversing gear box.
Referring to fig. 1 and 3, the second driving mechanism 3 includes a c-axis rotation mechanism 31, a y-axis movement platform 32, and an x-axis movement platform 33; the c-axis rotation mechanism 31 is installed on the y-axis motion platform 32, the y-axis motion platform 32 is installed on the x-axis motion platform 33, the y-axis motion platform 32 drives the c-axis rotation mechanism 31 to approach or depart from the first driving mechanism 2, and the x-axis motion platform 33 drives the y-axis motion platform 32 and the c-axis rotation mechanism to reciprocate along a direction parallel to the first driving mechanism 2.
The c-axis rotation mechanism 31 includes a c-direction reduction motor 311 with an output shaft vertically arranged upward and a mounting shaft 312 fixedly connected to the output shaft of the c-direction reduction motor 311, and according to whether a tool or a workpiece is specifically mounted on the b-direction reduction motor 222, the workpiece or the tool is correspondingly mounted on the mounting shaft 312.
The y-axis motion platform 32 comprises a y-axis support plate 321 and two parallel y-axis slide rails 322 fixedly connected to the y-axis support plate 321. A y-axis moving block 323 spans the two y-axis slide rails 322, and the y-axis moving block 323 can reciprocate along the y-axis slide rails 322. One end of the y-axis supporting plate 321 is fixedly connected with a y-axis motor 324, an output shaft of the y-axis motor 324 is fixedly connected with a y-axis lead screw 325, the y-axis lead screw 325 penetrates through a y-axis moving block 323, and the y-axis lead screw 325 is in threaded fit with the y-axis moving block 323, so that when the y-axis motor 324 drives the y-axis 325 to rotate, the y-axis moving block 323 reciprocates along the y-axis slide rail 322. Since the c-axis gear motor 311 of the c-axis rotation mechanism 31 is attached to the y-axis moving block 323, the y-axis moving block 323 can move together with the c-axis rotation mechanism 31.
The x-axis moving platform 33 comprises an x-axis supporting plate 331 and two x-axis sliding rails 332 arranged on the x-axis supporting plate 331 in parallel and at intervals; the two x-axis slide rails 332 are spanned with an x-axis moving block 333, and the x-axis moving block 333 can reciprocate along the x-axis slide rails 332. One end of the x-axis support plate 331 is fixedly connected with an x-axis motor 334, an output shaft of the x-axis motor 334 is fixedly connected with an x-axis lead screw 335, the x-axis lead screw 335 penetrates through an x-axis moving block 333, the x-axis lead screw 335 is in threaded fit with the x-axis moving block 333, and when the x-axis motor 334 drives the x-axis lead screw 335 to rotate, the x-axis moving block 333 realizes reciprocating motion along the x-axis slide rail 332. The y-axis support plate 321 of the y-axis moving platform 32 is mounted on the x-axis moving block 333, so that the x-axis moving block 333 can move together with the y-axis moving platform 32.
Referring to fig. 1 and 4, the third driving mechanism 4 is located on one side of the first driving mechanism 2, and the third driving mechanism 4 includes a bracket 41 bolted to the table 1, an x-axis moving block mechanism 42 mounted on the bracket 41, and a z-axis moving mechanism 43 mounted on the x-axis moving block mechanism 42; the x-axis moving block mechanism 42 drives the z-axis moving mechanism 43 to move along the horizontal direction, and the moving direction of the z-axis moving mechanism 43 is the same as that of the x-axis moving block 333 of the x-axis moving platform 33 of the second driving mechanism 3; the z-axis moving mechanism 43 drives the movement of the material grabbing mechanism in the vertical direction.
Referring to fig. 4 and 5, the x-axis moving block mechanism 42 includes an x-direction support 421 and a sliding groove 422 opened at one side of the x-direction support 421, an x-direction lead screw 423 is provided in the sliding groove 422, and two ends of the x-direction lead screw 423 are respectively rotatably connected with two ends of the sliding groove 422, so that the x-direction lead screw 423 can rotate along its own axis. An x-direction sliding block 425 is further sleeved on the x-direction lead screw 423, and the x-direction sliding block 425 is in threaded fit with the x-direction lead screw 423 positioned in the sliding groove 422. Two x-direction slide rails 424 are arranged on the upper side and the lower side of the opening of the slide groove 422, and the x-direction slide block 425 is in sliding fit with the x-direction slide rails 424, so that the x-direction slide block 425 can be driven to move linearly when the x-direction lead screw 423 rotates.
