High-speed carrying manipulator and punching machine

Abstract

The utility model discloses a high-speed carrying manipulator and a punching machine. The high-speed carrying manipulator comprises a support, mechanical arms, an x-axis cam structure and an lx rotating cam structure, clamping arms are arranged on the mechanical arms, and at least two clamping arms arranged on the two mechanical arms are matched with each other to form a clamp; the x-axis cam structure is in transmission fit with the mechanical arm, the x-axis cam structure can convert the rotating motion around the x axis of the x-axis cam structure into the linear reciprocating motion of the mechanical arm along the x axis, the lx rotating cam structure is in transmission fit with the mechanical arm, and the lx rotating cam structure can convert the rotating motion around the x axis of the lx rotating cam structure into the rotating motion of the mechanical arm around the x axis. The first cam / the second cam is driven by the power of the main shaft of the punching machine, so that the clamps are driven to move, products are carried and transferred, and the working efficiency is improved while the equipment structure is simplified.

Description

Technical Field

[0001] The utility model particularly relates to a high-speed handling manipulator and a punching machine, belonging to the technical field of handling manipulators. Background Art

[0002] Multi-station handling manipulators are used for handling products at multiple stations or handling multiple products at a single station. For example, products on a punching machine need to go through multiple stations and be formed multiple times, and it is necessary to move the product from the previous station to the next station.

[0003] At present, most multi-station handling manipulators on the market are designed with servo motors, lead screws, cylinders, etc. For example, ZL20220768915.7 discloses a multi-station handling manipulator, and its main structure uses a right and left hand lead screw and a cylinder to control the movement of the manipulator in the X and Y directions; 202221103360.0 discloses an automated production line for square energy storage batteries, and the manipulator that transports the product to the conveyor belt after stretching on the punching machine is similar to the structure disclosed in ZL20220768915.7, which uses full servo control, is processed with steel at both ends, and connected with aluminum profiles in the middle. The main defects of the above manipulator patents include: short stroke, slow speed, poor accuracy, and it is difficult to meet the production speed of 100 PPM. Summary of the Utility Model

[0004] The main purpose of the present utility model is to provide a high-speed handling manipulator and a punching machine, so as to overcome the deficiencies in the prior art.

[0005] To achieve the aforementioned utility model purpose, the technical solutions adopted by the present utility model include:

[0006] The first aspect of the embodiment of the present utility model provides a high-speed handling manipulator, including:

[0007] A bracket,

[0008] At least two groups of robotic arms, at least two groups of the robotic arms are sequentially arranged at intervals along the y-axis of a three-dimensional coordinate system on the bracket and are movably matched with the bracket, at least one clamping arm is arranged on each robotic arm, and at least two clamping arms respectively arranged on two adjacent robotic arms cooperate with each other to form a fixture;

[0009] At least two groups of robotic arms, at least two groups of the robotic arms are sequentially arranged at intervals along the y-axis of a three-dimensional coordinate system on the bracket and are movably matched with the bracket, at least one clamping arm is arranged on each robotic arm, and at least two clamping arms respectively arranged on two adjacent robotic arms cooperate with each other to form a fixture;

[0010] At least one x-axis cam structure, which is in transmission cooperation with the robotic arm. The x-axis cam structure can convert its rotational motion about the x-axis into a linear reciprocating motion of the robotic arm along the x-axis;

[0011] At least one lx rotating cam structure, which is in transmission cooperation with the robotic arm. The lx rotating cam structure can convert its rotational motion about the x-axis into a rotational motion of the robotic arm about the x-axis.

[0012] A second aspect of the embodiment of the present utility model provides a punching machine, which includes: a punching machine main body and the high-speed handling robotic arm. The high-speed handling robotic arm is used to transfer products in the stamping processing die area of the punching machine main body. Moreover, the first cam and the second cam of the high-speed handling robotic arm are in transmission connection with the rotating main shaft of the punching machine main body.

