High-speed carrying manipulator suitable for large press spacing and carrying method

Abstract

The invention discloses a high-speed carrying manipulator suitable for a large press interval and a carrying method, and belongs to the technical field of stamping equipment. The high-speed carrying manipulator comprises a vertical moving mechanism connected with a rack in a sliding mode, and the bottom of the vertical moving mechanism is connected with a first transverse multi-speed moving mechanism in a sliding mode; the bottom of the first transverse multi-speed moving mechanism is slidably connected with a second transverse multi-speed moving mechanism, the bottom of the second transverse multi-speed moving mechanism is slidably connected with an end picker assembly, and the vertical moving mechanism is connected with the first transverse multi-speed moving mechanism through a first synchronous belt driving assembly. The first transverse multi-speed moving mechanism and the second transverse multi-speed moving mechanism are sequentially connected through a second synchronous belt driving assembly and a third synchronous belt driving assembly, the overall structure of the mechanical arm is compact, a three-stage feeding mode is adopted, a large carrying distance can be achieved in a small space through relative movement of all the moving mechanisms, and the mechanical arm is high in practicability. Therefore, automatic transformation of a traditional large-press-interval production line is met.

Description

Technical Field

[0001] The invention relates to the technical field of stamping equipment, and in particular to a high-speed transporting manipulator and a transporting method suitable for large press spacing. Background Art

[0002] In traditional stamping production lines, the distance between presses is often large, and there are two forms of production. One is to manually carry the stamped parts, which is time-consuming, labor-intensive, and also poses a safety hazard. The other is to configure a truss robot in front and behind each press, and the two robots are transported at fixed points through a conveying device to achieve an automated production mode. In view of safety, efficiency and other considerations, traditional stamping production lines are facing the need for technological iteration.

[0003] Automated stamping and handling robots can realize mechanization and automation of production. Existing automated stamping and handling robots are generally equipped with a three-axis moving mechanism, which is generally composed of a motor, a screw rod or a motor, a rack and other driving components. At the same time, the robot is slidably set on a slide rail, thereby realizing the movement of the robot and precise positioning after movement.

[0004] In traditional production lines with large press spacing, the spacing between adjacent presses is large, and the installation and working space is limited. The existing automated stamping and handling robots are suitable for limited production line spacing, and are difficult to be directly applied to the automation transformation of production lines with large press spacing. In addition, due to the limitations of their driving structure and method, the handling speed of existing automated stamping and handling robots is limited, and the maximum speed is generally double speed, which cannot meet the needs of large-spacing and high-beat automated production; in addition, the existing automated stamping and handling robots are very likely to be damaged by contact and impact with materials when moving at high speed to pick up materials. Summary of the invention

[0005] In order to solve the technical problem in the above-mentioned background technology that the existing automated stamping handling robot cannot be directly applied to the automated transformation of the production line with large press spacing, the present invention provides a high-speed handling robot suitable for large press spacing.

[0006] The technical solution of the present invention is as follows: The present invention provides a high-speed handling robot suitable for large press spacing, comprising a vertical moving mechanism slidably connected to a frame, the bottom of the vertical moving mechanism is slidably connected to a first transverse double-speed moving mechanism, the bottom of the first transverse double-speed moving mechanism is slidably connected to a second transverse double-speed moving mechanism, the bottom of the second transverse double-speed moving mechanism is slidably connected to an end picker assembly, the vertical moving mechanism and the first transverse double-speed moving mechanism are connected by a first synchronous belt drive assembly, the first transverse double-speed moving mechanism and the second transverse double-speed moving mechanism are connected in turn by a second synchronous belt drive assembly and a third synchronous belt drive assembly, the overall structure of the robot is compact, and a three-stage feeding method is adopted, and a larger handling distance can be achieved in a smaller space through the relative movement between the moving mechanisms, so as to meet the automation transformation of traditional production lines with large press spacing.

[0007] Preferably, the first lateral double-speed moving mechanism includes a laterally arranged large arm, a first synchronous belt drive assembly and a second synchronous belt drive assembly are fixedly arranged at the bottom of the vertical moving mechanism, the first synchronous belt drive assembly drives the large arm through the first synchronous belt, and first driven wheels are rotatably provided at both ends of the large arm, the second synchronous belt drive assembly is provided with a second synchronous belt driven by a motor, and the second synchronous belt wraps around the two first driven wheels, and the bottom of the second synchronous belt is connected to the second lateral double-speed moving mechanism through a third synchronous belt drive assembly. Through the coordinated use of the first synchronous belt drive assembly, the second synchronous belt drive assembly and the third synchronous belt drive assembly, the handling speed of the end picker assembly can be adjusted according to demand, so that it can be adjusted to double speed +, four times speed and four times speed + relative to the moving speed of the large arm, to meet the needs of different working conditions, and the overall adaptability is stronger.

[0008] Preferably, a second slider is fixedly provided at the bottom of the vertical moving mechanism, a second slide rail is provided on the upper arm which is slidably connected to the second slider, the first synchronous belt drive assembly includes a first driving wheel driven by two motors, the surface of the first driving wheel is meshed with a first synchronous belt, and the first synchronous belt is fixedly installed at both ends of the upper arm after passing around the first driving wheel. The first driving wheel can be used to drive the first synchronous belt to rotate, and then the upper arm can be driven by the first synchronous belt to move laterally along the second slide rail. The transmission efficiency is high and the lateral movement accuracy of the upper arm can be controlled more highly.