One end of the x-direction support 421 is fixedly connected with an x-direction motor 426, and an output shaft of the x-direction motor 426 extends into the sliding groove 422 and is fixedly connected with an end of the x-direction lead screw 423, so that the x-direction motor 426 drives the x-direction lead screw 423 to rotate along the axis of the x-direction lead screw 423.
Referring to fig. 6 and 7, the z-axis moving mechanism 43 includes a z-direction supporting member 431 connected to the x-direction slider 425, and a vertical long groove formed on a surface of the z-direction supporting member 431 away from the x-direction slider 425, wherein a z-direction sliding rail 432 is fixedly connected to a bottom surface of the vertical long groove, and z-direction supporting plates 433 are respectively provided at upper and lower ends of the vertical long groove. A z-direction lead screw 434 is arranged in the vertical long groove, and two ends of the z-direction lead screw 434 are respectively and rotatably connected with the two z-direction supporting plates 433; a z-direction motor 435 with an output shaft vertically downward is fixedly arranged above the upper z-direction support plate 433, and the output shaft of the z-direction motor 435 is fixedly connected with the end part of the z-direction lead screw 434, so that the z-direction motor 435 can drive the z-direction lead screw 434 to rotate. The z-axis moving block 436 is sleeved on the z-axis lead screw 434, the z-axis moving block 436 is in threaded fit with the z-axis lead screw 434, and the z-axis sliding rail 432 is in fit with the z-axis moving block 436, so that the z-axis moving block 436 can only move linearly along the z-axis sliding rail 432 and cannot rotate around the axis of the z-axis moving block 436.
Referring to fig. 8, a fourth driving mechanism 5 is disposed on the table 1 below the x-direction support 421 of the third driving mechanism 4, the fourth driving mechanism 5 including a y-axis moving assembly 51 and a y-axis moving plate 52; the y-axis moving assembly 51 can drive the y-axis moving plate 52 to reciprocate along the length direction of the y-axis moving assembly 51, the moving direction of the y-axis moving plate 52 is the same as the moving direction of the y-axis moving block 323 of the y-axis moving platform 32 of the second driving mechanism 3, and the storage device is mounted on the y-axis moving plate 52 and moves along the y-axis moving plate 52.
The y-axis moving assembly 51 comprises two y-directional supports 511 fixedly connected to the worktable 1 and two y-directional slide rails 512 fixedly connected to each y-directional support 511; the two y-direction supporting pieces 511 are respectively provided with a y-direction sliding block 513 and a y-direction moving block 514, and the y-axis moving plate 52 is fixedly arranged on the y-direction sliding block 513 and the y-direction moving block 514; the driving motor 515 is arranged on one side of the y-direction supporting piece 511 provided with the y-direction sliding block 513, a y-direction lead screw 516 is arranged on the y-direction supporting piece 511 provided with the driving motor 515, the y-direction lead screw 516 is in threaded fit with the y-direction sliding block 513, rectangular plates 517 are fixedly connected to two ends of the y-direction supporting piece 511, and two ends of the y-direction lead screw 516 are respectively in rotating connection with the two rectangular plates 517, so that the y-direction lead screw 516 rotates along the axis of the y-direction lead screw 516. One end of the y-axis lead screw 516, which is close to the driving motor 515, protrudes out of the side wall of the rectangular plate 517 and is fixedly connected with a belt pulley 518, meanwhile, an output shaft of the driving motor 515 is also fixedly connected with a belt pulley 518, two belt pulleys 518 are sleeved with a belt 519, so the driving motor 515 drives the y-axis lead screw 516 to rotate in a belt transmission mode, the lead screw 516 can drive the y-axis sliding block 513 to move, and the y-axis moving plate 52 is installed on the y-axis sliding block 513, so the y-axis moving plate 52 can reciprocate along the length direction of the y-axis sliding rail 512.
