A single-arm manipulator for a high-speed stamping line of a new energy vehicle

Abstract

The application belongs to the technical field of stamping of new energy vehicles, and particularly relates to a single-arm manipulator for a high-speed stamping line of a new energy vehicle, which comprises a base, a Y-axis cross beam arranged on the base, a sliding block and a first driving mechanism arranged on the Y-axis cross beam in a transverse sliding mode, a Z-axis cross beam arranged on the sliding block in a longitudinal sliding mode, a second driving mechanism arranged on the sliding block, a Z1-axis sliding plate arranged on the Z-axis cross beam in a longitudinal sliding mode, a third driving mechanism arranged on the Z-axis cross beam, a first swing rod with one end connected to an output end of a first rotating mechanism on the Z1-axis sliding plate and the other end connected to a second rotating driving mechanism, an end picker arranged on the second rotating mechanism, one end of a second swing rod connected to an output end of a third rotating mechanism and the other end hinged to a middle part of the first swing rod. The vertical two-dimensional space movement of the end picker can be decomposed into horizontal movement and vertical movement, the structure is simple, and the end picker can be moved at high speed between servo presses by using a smaller driving mechanism system and smaller energy consumption.

Description

Technical Field

[0001] This application belongs to the field of stamping technology for new energy vehicles, and in particular relates to a single-arm robotic arm for high-speed stamping lines for new energy vehicles. Background Technology

[0002] With the rapid development of new energy vehicles, the time to market for new models is getting shorter and shorter; the requirements for supply chain delivery capabilities are getting higher and higher; and body sheet metal structural parts stamping plants are increasingly eager for more efficient and lower-cost stamping lines.

[0003] Currently, the automated material handling capabilities of low- and medium-speed stamping lines are mainly dominated by imported six-joint robot manufacturers such as ABB, KUKA, FANUC, and YASKAWA. High-speed stamping line automated material handling is primarily monopolized by traditional European and Japanese companies such as Schuler, GUDEL, and Komatsu. These robots are expensive and only suitable for automotive exterior sheet metal stamping parts, typically using 1200-2500T presses. They are bulky, complex, and costly. Automotive body sheet metal structural parts, compared to exterior parts, have lower profit margins and smaller dimensions, necessitating the design of a compact, high-speed material handling robot. Summary of the Invention

[0004] To address the technical problems of large and complex handling structures in existing stamping lines, this invention provides a single-arm robotic arm for high-speed stamping lines of new energy vehicles.

[0005] To solve the above-mentioned technical problems, this application provides a single-arm robotic arm for high-speed stamping lines of new energy vehicles, including...

[0006] A base, on which a Y-axis beam is provided, and a slider and a first driving mechanism for driving the slider to move laterally on the Y-axis beam are slidably provided on the Y-axis beam.

[0007] A Z-axis crossbeam is longitudinally slidably mounted on the slider, and a second drive mechanism for driving the Z-axis crossbeam to move on the slider is also provided on the slider;

[0008] The Z1 axis slide plate is longitudinally slidably mounted on the Z-axis crossbeam, and the Z-axis crossbeam is provided with a third drive mechanism for driving the Z1 axis slide plate to move on the Z-axis crossbeam.

[0009] The first swing arm has one end connected to the output end of the first rotation mechanism on the Z1 axis slide plate, and the other end connected to the second rotation drive mechanism. The output end of the second rotation mechanism is equipped with an end effector.

[0010] The second swing arm is connected at one end to the output end of the third rotating mechanism at the bottom of the Z-axis beam, and at the other end to the middle of the first swing arm.

[0011] In some embodiments, the slider is further provided with a balancing cylinder, one end of which is connected to the Z-axis beam.

[0012] In some embodiments, the first drive mechanism includes a first servo motor and a first synchronous belt mounted on the Y-axis beam, wherein the first servo motor is drive-connected to the first synchronous belt, and the slider is fixedly connected to the first synchronous belt.