[0013] Compared with the prior art, the advantages of the present utility model include: A multi-station high-speed handling robotic arm provided by the present utility model is used to handle and transfer multiple products formed by punching. This multi-station high-speed handling robotic arm utilizes the power of the punching machine main shaft to drive the first cam / second cam, thereby driving the movement of each fixture and realizing the handling and transfer of products. The precise timing trajectory of the cam can achieve high-speed and precise handling of products at multiple stations, improving work efficiency while simplifying the equipment structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings described below are only some embodiments recorded in the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0015] Figure 1 It is a schematic diagram of the overall structure of a high-speed handling robotic arm provided in a typical embodiment of the present utility model;

[0016] Figure 2 It is a schematic diagram of the overall structure of a high-speed handling robotic arm provided in a typical embodiment of the present utility model;

[0017] Figure 3 It is a schematic diagram of the structure of the lx rotating cam structure in a high-speed handling robotic arm provided in a typical embodiment of the present utility model;

[0018] Figure 4 It is a schematic diagram of the structure of the lx rotating cam structure in a high-speed handling robotic arm provided in a typical embodiment of the present utility model;

[0019] Figure 5 It is a schematic structural diagram of an lx rotating cam structure in a high-speed handling robot provided in a typical embodiment of the present utility model. Detailed implementation manners

[0020] In view of the deficiencies in the prior art, the inventor of this case has proposed the technical solution of the present utility model through long-term research and a large number of practices. The following will further explain the technical solution, its implementation process, principle, etc.

[0021] The first aspect of the embodiment of the present utility model provides a high-speed handling robot, including:

[0022] A bracket,

[0023] At least two groups of robotic arms, at least two groups of the robotic arms are sequentially arranged on the bracket at intervals along the y-axis of a three-dimensional coordinate system and are movably matched with the bracket. At least one clamping arm is arranged on each robotic arm, and at least two clamping arms respectively arranged on two adjacent robotic arms cooperate with each other to form a fixture;

[0024] At least one x-axis cam structure, the x-axis cam structure is in transmission cooperation with the robotic arm, and the x-axis cam structure can convert its rotational motion around the x-axis into a linear reciprocating motion of the robotic arm along the x-axis;

[0025] At least one lx rotating cam structure, the lx rotating cam structure is in transmission cooperation with the robotic arm, and the lx rotating cam structure can convert its rotational motion around the x-axis into a rotational motion of the robotic arm around the x-axis.

[0026] Further, the x-axis cam structure includes a first cam and a first cam follower. The first cam can rotate around its own axis. A first cam groove is arranged on the first cam. The first cam follower is movably arranged in the first cam groove. The first cam follower can move along the first cam groove and reciprocate along the x-axis of the three-dimensional coordinate system relative to the first cam. At least two groups of the robotic arms are also fixedly connected to the first cam follower and can reciprocate along the x-axis synchronously with the first cam follower;

[0027] The lx rotating cam structure includes a second cam, a second cam follower and at least one group of transmission rod groups, the second cam can rotate around its own axis, the second cam is provided with a second cam groove, the second cam follower is movably arranged in the second cam groove, the second cam follower can move along the second cam groove and reciprocate along the z-axis of the three-dimensional coordinate system relative to the second cam, the second cam follower is connected to the robot arm through a group of transmission rod groups, and the transmission rod group can convert the reciprocating motion of the second cam follower along the z-axis into the rotational motion of the robot arm around the x-axis.

[0028] Furthermore, the x-axis cam structure also includes a drive plate, which is arranged on the bracket, and the drive plate is fixedly connected to the first cam follower. On the x-axis, the drive plate and the bracket are movably matched, and the robotic arm is fixedly matched with the drive plate, and the robotic arm can reciprocate along the x-axis synchronously with the drive plate.

[0029] Furthermore, the driving plate is movably matched with the bracket via a linear guide slider assembly.

[0030] Furthermore, the lx rotating cam structure is fixedly matched with the driving plate, and the lx rotating cam structure can reciprocate along the x-axis synchronously with the driving plate and the robotic arm.

[0031] Furthermore, the first cam and the second cam are movably matched on the x-axis but can rotate synchronously around the x-axis.

[0032] Furthermore, the first cam and the second cam are connected via a spline shaft.

[0033] Further, the first cam groove is arranged on the circumferential side surface of the first cam, and the second cam groove is arranged on the axial end surface of the second cam.

[0034] Furthermore, the axes of the first cam and the second cam are both parallel to the x-axis.

[0035] Furthermore, the first cam and the second cam are coaxially arranged.

[0036] Furthermore, the transmission rod group includes a first transmission rod, a second transmission rod, a third transmission rod, a fourth transmission rod and a fifth transmission rod which are connected end to end in sequence and rotatably matched, the first transmission rod is also fixedly connected to the second cam follower, the fifth transmission rod is also connected to the robotic arm, the fifth transmission rod and the robotic arm can generate relative motion on the x-axis, and the fifth transmission rod and the robotic arm can rotate synchronously around the x-axis.