[0009] Preferably, the second synchronous belt drive assembly includes a second driving wheel driven by a motor, a second synchronous belt is meshed on the surface of the second driving wheel, the second synchronous belt rotates in the opposite direction to the first synchronous belt, the second synchronous belt passes around the second driving wheel and then surrounds the two first driven wheels, a third slider is fixedly provided at the bottom of the second synchronous belt, the third synchronous belt drive assembly is fixedly arranged at the bottom of the third slider, the second transverse speed moving mechanism is slidably connected to the third synchronous belt drive assembly, and is used in conjunction with the first synchronous belt drive assembly, under the action of the first synchronous belt drive assembly, the first driving wheel drives the first synchronous belt to rotate, and the first synchronous belt drives the upper arm to slide along the second slide rail, and the The second synchronous belt wound around the first driven wheel is driven to rotate, and the third slider is moved under the drive of the second synchronous belt, so that the moving speed of the third slider is twice the moving speed of the boom; when further speed increase is needed, during the movement of the boom, the second driving wheel synchronously drives the second synchronous belt to rotate around the first driven wheel. The setting of the first driven wheel can keep the second synchronous belt taut, thereby driving the third slider connected to the second synchronous belt to continue to move along the third slide rail, so that the left and right positions of the end picker assembly can be quickly adjusted. At this time, the moving speed of the third slider is twice the moving speed of the boom +, which can meet the high-beat production needs.

[0010] Preferably, the second lateral speed-multiplying moving mechanism includes a mounting frame, the top of the mounting frame is slidably connected to the bottom of the third synchronous belt drive assembly through a slide rail and a slider, the bottom of the mounting frame is slidably connected to the end pick-up assembly, the third synchronous belt drive assembly includes a third driving wheel driven by a motor, the surface of the third driving wheel is meshed with a third synchronous belt, the third synchronous belt is fixedly mounted on both ends of the mounting frame after being wrapped around the third driving wheel, so as to directly drive the movement of the end pick-up assembly through the third synchronous belt drive assembly, and cooperate with the use of the first synchronous belt drive assembly and the second synchronous belt drive assembly to achieve speed superposition, thereby effectively improving the moving speed of the end pick-up assembly.

[0011] Preferably, a second driven wheel is rotatably provided at each end of the mounting frame, a fourth synchronous belt is wound around the second driven wheel, a fifth slider is fixedly connected to the lower portion of the fourth synchronous belt, a fifth slide rail cooperating with the fifth slide rail is provided at the bottom of the mounting frame, and the bottom of the fifth slide rail is fixedly connected to the end pick-up assembly. Under the action of the third synchronous belt driving assembly, the third synchronous belt drives the mounting frame to slide, and the sliding of the mounting frame causes the fourth synchronous belt to rotate around the second driven wheel, thereby driving the fifth slider installed under the fourth synchronous belt to move along the fifth slide rail, and the moving speed of the fifth slider is twice the moving speed of the mounting frame. Through the coordinated use of the first lateral speed-multiplier moving mechanism and the second lateral speed-multiplier moving mechanism, a handling speed of four times the speed + is achieved, a high beat is achieved, and the urgent demand for high beat in the stamping automation industry is met. The use of synchronous belts to drive moving parts has a certain flexibility while ensuring precise transmission, which can reduce the contact impact between the end pick-up assembly and the sheet material when picking up the material, and at the same time reduce the degree of damage caused by interference and collision with the mold in unexpected situations.

[0012] Preferably, the vertical movement mechanism includes two vertical beams arranged opposite to each other, a rack and a first slide rail are fixedly provided on the vertical beams along their length direction, a vertical movement motor matched with the rack and a first slide block matched with the first slide block are fixedly provided on the frame, and two vertically arranged cylinder balancers are also fixedly provided on the frame, the cylinder balancers correspond to the vertical beams one by one, and the telescopic ends of the cylinder balancers are fixedly connected to the adjacent side walls of the vertical beams. The cylinder balancers can be used to provide stable support for the vertical beams, which helps to maintain the stability and balance of the vertical movement of the two vertical beams and prevent shaking or Offset, the extension and retraction of the cylinder balancer can assist in the positioning and correction of the vertical beam to fine-tune the position of the manipulator so that it can reach the target position more accurately, which helps to improve the positioning accuracy and operating efficiency of the manipulator. At the same time, it also enhances the load capacity of the manipulator. In situations where the load is heavy and high-precision operations are required, the setting of the cylinder balancer can effectively share the load pressure of the manipulator, improve its stability and operating efficiency, and play a role in buffering and shock absorption. The telescopic end of the cylinder balancer can absorb part of the impact force or vibration energy to protect the manipulator from damage and improve operating accuracy.

[0013] The present invention provides a transport method, which is as follows: Adjusting the vertical position of the end tool assembly by means of a vertical moving mechanism; The first driving wheel drives the first synchronous belt to rotate, and the first synchronous belt drives the upper arm to slide along the second slide rail, thereby driving the second synchronous belt wound around the first driven wheel to rotate. Driven by the second synchronous belt, the third slider starts to move along the third slide rail, so that the moving speed of the third slider is twice the moving speed of the upper arm; During the movement of the boom, the second driving wheel synchronously drives the second synchronous belt to rotate around the first driven wheel. At this time, the moving speed of the third slider is greater than twice the moving speed of the boom to quickly adjust the left and right positions of the end picker assembly.