[0013] In some embodiments, the second drive mechanism includes a second servo motor and a second synchronous belt mounted on the slider, with both ends of the second synchronous belt fixed on the Z-axis crossbeam.

[0014] In some embodiments, the third drive mechanism includes a third servo motor and a third synchronous belt mounted on the Z-axis crossbeam, the third servo motor being drivenly connected to the third synchronous belt, and the Z1-axis slide plate being fixedly connected to the third synchronous belt.

[0015] In some embodiments, the first rotating mechanism includes a fourth servo motor, and one end of the first rocker arm is connected to the output end of the fourth servo motor.

[0016] In some embodiments, the third rotating mechanism includes a fifth servo motor and a first planetary reducer. The output end of the fifth servo motor is connected to the input end of the first planetary reducer, and the output end of the first planetary reducer is connected to one end of the second rocker arm.

[0017] In some embodiments, the second rotating mechanism includes a sixth servo motor and a second planetary reducer, wherein the input end of the second planetary reducer is connected to the sixth servo motor and the output end is connected to the end effector.

[0018] Beneficial effects: The workpiece is transferred at high speed between servo presses and grasped by an end effector. The end effector performs vertical two-dimensional spatial motion, which can be decomposed into horizontal and vertical motion, resulting in a simple structure.

[0019] The horizontal motion of the end effector is decomposed into the transverse horizontal motion of the slider along the Y-axis beam and the controlled rotational motion of the first pendulum in the vertical two-dimensional space.

[0020] The vertical motion of the end effector is decomposed into the longitudinal vertical motion of the beam along the Z-axis and the controlled rotational motion of the first pendulum in the vertical two-dimensional space.

[0021] The controlled rotational motion of the first pendulum in vertical two-dimensional space is driven by the coupling of the first and third rotation mechanisms, realizing the swinging of the first pendulum. The longitudinal movement of the Z1 axis slide plate on the Z-axis crossbeam can also lift the first pendulum upward, realizing the vertical movement of the end effector. At the same time, the Z-axis crossbeam can also make vertical movements as compensation for the vertical movement of the first pendulum.

[0022] The first and third rotating mechanisms are coupled to drive the first swing arm to swing, which can distribute the load of the first rotating mechanism. At the same time, the Z-axis beam only needs to perform a small range of lifting and lowering to realize the workpiece handling action, further reducing the load on the second drive mechanism. Thus, the end effector can achieve high-speed handling between servo presses with a smaller drive mechanism system and less energy consumption. Attached Figure Description

[0023] Figure 1 A schematic diagram of the three-dimensional structure of a single-arm robotic arm;

[0024] Figure 2 This is the mounting structure for the Y-axis crossbeam and sliding plate;

[0025] Figure 3 A simplified structural diagram of a single-arm robotic arm;

[0026] Figure 4 This is a schematic diagram of the first motion trajectory of a single-arm robotic arm.

[0027] Figure 5 This is a second motion trajectory view for a single-arm robotic arm;

[0028] In the diagram: 1. Base; 2. Y-axis crossbeam; 21. First servo motor; 22. First synchronous belt; 3. Slider; 31. Second servo motor; 32. Second synchronous belt; 4. Z-axis crossbeam; 41. Third servo motor; 42. Third synchronous belt; 43. Fifth servo motor; 44. First planetary reducer; 5. Z1 axis slide plate; 51. Fourth servo motor; 6. First swing arm; 61. Sixth servo motor; 7. Second swing arm; 8. End effector; 9. Balance cylinder. Detailed Implementation

[0029] The present application will be further described below with reference to specific embodiments. Obviously, the described embodiments are only a part of the embodiments of the present application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without making creative changes are within the protection scope of the present application.