[0037] Furthermore, the first transmission rod is configured to be able to perform linear motion only along the z-axis, the third transmission rod is configured to be able to perform linear motion only along the y-axis, the fifth transmission rod is also connected to the robotic arm, and the fifth transmission rod and the robotic arm can generate relative motion on the x-axis, the fifth transmission rod and the robotic arm can rotate synchronously around the x-axis, when the first transmission rod and the second cam follower move synchronously along the z-axis, the third transmission rod moves along the y-axis, the second transmission rod, the fourth transmission rod and the fifth transmission rod rotate around the x-axis, and the fifth transmission rod also rotates synchronously with the robotic arm around the x-axis.

[0038] Furthermore, a limit plate is fixedly arranged on the driving plate, the limit plate is fixedly arranged on the driving plate, and the third transmission rod is rotationally matched with the limit plate.

[0039] Furthermore, the mechanical arm is connected to the lx rotating cam structure via a spline shaft.

[0040] Furthermore, the robotic arm is coaxial with the spline shaft and fixedly connected, the fifth transmission rod cooperates with the spline shaft, the fifth transmission rod and the spline shaft are movably matched on the x-axis, and the fifth transmission rod and the spline shaft can rotate synchronously around the x-axis.

[0041] In a more specific implementation manner, the high-speed transport robot comprises: two lx rotating cam structures, and the two lx rotating cam structures are arranged at two ends of the robot arm along the x-axis.

[0042] Furthermore, the lx rotating cam structure includes two transmission rod groups, the two transmission rod groups are connected to the same second cam follower, and the second cam and the second cam follower respectively drive the two robotic arms to move toward each other along the y-axis simultaneously through the two transmission rod groups.

[0043] The second aspect of the embodiment of the utility model provides a punch press, which includes: a punch press body and the high-speed transport robot, the high-speed transport robot is used to transfer products in the stamping processing mold area of ​​the punch press body, and the first cam and the second cam of the high-speed transport robot are transmission-connected to the rotating main shaft of the punch press body.

[0044] The technical solution, its implementation process and principle will be further explained below in conjunction with the accompanying drawings and specific implementation cases. Unless otherwise specified, the main structure, motor, spline shaft, cam and cam follower of the punch press in the embodiment of the utility model are all known to those skilled in the art and can be purchased commercially. The specific structure and model are not limited here.

[0045] Example

[0046] Please refer to Figure 1 and Figure 2 Figure 2

[0047] The high-speed handling manipulator includes: a bracket 200, an x-axis cam structure 300, an lx rotating cam structure 400, an lx auxiliary rotating cam structure 500, two groups of robotic arms 600, and a plurality of clamping arms 700. The two groups of robotic arms 600 are sequentially arranged at intervals along the y-axis of a three-dimensional coordinate system on the bracket 200 and are movably engaged with the bracket 200. The plurality of clamping arms 700 are respectively installed on the two groups of robotic arms 600, and the plurality of clamping arms 700 are combined to form a plurality of jigs. Each jig includes two clamping arms 700. The two clamping arms 700 included in the same jig are respectively arranged on the two groups of robotic arms 600. The plurality of clamping arms 700 arranged on each robotic arm 600 are sequentially arranged at intervals along the x-axis of the three-dimensional coordinate system. The x-axis cam structure 300 is in transmission cooperation with the robotic arm 600, and the x-axis cam structure 300 can convert its rotational motion around the x-axis into a linear reciprocating motion of the robotic arm 600 along the x-axis; the lx rotating cam structure 400 and the lx auxiliary rotating cam structure 500 are arranged at intervals along the x-axis on the bracket 200. The lx rotating cam structure 400 and the lx auxiliary rotating cam structure 500 are respectively in transmission cooperation with the two groups of robotic arms 600 at the same time. The lx rotating cam structure 400 and the lx auxiliary rotating cam structure 500 can convert their rotational motion around the x-axis into the rotational motion of the two groups of robotic arms 600 around the x-axis.

[0048] Specifically, the clamping arm 700 is fixedly installed on the robotic arm 600 and can perform a linear reciprocating motion along the x-axis or a rotational motion around the x-axis synchronously with the robotic arm 600; it should be noted that the clamping arm 700 can be fixedly installed on the robotic arm 600 through structures or methods known to those skilled in the art. Exemplarily, the clamping arm 700 can be fixed on the robotic arm 600 by any one of welding, adhesives, threaded fittings, mortise and tenon, etc. More specifically, the two clamping arms 700 included in each jig are arranged opposite to each other along the y-axis. The specific structure of each clamping arm 700 is not limited herein. The two clamping arms 700 included in each jig realize the clamping and fixing or release of the workpiece / product located between them by rotating around the x-axis with the robotic arm 600. It can be understood that for the clamping arm 700, when the robotic arm 600 reciprocally rotates with the lx rotating cam structure 400, the rotation angle of the clamping arm 700 is not 360°, and it can be regarded as a swing with the x-axis as the axis.