[0014] Preferably, when the moving speed of the end picker assembly is required to be four times the moving speed of the boom, the first driving wheel and the third driving wheel are started synchronously, the first synchronous belt drives the boom to slide, the sliding of the boom causes the second synchronous belt to rotate around the first driven wheel, and the third slider starts to move along the third slide rail, so that the moving speed of the third slider is twice the moving speed of the boom. At the same time, the third synchronous belt drives the mounting frame to slide, and the sliding of the mounting frame causes the fourth synchronous belt to rotate around the second driven wheel, thereby driving the fifth slider to move along the fifth slide rail, so that the moving speed of the fifth slider is twice the moving speed of the mounting frame.

[0015] Preferably, when the moving speed of the end picker assembly is required to be greater than four times the moving speed of the boom, the third driving wheel is started while the first driving wheel and the second driving wheel work synchronously. Through the coordinated use of the first synchronous belt drive assembly, the second synchronous belt drive assembly and the third synchronous belt drive assembly, the transport speed of the end picker assembly can be adjusted according to demand, so that it can be adjusted to twice the speed +, four times the speed and four times the speed + relative to the moving speed of the boom to meet the needs of different working conditions.

[0016] It can be seen from the above technical solutions that the advantages of the present invention are: 1. The vertical moving mechanism is connected to the first transverse speed moving mechanism through the first synchronous belt drive assembly, and the first transverse speed moving mechanism is connected to the second transverse speed moving mechanism through the second synchronous belt drive assembly and the third synchronous belt drive assembly in turn. The overall structure of the manipulator is compact, and a three-stage feeding method is adopted. Through the relative movement between the moving mechanisms, a larger handling distance can be achieved in a smaller space to meet the automation transformation of the traditional large press spacing production line, and the synchronous belt is used to drive the moving parts, which has a certain flexibility while ensuring precise transmission, and can reduce the contact impact between the end picker assembly and the sheet material when picking up the material, and reduce the degree of damage caused by interference and collision with the mold in unexpected situations.

[0017] 2. The first synchronous belt drive assembly drives the boom through the first synchronous belt, and first driven wheels are rotatably provided at both ends of the boom. The second synchronous belt drive assembly is provided with a second synchronous belt driven by a motor, and the second synchronous belt wraps around the two first driven wheels. The bottom of the second synchronous belt is connected to the second lateral speed-changing mechanism through the third synchronous belt drive assembly. Through the coordinated use of the first synchronous belt drive assembly, the second synchronous belt drive assembly and the third synchronous belt drive assembly, the handling speed of the end picker assembly can be adjusted according to demand, so that it can be adjusted to double speed +, four times speed and four times speed + relative to the moving speed of the boom, realizing high-beat handling, which can be applied to different working conditions, has stronger overall adaptability, and meets the urgent demand for high-beat in the stamping automation industry.

[0018] 3. The cylinder balancer corresponds to the vertical beam one by one, and the telescopic end of the cylinder balancer is fixedly connected to the adjacent side wall of the vertical beam. The cylinder balancer can be used to provide stable support for the vertical beam, which helps to maintain the stability and balance of the vertical movement of the two vertical beams and prevent shaking or deviation caused by gravity or external factors. The telescopic end of the cylinder balancer can assist in the positioning and correction of the vertical beam to fine-tune the position of the manipulator so that it can reach the target position more accurately, which helps to improve the positioning accuracy and operating efficiency of the manipulator and enhances the load capacity of the manipulator. In situations where the load is heavy and high-precision operations are required, the setting of the cylinder balancer can effectively share the load pressure of the manipulator, improve its stability and operating efficiency, and play a role in buffering and shock absorption. The telescopic end of the cylinder balancer can absorb part of the impact force or vibration energy to protect the manipulator from damage and improve operating accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solution of the present invention, the accompanying drawings required for use in the description will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0020] Figure 1 It is a schematic diagram of the overall structure of a high-speed transport robot according to one or more embodiments of the present invention; Figure 2 A schematic diagram of a connection structure between adjacent moving mechanisms according to one or more embodiments of the present invention; Figure 3 is a schematic structural diagram of a vertical moving mechanism according to one or more embodiments of the present invention; Figure 4 It is a schematic structural diagram of a first transverse multiple-speed moving mechanism according to one or more embodiments of the present invention; Figure 5It is a schematic diagram of the front structure of the first transverse multiple-speed moving mechanism according to one or more embodiments of the present invention; Figure 6 It is a schematic diagram of a top view of the structure of a second transverse multiple-speed moving mechanism according to one or more embodiments of the present invention; Figure 7 It is a schematic diagram of the front structure of the second transverse speed-multiplying moving mechanism according to one or more embodiments of the present invention; Figure 8 It is a side view schematic diagram of the structure of the second transverse multiple-speed moving mechanism according to one or more embodiments of the present invention; Fig. 9 A schematic diagram of the driving principle of the first lateral double-speed moving mechanism and the second lateral double-speed moving mechanism according to one or more embodiments of the present invention; The components represented by the reference numerals in the figure are: 1. Frame; 2. Vertical moving mechanism; 3. First transverse double-speed moving mechanism; 4. Second transverse double-speed moving mechanism; 5. Vertical beam; 6. Cylinder balancer; 7. First support plate; 8. First mounting plate; 9. First slide rail; 10. First slider; 11. Rack; 12. Gear; 13. Speed ​​reducer; 14. Second mounting plate; 15. Second support plate; 16. Big arm; 17. Second slider; 18. First synchronous belt drive assembly; 181. First drive motor; 182. First speed reducer; 183. First driving wheel; 19. First synchronous belt; 20. First pressure wheel; 21. Engaging block; 22. Second synchronous belt drive assembly; 2 21. Second drive motor; 222. Second reducer; 223. Second driving wheel; 23. Second synchronous belt; 24. Second pressure wheel; 25. First driven wheel; 26. Second slide rail; 27. Third slide rail; 28. Third slider; 29. ​​Third synchronous belt drive assembly; 291. Third drive motor; 292. Third reducer; 293. Third driving wheel; 30. Third pressure wheel; 31. Third synchronous belt; 32. Mounting frame; 33. Fourth slider; 34. Fourth slide rail; 35. Fourth synchronous belt; 36. Second driven wheel; 37. Fifth slide rail; 38. Fifth slider; 39. End picker assembly; 40. Vertical moving motor. DETAILED DESCRIPTION