[0030] like Figures 1-3As shown, the single-arm manipulator for high-speed stamping lines of new energy vehicles provided in this application includes a base 1, a Z-axis crossbeam 4, a Z1-axis sliding plate 5, a first swing arm 6, and a second swing arm 7. Specifically, a Y-axis beam 2 is fixed on the base 1, and a slider 3 and a first drive mechanism for driving the slider 3 to move laterally on the Y-axis beam 2 are slidably mounted on the Y-axis beam 2. A Z-axis beam 4 is slidably mounted on the slider 3, and a second drive mechanism for driving the Z-axis beam 4 to move on the slider 3 is also mounted on the slider 3. A Z1-axis slide plate 5 is slidably mounted on the Z1-axis beam 4, and a third drive mechanism for driving the Z1-axis slide plate 5 to move on the Z1-axis beam 4 is mounted on the Z1-axis beam 4. One end of a first rocker arm 6 is connected to the output end of a first rotation mechanism on the Z1-axis slide plate 5, and the other end is connected to a second rotation drive mechanism. An end effector 8 is mounted on the output end of the second rotation mechanism. One end of a second rocker arm 7 is connected to the output end of the third rotation mechanism at the bottom of the Z1-axis beam 4, and the other end is hinged to the middle of the first rocker arm 6.

[0031] In the above structure, the workpiece is transferred at high speed between servo presses and grasped by the end effector 8. The end effector 8 performs vertical two-dimensional spatial motion, which can be decomposed into horizontal and vertical motion. The horizontal motion of the end effector 8 is decomposed into the transverse horizontal motion of the slider 3 along the Y-axis beam 2 and the controlled rotational motion of the first swing arm 6 in the vertical two-dimensional space. The vertical motion of the end effector 8 is decomposed into the longitudinal vertical motion of the slider 3 along the Z-axis beam 4 and the controlled rotational motion of the first swing arm 6 in the vertical two-dimensional space. The controlled rotational motion of the first swing arm 6 in the vertical two-dimensional space is driven by the coupling of the first rotation mechanism and the third rotation mechanism to realize the swing of the first swing arm 6. The longitudinal movement of the Z1-axis slide plate 5 on the Z-axis beam 4 can also lift the first swing arm 6 upward, realizing the vertical movement of the end effector 8. At the same time, the Z-axis beam 4 can also perform longitudinal vertical movement along the slider 3 as compensation for the vertical movement of the first swing arm 6.

[0032] like Figure 4 As shown, the motion trajectory of the end effector 8 between station one and station two when the robot handles the workpiece is illustrated. Station one and station two are at the same height. Because the Z-axis beam 4 can move vertically along the slider 3, the end effector 8 can maintain the same height during operation. However, as... Figure 5 As shown, when there is a height difference between workstation 1 and workstation 2, the Z-axis beam 4 moves vertically along the slider 3 to compensate for the height difference, which can meet the scenario where there is a height difference between workstations.

[0033] like Figure 1 and 2As shown, furthermore, since the Z-axis crossbeam 4 itself is quite heavy, and the load is also quite heavy, in some embodiments, the slider 3 is also equipped with a balancing cylinder 9, one end of which is connected to the Z-axis crossbeam 4. The balancing cylinder 9 can balance the weight of the entire Z-axis crossbeam 4 and its load, improving the dynamic response capability of the entire system.

[0034] like Figure 1 and 2 As shown, specifically, the first drive mechanism includes a first servo motor 21 and a first synchronous belt 22 mounted on the Y-axis beam 2. The first servo motor 21 is drive-connected to the first synchronous belt 22, and the slider 3 is fixedly connected to the first synchronous belt 22. The second drive mechanism includes a second servo motor 31 and a second synchronous belt 32 mounted on the slider 3. Both ends of the second synchronous belt 32 are fixed to the Z-axis beam 4. The third drive mechanism includes a third servo motor 41 and a third synchronous belt 42 mounted on the Z-axis beam 4. The third servo motor 41 is drive-connected to the third synchronous belt 42, and the Z1-axis slide plate 5 is fixedly connected to the third synchronous belt 42.