[0049] Specifically, please refer to Figure 2 and Figure 3 as well. The x-axis cam structure 300 includes a first cam 310, a first cam follower 320, and a drive plate 330. The first cam 310 is mounted on the bracket 200 and is rotationally engaged with the bracket 200. The axis of the first cam 310 is parallel to the x-axis (the axis of the first cam 310 can be regarded as the x-axis). The first cam 310 can rotate about its own axis. A first cam groove 311 is provided on the first cam 310. The first cam follower 320 is movably disposed in the first cam groove 311. The first cam follower 320 can move along the first cam groove 311 and reciprocate along the x-axis of the three-dimensional coordinate system relative to the first cam 310. The drive plate 330 is disposed on the bracket 200. The drive plate 330 is movably engaged with the bracket 200 and is fixedly connected to the first cam follower 320. Two sets of robotic arms 600 are respectively fixedly connected to the drive plate 330. The robotic arms 600 and the drive plate 330 can reciprocate along the x-axis together with the first cam follower 320, thereby realizing the reciprocating movement of a plurality of jigs mounted on the robotic arms 600 along the x-axis, and further realizing the transfer of the product / workpiece on the x-axis. More specifically, the first cam groove 311 is provided on the circumferential side surface (i.e., the rotating surface) of the first cam 310. More specifically, the first cam groove 311 is a closed annular structure spirally arranged along the circumferential and axial directions of the first cam 310.

[0050] Specifically, the first cam 310 is mounted on the bracket 200 and can only rotate about the x-axis. Exemplarily, the first cam 310 can be connected to the bracket 200 via a bearing. Specifically, the drive plate 330 is movably engaged with the bracket 200, and the drive plate 330 is configured to be able to perform a linear motion along the x-axis only on the bracket 200. Exemplarily, the drive plate 330 is connected to the bracket 200 through a linear guide rail slider assembly to achieve the movable engagement. The specific structure of the linear guide rail slider assembly is not specifically defined herein.

[0051] Specifically, please refer to Figure 2 、 Figure 4 and Figure 5The structures of the lx rotating cam structure 400 and the lx auxiliary rotating cam structure 500 can be the same, and the lx auxiliary rotating cam structure 500 can also be regarded as the lx rotating cam structure 400. The specific structure and working principle of the lx rotating cam structure 400 are explained below by taking the lx rotating cam structure 400 as an example, and those skilled in the art can understand the structure of the lx auxiliary rotating cam structure 500 without any objection. Specifically, the lx rotating cam structure 400 includes a second cam 410, a second cam follower and two groups of transmission rod groups 420. The second cam 410 can rotate around its own axis. The second cam 410 is provided with a second cam groove. The second cam follower is movably arranged in the second cam groove. The second cam follower can move along the second cam groove and reciprocate along the z-axis of the three-dimensional coordinate system relative to the second cam 410. The second cam follower is respectively connected to the two groups of the mechanical arms 600 through the two groups of the transmission rod groups 420. The transmission rod group 420 can convert the reciprocating motion of the second cam follower along the z-axis into the rotational motion of the mechanical arm 600 around the x-axis. It can be understood that the two groups of mechanical arms 600 rotate synchronously, and the rotational motion of the two groups of mechanical arms 600 is to rotate towards or away from each other. In addition, as mentioned above, the rotational motion of the mechanical arm 600 is a rotation within a certain angle range, and the rotational motion of the mechanical arm 600 can be understood as swinging.