[0021] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the technical scheme of the present invention will be clearly and completely described below in conjunction with the drawings in this specific embodiment. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of them. Based on the embodiments in this patent, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this patent.

[0022] Example 1 In a typical embodiment of the present invention, Figure 1 As shown, a high-speed handling robot suitable for large press spacing is proposed, including: a frame 1, a vertical moving mechanism 2, a first lateral speed-shifting mechanism 3, a second lateral speed-shifting mechanism 4 and an end picker assembly 39, the vertical moving mechanism 2 is slidably mounted on the frame 1, the first lateral speed-shifting mechanism 3 is slidably mounted on the vertical moving mechanism 2, the second lateral speed-shifting mechanism 4 is slidably mounted on the first lateral speed-shifting mechanism 3, the end picker assembly 39 is slidably mounted on the second lateral speed-shifting mechanism 4, the vertical moving mechanism 2 and the first lateral speed-shifting mechanism 3 are connected by a synchronous belt drive assembly, the first lateral speed-shifting mechanism 3 and the second lateral speed-shifting mechanism 4 are connected by a synchronous belt drive assembly The speed-up moving mechanisms 4 are connected by two synchronous belt drive assemblies. The vertical moving mechanism 2 can drive the first horizontal speed-up moving mechanism 3, the second horizontal speed-up moving mechanism 4 and the end pick-up assembly 39 to move vertically synchronously as a whole. The first horizontal speed-up moving mechanism 3 can drive the second horizontal speed-up moving mechanism 4 and the end pick-up assembly 39 to move horizontally synchronously as a whole. At the same time, the second horizontal speed-up moving mechanism 4 can also drive the end pick-up assembly 39 to move horizontally. The overall structure of the manipulator is compact and adopts a three-stage feeding method. Through the relative movement between the mechanisms, a larger handling distance can be achieved in a smaller space to meet the automation transformation of traditional production lines with large press spacing.

[0023] like Figure 2 and Figure 3As shown, the vertical movement mechanism 2 includes a vertical beam 5, a cylinder balancer 6, a first support plate 7, a first mounting plate 8, a first slide rail 9, a first slider 10, a rack 11, a gear 12, a reducer 13, a second mounting plate 14, a second support plate 15 and a vertical movement motor 40, wherein the first mounting plate 8 is fixedly arranged on the frame 1 by welding, bolt connection, etc., two first support plates 7 are provided, and the two first support plates 7 are fixedly arranged on the top of the first mounting plate 8 by welding or bolt connection. Two vertical movement motors 40 are fixedly installed on the first mounting plate 8, and the vertical movement motor 40 is horizontally arranged to drive the vertical movement of the vertical beam 5, and a cylinder balancer 6 is fixedly provided on each first support plate 7, and the telescopic end of the cylinder balancer 6 is fixedly connected to the adjacent side wall of the vertical beam 5. Specifically, the vertical beam 5 is provided with two, two The vertical beams 5 are arranged relatively to each other, and each vertical beam 5 is connected to a corresponding cylinder balancer 6, so that the cylinder balancer 6 can be used to provide stable support for the vertical beams 5, which helps to maintain the stability and balance of the vertical movement of the two vertical beams 5 and prevent shaking or deviation caused by gravity or external factors. The extension and retraction of the cylinder balancer 6 can assist in the positioning and correction of the vertical beams 5 to fine-tune the position of the manipulator so that it can reach the target position more accurately, which helps to improve the positioning accuracy and operating efficiency of the manipulator and also enhances the load capacity of the manipulator. In situations where the load is heavy and high-precision operations are required, the setting of the cylinder balancer 6 can effectively share the load pressure of the manipulator, improve its stability and operating efficiency, and play a role in buffering and shock absorption. The telescopic end of the cylinder balancer 6 can absorb part of the impact force or vibration energy to protect the manipulator from damage and improve operating accuracy.