[0035] like Figure 1 As shown, specifically, in some embodiments, the first rotating mechanism includes a fourth servo motor 51, and one end of the first rocker arm 6 is connected to the output end of the fourth servo motor 51. The third rotating mechanism includes a fifth servo motor 43 and a first planetary reducer 44, the output end of the fifth servo motor 43 is connected to the input end of the first planetary reducer 44, and the output end of the first planetary reducer 44 is connected to one end of the second rocker arm 7. The second rotating mechanism includes a sixth servo motor 61 and a second planetary reducer, the input end of the second planetary reducer is connected to the sixth servo motor 61, and the output end is connected to the end effector 8.

[0036] While the above disclosure is provided, the scope of protection of this disclosure is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of this disclosure, and all such changes and modifications will fall within the scope of protection of this application.

Claims

1. A single-arm robotic arm for high-speed stamping lines of new energy vehicles, characterized in that, include A base (1) is provided with a Y-axis beam (2), and a slider (3) and a first driving mechanism for driving the slider (3) to move laterally on the Y-axis beam (2) are provided on the Y-axis beam (2). The Z-axis beam (4) is longitudinally slidably mounted on the slider (3), and the slider (3) is also provided with a second driving mechanism for driving the Z-axis beam (4) to move on the slider (3); Z1 axis slide plate (5) is longitudinally slidably mounted on the Z-axis crossbeam (4), and the Z-axis crossbeam (4) is provided with a third drive mechanism for driving the Z1 axis slide plate (5) to move on the Z-axis crossbeam (4); The first swing arm (6) is connected at one end to the output end of the first rotating mechanism on the Z1 axis slide plate (5), and at the other end to the second rotating drive mechanism. The output end of the second rotating mechanism is provided with an end effector (8). The second swing arm (7) is connected at one end to the output end of the third rotating mechanism at the bottom of the Z-axis beam (4), and at the other end to the middle of the first swing arm (6).

2. The single-arm robotic arm for high-speed stamping lines of new energy vehicles according to claim 1, characterized in that, The slider (3) is also equipped with a balance cylinder (9), one end of which is connected to the Z-axis beam (4).

3. The single-arm robotic arm for high-speed stamping lines of new energy vehicles according to claim 1, characterized in that, The first drive mechanism includes a first servo motor (21) and a first synchronous belt (22) mounted on the Y-axis beam (2). The first servo motor (21) is connected to the first synchronous belt (22) in a transmission connection, and the slider (3) is fixedly connected to the first synchronous belt (22).

4. The single-arm robotic arm for high-speed stamping lines of new energy vehicles according to claim 1, characterized in that, The second drive mechanism includes a second servo motor (31) and a second synchronous belt (32) mounted on the slider (3), with both ends of the second synchronous belt (32) fixed on the Z-axis beam (4).

5. The single-arm robotic arm for high-speed stamping lines of new energy vehicles according to claim 1, characterized in that, The third drive mechanism includes a third servo motor (41) and a third synchronous belt (42) mounted on the Z-axis beam (4). The third servo motor (41) is connected to the third synchronous belt (42) in a transmission connection, and the Z1 axis slide plate (5) is fixedly connected to the third synchronous belt (42).

6. The single-arm robotic arm for high-speed stamping lines of new energy vehicles according to claim 1, characterized in that, The first rotating mechanism includes a fourth servo motor (51), and one end of the first swing arm (6) is connected to the output end of the fourth servo motor (51).

7. The single-arm robotic arm for high-speed stamping lines of new energy vehicles according to claim 1, characterized in that, The third rotating mechanism includes a fifth servo motor (43) and a first planetary reducer (44). The output end of the fifth servo motor (43) is connected to the input end of the first planetary reducer (44), and the output end of the first planetary reducer (44) is connected to one end of the second rocker arm (7).

8. The single-arm robotic arm for high-speed stamping lines of new energy vehicles according to claim 1, characterized in that, The second rotating mechanism includes a sixth servo motor (61) and a second planetary reducer. The input end of the second planetary reducer is connected to the sixth servo motor (61), and the output end is connected to the end effector (8).

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