Taking the example that the first driving mechanism 2 is provided with a tool and the second driving mechanism 3 is provided with a workpiece to be processed, the multi-axis moving system has the following action process:
installing a tool for machining on an output shaft of a b-direction speed reducing motor in a first driving mechanism, and installing a workpiece to be machined on an output shaft of a c-direction speed reducing motor in a second driving mechanism; the first driving mechanism can drive the cutter to move up and down and rotate, and the second driving mechanism can drive the workpiece to move back and forth and left and right and rotate on the plane, so that the cutter can process the workpiece at multiple angles, equipment does not need to be replaced, and the processing precision and efficiency can be improved. Meanwhile, the material grabbing device can be arranged on the third driving mechanism and can grab the workpiece, so that automatic feeding is completed, the workpiece is not required to be manually arranged in the second driving mechanism, and the probability of scratching a worker by a cutter in the first driving mechanism is reduced. Can install storage device on fourth actuating mechanism, the work piece temporarily exists storage device, and fourth actuating mechanism can drive storage device along the width direction motion of workstation to the material device of grabbing of conveniently installing in third actuating mechanism snatchs the work piece.
The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.
Claims (9)
1. A multi-axis movement system, characterized by: comprises a workbench (1), and a first driving mechanism (2), a second driving mechanism (3), a third driving mechanism (4) and a fourth driving mechanism (5) which are arranged on the workbench (1);
the first driving mechanism (2) comprises a z-axis motion assembly (21) and a b-axis rotation assembly (22) arranged on the z-axis motion assembly (21);
the second driving mechanism (3) comprises an x-axis moving platform (33), a y-axis moving platform (32) arranged on the x-axis moving platform (33) and a c-axis rotation assembly (31) arranged on the y-axis moving platform (32);
the third driving mechanism (4) comprises an x-axis moving assembly (42), a z-axis moving assembly (43) arranged on the x-axis moving assembly (42) and a z-axis moving block (436) arranged on the z-axis moving assembly (43);
the fourth driving mechanism (5) comprises a y-axis moving assembly (51) and a y-axis moving plate (52) arranged on the y-axis moving assembly (51);
the y-axis moving assembly (51) is positioned below one end of the x-axis moving assembly (42) far away from the second driving mechanism (2);
the z-axis motion assembly (21) drives the b-axis rotation assembly (22) to vertically reciprocate, and an output shaft of the b-axis rotation assembly (22) rotates along the axis of the b-axis rotation assembly;
an output shaft of the b-axis rotation assembly (22) is vertical to the side wall of the z-axis movement assembly (21) close to the second driving mechanism (3), and a tool for machining or a workpiece to be machined is arranged on the output shaft of the b-axis rotation assembly (22);
the x-axis moving platform (33) drives the y-axis moving platform (32) to reciprocate on the plane along the length direction of the x-axis moving platform (33), the y-axis moving block platform drives the c-axis rotation component (31) to reciprocate on the plane along the length direction of the y-axis moving platform (32), an output shaft of the c-axis rotation component (31) is vertically arranged upwards, and an output shaft of the c-axis rotation component (31) rotates along the axis of the c-axis rotation component;
a tool for processing or a workpiece to be processed is arranged on an output shaft of the c-axis rotation component (31), and the tail ends of the output shaft of the b-axis rotation component (22) and the output shaft of the c-axis rotation component (331) are arranged close to each other;
the x-axis moving assembly (42) drives the z-axis moving assembly (43) to reciprocate along the length direction of the x-axis moving assembly (42), and the z-axis moving assembly (43) drives the z-axis moving block (436) to reciprocate in the vertical direction;
the y-axis moving assembly (51) drives the y-axis moving block (323) to reciprocate along the length direction of the y-axis moving assembly (51).