[0024] The two vertical beams 5 are arranged opposite to each other, and a second support plate 15 is welded and fixed to the bottom of the two vertical beams 5 respectively, and the two second support plates 15 are fixedly connected together by a second mounting plate 14. A first slide rail 9 is fixedly provided on the side wall of each vertical beam 5, and the first slide rail 9 is vertically arranged. At least one first slider 10 is correspondingly slidably provided on each first slide rail 9, and the first slider 10 is fixedly provided on the first mounting plate 8 or the frame 1 to ensure the stability of the vertical beam 5 during vertical movement and prevent it from tilting. A rack 11 is also fixedly provided on the side wall of each vertical beam 5, and the rack 11 is vertically arranged. The output ends of the two vertical movement motors 40 on the first mounting plate 8 are respectively connected to a reducer 13, and a gear 12 is fixedly connected to the output shaft of each reducer 13. The vertical movement motor 40 is meshed with the rack 11 on the adjacent vertical beam 5 through the gear 12, and the vertical movement motor 40 can then drive the vertical movement of the vertical beam 5. The first synchronous belt drive assembly 18 is fixedly mounted on the second mounting plate 14. Figure 4 and Figure 5As shown, the first transverse speed moving mechanism 3 includes a large arm 16, a second slider 17 and a second slide rail 26, wherein the large arm 16 is transversely arranged below the vertical moving mechanism 2, two second slide rails 26 are provided and fixedly arranged on the top of the large arm 16, and the second slide rails 26 are arranged along the length direction of the large arm 16. The first synchronous belt drive assembly 18 is fixedly mounted on the second mounting plate 14 to drive the lateral movement of the large arm 16. A plurality of second sliders 17 are provided, and the second sliders 17 are fixedly arranged at the bottom of the second mounting plate 14, and the second slider 17 is slidably connected to the second slide rail 26.

[0025] The first synchronous belt drive assembly 18 includes a first drive motor 181, a first reducer 182 and a first driving wheel 183. The first drive motor 181, the first reducer 182 and the first driving wheel 183 are each provided with two, and the two first drive motors 181 are relatively fixedly arranged on the second mounting plate 14 in a horizontal direction. The output shaft of the first drive motor 181 is fixedly connected to the input shaft of the corresponding first reducer 182, and the output shaft of the first reducer 182 is fixedly connected to the corresponding first driving wheel 183. The surface of the first driving wheel 183 is meshed with the first synchronous belt 19; the second mounting plate 14 is also rotated Two first pressure wheels 20 are provided, and the two first pressure wheels 20 are relatively arranged below the two first driving wheels 183. After the first synchronous belt 19 passes over the top of the two first driving wheels 183 and passes under the first pressure wheel 20, the inner walls of both ends of the first synchronous belt 19 are fixedly installed on the two ends of the upper arm 16 through the engaging blocks 21. The engaging blocks 21 are fixedly connected to the upper arm 16 by bolts, so that the engaging blocks 21 can be used to tighten the ends of the first synchronous belt 19, so that the first synchronous belt 19 can be used to drive the upper arm 16 to move laterally. The first pressure wheel 20 is used to ensure that the first synchronous belt 19 is always tight and does not tilt.

[0026] Also includes a second synchronous belt drive assembly 22, such as Figure 4 and Figure 5As shown, the second synchronous belt drive assembly 22 is located below the first synchronous belt drive assembly 18 and between the two first pressure wheels 20 to ensure the compactness of the structure. The second synchronous belt drive assembly 22 includes a second drive motor 221, a second reducer 222 and a second driving wheel 223. The second drive motor 221 is laterally fixedly arranged on the second mounting plate 14. The axial rotation direction of the second drive motor 221 is opposite to that of the first drive motor 181. The output shaft of the second drive motor 221 is fixedly connected to the input shaft of the second reducer 222. The output shaft of the second reducer 222 is fixedly connected to the second driving wheel 223. The surface of the second driving wheel 223 is meshed with a second synchronous belt 23. Two second pressure wheels 24 are also rotatably provided on the second mounting plate 14. The two second pressure wheels 24 are relatively arranged below the second driving wheel 223. A first driven wheel 25 is rotatably provided at both ends of 16. After the second synchronous belt 23 passes over the top of the second driving wheel 223 and passes under the second pressure wheel 24, the second synchronous belt 23 is wrapped around the two first driven wheels 25. When the first synchronous belt driving assembly 18 drives the upper arm 16 to move horizontally, it can drive the first driven wheel 25 to move, thereby driving the second synchronous belt 23 to rotate. At the same time, the second driving motor 221 can drive the second synchronous belt 23 to rotate through the second driving wheel 223. A third slider 28 is fixedly connected to the bottom of the second synchronous belt 23. A third slide rail 27 is provided at the bottom of the upper arm 16 along its length direction. The third slider 28 is slidably connected to the third slide rail 27, and the bottom of the third slider 28 is fixedly connected to the second horizontal speed moving mechanism 4, so as to drive the second horizontal speed moving mechanism 4 to move through the third slider 28.

[0027] In actual use, under the action of the first synchronous belt driving assembly 18, the first driving wheel 183 drives the first synchronous belt 19 to rotate, and the first synchronous belt 19 drives the upper arm 16 to slide along the second slide rail 26, thereby driving the second synchronous belt 23 wound around the first driven wheel 25 to rotate. Driven by the second synchronous belt 23, the third slider 28 begins to move along the third slide rail 27, so that the moving speed of the third slider 28 is twice the moving speed of the upper arm 16; when further speed increase is required, during the movement of the upper arm 16, the second driving wheel 223 synchronously drives the second synchronous belt 23 to rotate around the first driven wheel 25, and the setting of the first driven wheel 25 can keep the second synchronous belt 23 in a taut state, thereby driving the third slider 28 connected to the second synchronous belt 23 to continue to move along the third slide rail 27, so that the left and right positions of the end picker assembly 39 can be quickly adjusted. At this time, the moving speed of the third slider 28 is twice the speed of the moving speed of the upper arm 16 + (up to three times the speed).

[0028] The bottom of the third slider 28 is connected to a second transverse speed moving mechanism 4. Figure 6 , Figure 7 and Figure 8As shown, the second transverse speed moving mechanism 4 includes a mounting frame 32, a fourth slider 33, a fourth slide rail 34, a fourth synchronous belt 35, a second driven wheel 36, a fifth slide rail 37 and a fifth slider 38. The second transverse speed moving mechanism 4 is connected to the third slider 28 through a third synchronous belt driving assembly 29, wherein the third synchronous belt driving assembly 29 includes a third driving motor 291, a third reducer 292 and a third driving wheel 293. The third driving motor 291 is fixedly mounted on the bottom of the third slider 28 through a connecting plate. The rotation direction of the output shaft of the third driving motor 291 is the same as that of the first driving motor 181. The third driving motor 29 The output shaft of the third reducer 291 is fixedly connected to the input shaft of the third reducer 292, the output shaft of the third reducer 292 is fixedly connected to the third driving wheel 293, the surface of the third driving wheel 293 is meshed with a third synchronous belt 31, two third pressure wheels 30 are rotatably provided on the connecting plate, the two third pressure wheels 30 are relatively arranged on both sides below the third driving wheel 293, after the third synchronous belt 31 goes around the third driving wheel 293 and passes through the two third pressure wheels 30, the two ends of the third synchronous belt 31 are meshed and fixedly installed on the two ends of the mounting frame 32 through the meshing blocks 21, so that the mounting frame 32 can be driven to move horizontally by the third synchronous belt 31, and the mounting frame 32 is a long strip structure.

[0029] A fourth slide rail 34 is fixedly provided on the top of the mounting frame 32, and the fourth slide rail 34 is arranged along the length direction of the mounting frame 32. A plurality of fourth sliders 33 are fixedly provided on the bottom of the connecting plate, and the fourth sliders 33 are slidably connected to the fourth slide rail 34. A second driven wheel 36 is rotatably provided at each end of the mounting frame 32, and a fourth synchronous belt 35 is wound around the second driven wheel 36. A fifth slider 38 is fixedly connected to the lower part of the fourth synchronous belt 35. Fifth slide rails 37 are fixedly provided on both sides of the bottom of the mounting frame 32, and both sides of the top of the fifth slider 38 are slidably connected to the fifth slide rail 37, and the bottom of the fifth slider 38 is fixedly connected to the end pick-up assembly 39.

[0030] In actual use, under the action of the third synchronous belt drive assembly 29, the third synchronous belt 31 drives the mounting frame 32 installed under the fourth slider 33 to slide along the fourth slide rail 34. The sliding of the mounting frame 32 causes the fourth synchronous belt 35 to rotate around the second driven wheel 36, thereby driving the fifth slider 38 installed under the fourth synchronous belt 35 to move along the fifth slide rail 37, and the moving speed of the fifth slider 38 is twice the moving speed of the mounting frame 32.

[0031] Through the coordinated use of the first lateral double-speed moving mechanism 3 and the second lateral double-speed moving mechanism 4, a transport speed of four times the speed is achieved, and a high cycle is achieved, which meets the urgent demand for high cycle in the stamping automation industry. The moving parts are driven by synchronous belts, which have a certain flexibility while ensuring precise transmission, and can reduce the contact impact between the end picker assembly 39 and the sheet material when picking up the material, and at the same time reduce the degree of damage caused by interference and collision with the mold in unexpected situations.