2. A multi-axis movement system as claimed in claim 1, wherein: the z-axis moving assembly (43) comprises a support frame (211) bolted on the workbench (1) and a z-axis motor (214) fixedly installed at the upper end of the support frame (211);
the support frame (211) comprises a bottom plate and two vertical plates which are vertically arranged on the bottom plate at intervals, and a guide groove (212) is formed between the two vertical plates;
a z-direction ball screw (213) arranged along the length direction of the guide groove (212) is arranged in the guide groove (212), the lower end of the z-direction ball screw (213) is rotatably connected to the bottom plate, and the output shaft of a z-axis motor (214) is fixedly connected with the upper end of the z-direction ball screw (213);
a z-direction moving block (215) is assembled on the z-direction ball screw (213), the z-direction moving block (215) is in threaded fit with the z-direction ball screw (213), and the z-direction moving block (215) reciprocates on the z-direction ball screw (213);
vertical z-axis sliding rails (216) are mounted on two sides of the opening of the guide groove (212), and one end, close to the opening of the guide groove (212), of the z-direction moving block (215) extends to the position of the z-axis sliding rails (216) and is in sliding fit with the z-axis sliding rails (216).
3. A multi-axis movement system as claimed in claim 1, wherein: the b-axis rotation assembly (22) comprises an installation plate (221) which is bolted on the z-direction moving block, and a b-direction speed reducing motor (222) and a reversing gear box which are installed on the installation plate (221);
an output shaft of the b-axis speed reducing motor (222) is connected with a power input shaft of the reversing gear box, and the power output shaft of the reversing gear box is perpendicular to the surface of the mounting plate (221) to form an output shaft of the b-axis rotation assembly (22).
4. A multi-axis movement system as claimed in claim 1, wherein: the x-axis moving platform (33) comprises an x-axis supporting plate (331) and two x-axis sliding rails (332) which are arranged on the x-axis supporting plate (331) in parallel, and the length directions of the x-axis sliding rails (332) and the x-axis supporting plate (331) are the same;
an x-axis moving block (333) is arranged on the two x-axis sliding rails (332) in a spanning mode, the x-axis moving block (333) moves along the length direction of the x-axis sliding rails (332), and a y-axis moving platform is installed on the x-axis moving block (333);
one end of the x-axis supporting plate (331) is fixedly connected with an x-axis motor (334), an output shaft of the x-axis motor (334) is fixedly connected with an x-axis lead screw (335), the x-axis lead screw (335) penetrates through an x-axis moving block (333), and the x-axis lead screw (335) is in threaded fit with the x-axis moving block (333); therefore, the x-axis motor (334) drives the x-axis lead screw (335) to rotate to drive the x-axis moving block (333) to reciprocate along the x-axis sliding rail (332).
5. A multi-axis movement system as claimed in claim 1, wherein: the y-axis motion platform (32) comprises a y-axis support plate (321) and two y-axis slide rails (322) arranged on the y-axis support plate (321), and the length direction of the y-axis slide rails (322) is the same as that of the y-axis support plate (321);
an x-axis moving block (333) is arranged on the two x-axis sliding rails (332) in a spanning mode, and the x-axis moving block (333) moves along the length direction of the x-axis sliding rails (332);
one end of the y-axis supporting plate (321) is fixedly connected with a y-axis motor (324), an output shaft of the y-axis motor (324) is fixedly connected with a y-axis lead screw (325), the y-axis lead screw (325) penetrates through a y-axis moving block (323), and the y-axis lead screw (325) is in threaded fit with the y-axis moving block (323); therefore, the y-axis motor (324) drives the y-axis lead screw (325) to rotate to drive the y-axis moving block (323) to reciprocate along the y-axis slide rail (322), and the c-axis rotation assembly (31) is installed on the y-axis moving block (323).
6. A multi-axis movement system as claimed in claim 1, wherein: the c-axis rotation assembly (31) comprises a vertically arranged mounting shaft (312) and a c-direction speed reducing motor (311) for driving the mounting shaft (312) to rotate;
the c-direction speed reducing motor (311) is installed on the y-axis moving block (323), the output shaft of the c-direction speed reducing motor (311) is vertically arranged upwards, and the installation shaft (312) is fixedly connected to the output shaft of the c-direction speed reducing motor (311).