[0032] Example 2 In a typical embodiment of the present invention, a transport method is proposed, which uses the high-speed transport robot suitable for large press spacing in Example 1. The working principle of the high-speed transport robot is as follows: Fig. 9 As shown, the specific process of the transportation method is as follows: When moving parts, the manipulator is fixedly connected to the frame 1 through the first mounting plate 8, and the vertical moving motor 40 is started, so that the vertical moving motor 40 drives the input shaft of the reducer 13 to rotate, and the output shaft of the reducer 13 drives the gear 12 to rotate, and through the meshing between the gear 12 and the rack 11, the vertical beam 5 moves up and down along the first slide rail 9, thereby adjusting the up and down position of the end picker assembly 39; When the vertical position adjustment of the end picker assembly 39 is completed, under the action of the first synchronous belt driving assembly 18, the first driving wheel 183 drives the first synchronous belt 19 to rotate, and the first synchronous belt 19 drives the upper arm 16 to slide along the second slide rail 26, thereby driving the second synchronous belt 23 wound around the first driven wheel 25 to rotate. Driven by the second synchronous belt 23, the third slider 28 starts to move along the third slide rail 27, so that the moving speed of the third slider 28 is twice the moving speed of the upper arm 16; When further speed increase is required, during the movement of the boom 16, the second driving wheel 223 synchronously drives the second synchronous belt 23 to rotate around the first driven wheel 25. The setting of the first driven wheel 25 can keep the second synchronous belt 23 in a taut state, thereby driving the third slider 28 connected to the second synchronous belt 23 to continue to move along the third slide rail 27, so that the left and right positions of the end picker assembly 39 can be quickly adjusted. At this time, the moving speed of the third slider 28 is twice the moving speed of the boom 16 + (up to three times the speed), the first drive motor 181 and the second drive motor 221 are started at the same time and the output shafts of the two motors rotate in opposite directions, so that the moving speed of the third slider 28 is greater than twice the moving speed of the boom 16, so that the left and right positions of the end picker assembly 39 can be quickly adjusted; While the first synchronous belt drive assembly 18 and the second synchronous belt drive assembly 22 are working synchronously, the third synchronous belt drive assembly 29 is started, and the third synchronous belt 31 drives the mounting frame 32 installed under the fourth slider 33 to slide along the fourth slide rail 34. The sliding of the mounting frame 32 causes the fourth synchronous belt 35 to rotate around the second driven wheel 36, thereby driving the fifth slider 38 installed under the fourth synchronous belt 35 to move along the fifth slide rail 37, so that the moving speed of the fifth slider 38 is twice the moving speed of the mounting frame 32. Through the joint operation and coordination of the first horizontal speed-multiplier moving mechanism 3 and the second horizontal speed-multiplier moving mechanism 4, specifically the joint operation of the first synchronous belt drive assembly 18, the second synchronous belt drive assembly 22, and the third synchronous belt drive assembly 29, a conveying speed of four times the speed + can be achieved, so that the left and right positions of the end picker assembly 39 can be adjusted at high speed to meet the conveying requirements of large spacing and high beat.

[0033] In other operations, when the moving speed of the end picker assembly 39 is required to be four times the moving speed of the upper arm 16, the first drive motor 181 and the third drive motor 291 are started synchronously. At this time, under the action of the first drive motor 181, the first driving wheel 183 drives the first synchronous belt 19 to rotate, and the first synchronous belt 19 drives the upper arm 16 to slide along the second slide rail 26, thereby driving the second synchronous belt 23 wound around the first driven wheel 25 to rotate. Driven by the second synchronous belt 23, the third slider 28 starts to move along the third slide rail 27, so that the movement of the third slider 28 is The moving speed is twice the moving speed of the upper arm 16. At the same time, under the action of the third drive motor 291, the third synchronous belt 31 drives the mounting frame 32 installed under the fourth slider 33 to slide along the fourth slide rail 34. The sliding of the mounting frame 32 causes the fourth synchronous belt 35 to rotate around the second driven wheel 36, thereby driving the fifth slider 38 installed under the fourth synchronous belt 35 to move along the fifth slide rail 37, so that the moving speed of the fifth slider 38 is twice the moving speed of the mounting frame 32, thereby making the moving speed of the end picker assembly 39 four times the moving speed of the upper arm 16.

[0034] This embodiment uses the first synchronous belt drive assembly 18, the second synchronous belt drive assembly 22 and the third synchronous belt drive assembly 29 to adjust the transport speed of the end picker assembly 39 as needed, so that it can be adjusted to double speed +, four times speed and four times speed + relative to the moving speed of the upper arm 16 to meet the needs of different working conditions. The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A high-speed handling manipulator suitable for large press spacing, comprising: A vertical moving mechanism (2) slidably connected to a frame (1), characterized in that the bottom of the vertical moving mechanism (2) is slidably connected to a first transverse double-speed moving mechanism (3), the bottom of the first transverse double-speed moving mechanism (3) is slidably connected to a second transverse double-speed moving mechanism (4), the bottom of the second transverse double-speed moving mechanism (4) is slidably connected to an end picker assembly (39), the vertical moving mechanism (2) and the first transverse double-speed moving mechanism (3) are connected via a first synchronous belt drive assembly (18), and the first transverse double-speed moving mechanism (3) and the second transverse double-speed moving mechanism (4) are connected via a second synchronous belt drive assembly (22) and a third synchronous belt drive assembly (29) in turn.

2. The high-speed handling robot suitable for large press spacing according to claim 1 is characterized in that: The first transverse multiple-speed moving mechanism (3) comprises a large arm (16) arranged transversely, a first synchronous belt driving assembly (18) and a second synchronous belt driving assembly (22) fixedly arranged at the bottom of the vertical moving mechanism (2), the first synchronous belt driving assembly (18) driving the large arm (16) via a first synchronous belt (19), first driven wheels (25) being rotatably provided at both ends of the large arm (16), the second synchronous belt driving assembly (22) being provided with a second synchronous belt (23) driven by a motor, and the second synchronous belt (23) being wrapped around two first driven wheels (25), and the bottom of the second synchronous belt (23) being connected to the second transverse multiple-speed moving mechanism (4) via a third synchronous belt driving assembly (29).

3. The high-speed handling robot suitable for large press spacing according to claim 2 is characterized in that: A second sliding block (17) is fixedly provided at the bottom of the vertical moving mechanism (2); a second sliding rail (26) slidably connected to the second sliding block (17) is provided on the upper arm (16); a first synchronous belt driving assembly (18) comprises a first driving wheel (183) driven by two motors; a first synchronous belt (19) is meshed on the surface of the first driving wheel (183); and the first synchronous belt (19) is fixedly installed at both ends of the upper arm (16) after passing around the first driving wheel (183).

4. The high-speed handling robot suitable for large press spacing according to claim 2 is characterized in that: The second synchronous belt drive assembly (22) comprises a second driving wheel (223) driven by a motor, a second synchronous belt (23) meshing on the surface of the second driving wheel (223), the second synchronous belt (23) rotating in the opposite direction to the first synchronous belt, the second synchronous belt (23) passing around the second driving wheel (223) and then wrapping around two first driven wheels (25), a third slider (28) being fixedly provided at the bottom of the second synchronous belt (23), a third synchronous belt drive assembly (29) being fixedly provided at the bottom of the third slider (28), and a second transverse multiple speed moving mechanism (4) being slidably connected to the third synchronous belt drive assembly (29).

5. The high-speed handling robot suitable for large press spacing according to claim 2 is characterized in that: The second transverse multiple-speed moving mechanism (4) comprises a mounting frame (32), the top of the mounting frame (32) is slidably connected to the bottom of the third synchronous belt drive assembly (29) via a slide rail and a slider, the bottom of the mounting frame (32) is slidably connected to the end picker assembly (39), the third synchronous belt drive assembly (29) comprises a third driving wheel (293) driven by a motor, the surface of the third driving wheel (293) is meshed with a third synchronous belt (31), and the third synchronous belt (31) is fixedly mounted on both ends of the mounting frame (32) after being wound around the third driving wheel (293).

6. The high-speed handling robot suitable for large press spacing according to claim 5, characterized in that: A second driven wheel (36) is rotatably provided at both ends of the mounting frame (32), a fourth synchronous belt (35) is wound around the second driven wheel (36), a fifth slider (38) is fixedly connected to the lower portion of the fourth synchronous belt (35), a fifth slide rail (37) cooperating with the fifth slider (38) is provided at the bottom of the mounting frame (32), and the bottom of the fifth slider (38) is fixedly connected to the end picker assembly (39).

7. The high-speed handling robot suitable for large press spacing according to claim 1 is characterized in that: The vertical movement mechanism (2) comprises two vertical beams (5) arranged opposite to each other, a rack (11) and a first slide rail (9) being fixedly provided on the vertical beams (5) along their length direction, a vertical movement motor (40) cooperating with the rack (11) and a first slide block (10) cooperating with the first slide block (10) being fixedly provided on the frame (1), and two vertically arranged cylinder balancers (6) being fixedly provided on the frame (1), the cylinder balancers (6) corresponding to the vertical beams (5) one by one, and the telescopic ends of the cylinder balancers (6) being fixedly connected to the side walls of the adjacent vertical beams (5).

8. A method of transporting, characterized in that: A high-speed handling robot suitable for large press spacing is used as described in any one of claims 1 to 7, specifically as follows: Adjusting the vertical position of the end tool assembly (39) by means of a vertical moving mechanism (2); The first driving wheel (183) drives the first synchronous belt (19) to rotate, and the first synchronous belt (19) drives the upper arm (16) to slide along the second slide rail (26), thereby driving the second synchronous belt (23) wound around the first driven wheel (25) to rotate. Driven by the second synchronous belt (23), the third slider (28) starts to move along the third slide rail (27), so that the moving speed of the third slider (28) is twice the moving speed of the upper arm (16); During the movement of the boom (16), the second driving wheel (223) synchronously drives the second synchronous belt (23) to rotate around the first driven wheel (25). At this time, the moving speed of the third slider (28) is greater than twice the moving speed of the boom (16), so as to quickly adjust the left and right positions of the end picker assembly (39).

9. The transport method according to claim 8, characterized in that: When the moving speed of the end picker assembly (39) is required to be four times the moving speed of the boom (16), the first driving wheel (183) and the third driving wheel (293) are started synchronously, the first synchronous belt (19) drives the boom (16) to slide, the sliding of the boom (16) causes the second synchronous belt (23) to rotate around the first driven wheel (25), and the third slider (28) starts to move along the third slide rail (27), so that the moving speed of the third slider (28) is twice the moving speed of the boom (16). At the same time, the third synchronous belt (31) drives the mounting frame (32) to slide, the sliding of the mounting frame (32) causes the fourth synchronous belt (35) to rotate around the second driven wheel (36), thereby driving the fifth slider (38) to move along the fifth slide rail (37), so that the moving speed of the fifth slider (38) is twice the moving speed of the mounting frame (32).

10. The transport method according to claim 8, characterized in that: When the moving speed of the end picker assembly (39) is required to be greater than four times the moving speed of the upper arm (16), the third driving wheel (293) is started while the first driving wheel (183) and the second driving wheel (223) are working synchronously.

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