7. A multi-axis movement system as claimed in claim 1, wherein: the x-axis moving assembly (42) comprises an x-direction supporting piece (421) and an x-direction lead screw (423), and the length directions of the x-direction lead screw (423) and the x-direction supporting piece (421) are the same;
a sliding groove (422) is formed in one side, close to the z-axis moving assembly (43), of the x-direction supporting piece (421), the sliding groove (422) extends along the length direction of the x-direction supporting piece (421), the x-direction lead screw (423) is located in the sliding groove (422), and two ends of the x-direction lead screw (423) are respectively in rotating connection with two ends of the sliding groove (422);
an x-direction sliding block (425) is sleeved on the x-direction lead screw (423), the x-direction sliding block (425) is in threaded fit with the x-direction lead screw (423), and both sides of the opening of the sliding chute (422) are fixedly connected with x-direction sliding rails (424) which are the same as the x-direction supporting piece (421) in length direction;
the x-direction sliding block (425) is in sliding fit with the x-direction sliding rail (424), so that the x-direction sliding block (425) is driven to do linear reciprocating motion when the x-direction screw rod rotates.
8. A multi-axis movement system as claimed in claim 1, wherein: the z-axis moving assembly (43) comprises a z-direction support (431) and a z-direction lead screw (434), the length directions of the z-direction lead screw (434) and the z-direction support (431) are the same, and the z-direction support (431) is installed on the x-direction sliding block (425);
two ends of the z-direction lead screw (434) are respectively provided with a z-direction supporting plate (433) fixedly connected to the supporting piece (431), and two ends of the z-direction lead screw (434) are respectively rotatably connected with the two z-direction supporting plates (433);
a z-direction motor (435) capable of driving the z-direction lead screw (434) to rotate is arranged at the upper end of the z-direction supporting piece (431);
the z-axis moving block (436) is sleeved on the z-direction lead screw (434), the z-axis moving block (436) is in threaded fit with the z-direction lead screw (434), and a z-direction sliding rail (432) matched with the z-axis moving block (436) is further fixedly connected to the z-direction supporting piece (431);
the length directions of the z-direction slide rail (432) and the z-direction support (431) are the same, and the z-direction slide rail (432) limits the z-axis moving block (436), so that the z-axis moving block (436) can only reciprocate along the z-direction slide rail (432) and can not rotate.
9. A multi-axis movement system as claimed in claim 1, wherein: the y-axis moving assembly (51) comprises two y-direction supporting pieces (511) fixedly connected to the workbench (1) and a y-direction lead screw (516) arranged on one y-direction supporting piece (511), and the length directions of the y-direction lead screw (516) and the y-direction supporting piece (511) are the same;
both ends of the y-direction supporting piece (511) are fixedly connected with rectangular plates (517), both ends of a y-direction lead screw (516) are respectively and rotatably connected with the two rectangular plates (517), and one end of the y-direction lead screw (516) is also provided with a driving motor (515) for driving the y-direction lead screw (516) to rotate;
a y-direction sliding block (513) is sleeved on the y-direction lead screw (516), the y-direction sliding block (513) is in threaded fit with the y-direction lead screw (516), and a y-direction sliding rail (512) matched with the y-direction sliding block (513) is also fixedly connected to the y-direction supporting piece (511);
the y-direction sliding rail (512) and the y-direction supporting piece (511) are identical in length direction, the y-direction sliding rail (512) limits the y-direction sliding block (513), the y-direction sliding block (513) can only reciprocate along the y-direction sliding rail (512) and cannot rotate, and the y-axis moving plate (52) is installed on the y-direction sliding block (513).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010864378.1A CN112192244A (en) | 2020-08-25 | 2020-08-25 | Multi-axis moving system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010864378.1A CN112192244A (en) | 2020-08-25 | 2020-08-25 | Multi-axis moving system |
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| CN112192244A true CN112192244A (en) | 2021-01-08 |
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Application publication date: 20210108 |