[0052] Specifically, the transmission rod group 420 includes a first transmission rod 421, a second transmission rod 422, a third transmission rod 423, a fourth transmission rod 424 and a fifth transmission rod 425 which are connected end to end in sequence and rotated together. The first transmission rod 421 is also fixedly connected to the second cam follower. The first transmission rod 421 can make a linear reciprocating motion along the z-axis together with the second cam follower. The fifth transmission rod 425 is also connected to the robot arm 600 via a spline shaft 800. The fifth transmission rod 425 and the robot arm 600 can generate relative motion on the x-axis, and the fifth transmission rod 425 and the robot arm 600 can rotate synchronously around the x-axis. , the third transmission rod 423 is configured to be able to make linear motion only along the y-axis, the fifth transmission rod 425 is also connected to the robotic arm 600, and the fifth transmission rod 425 and the robotic arm 600 can generate relative motion on the x-axis, the fifth transmission rod 425 and the robotic arm 600 can rotate synchronously around the x-axis, when the first transmission rod 421 and the second cam follower move synchronously along the z-axis, the third transmission rod 423 moves along the y-axis, the second transmission rod 422, the fourth transmission rod 424 and the fifth transmission rod 425 rotate around the x-axis, and the robotic arm 600 and the fifth transmission rod 425 rotate synchronously around the x-axis.

[0053] More specifically, the robotic arm 600 is coaxially and fixedly connected to the spline shaft 800. The fifth transmission rod 425 cooperates with the spline shaft 800. The fifth transmission rod 425 is movably engaged with the spline shaft 800 on the x-axis, and the fifth transmission rod 425 and the spline shaft 800 can rotate synchronously about the x-axis.

[0054] More specifically, when the two first transmission rods 421 of the two transmission rod groups 420 move linearly along the z-axis, the two third transmission rods 423 of the two transmission rod groups 420 move towards or away from each other along the y-axis, and the two fifth transmission rods 425 of the two transmission rod groups 420 rotate towards or away from each other about the z-axis, so as to realize the rotation of the two robotic arms 600 towards or away from each other, and further realize the opening or closing of multiple clamps provided on the two robotic arms 600. More specifically, the two first transmission rods 421 of the two transmission rod groups 420 can be provided integrally.

[0055] More specifically, the lx rotating cam structure 400 is fixedly engaged with the driving plate 330, and the lx rotating cam structure 400 can reciprocate along the x-axis synchronously with the driving plate 330 and the robotic arm 600. Among them, the first cam 310 and the second cam 410 are movably engaged on the x-axis but can rotate synchronously about the x-axis. Exemplarily, the first cam 310 and the second cam 410 are connected by a spline shaft. More specifically, in order to enable each transmission rod in the transmission rod group 420 to perform the restricted movement described above, a limiting plate is fixedly provided on the driving plate 330, and the third transmission rod 423 is rotatably engaged with the limiting plate.

[0056] Specifically, the axes of the first cam 310 and the first cam 310 are both parallel to the x-axis. The first cam groove 311 is provided on the circumferential side surface of the first cam 310, and the second cam groove is provided on the axial end surface of the second cam 410. More specifically, the first cam 310 and the second cam 410 are coaxially arranged. The second cam 410 is movably engaged with the bracket 200. And, in order to enable the first cam 310 and the second cam 410 to generate relative movement on the x-axis and rotate synchronously about the x-axis, the first cam 310 and the second cam 410 can be connected by a spline shaft. The specific connection method and structure are known to those skilled in the art and are not specifically limited herein.

[0057] More specifically, the first cam 310 and the second cam 410 are in transmission cooperation with the driving mechanism of the punching machine, that is, the high-speed handling robot is powered by the punching machine and realizes clamping, releasing, and handling of workpieces / products on the stamping processing station.

[0058] A multi-station high-speed handling manipulator provided by the utility model is used for handling and transferring a plurality of products formed by punching machine processing. The multi-station high-speed handling manipulator uses the power of the punching machine main shaft to drive the first cam / second cam, thereby driving the movement of each fixture and realizing the handling and transfer of products. The precise timing trajectory of the cam can realize the high-speed and precise handling of products at multiple stations, improving the work efficiency while simplifying the equipment structure.

[0059] Although the present utility model has been described with reference to the illustrative embodiments, those skilled in the art will understand that various other changes, omissions and / or additions can be made without departing from the spirit and scope of the present utility model, and the elements of the embodiments can be replaced with substantial equivalents. In addition, many modifications can be made without departing from the scope of the present utility model to adapt a particular situation or material to the teachings of the present utility model. Therefore, the present utility model is not intended to be limited to the specific embodiments disclosed for carrying out the present utility model, but is intended to cover all embodiments falling within the scope of the appended claims. Furthermore, unless specifically stated, any use of the terms first, second, etc. does not denote any order or importance, but the terms first, second, etc. are used to distinguish one element from another element.

[0060] It should be understood that the above embodiments are only for illustrating the technical concept and features of the present utility model, and the purpose is to enable those skilled in the art to understand the content of the present utility model and implement it accordingly, and it cannot be used to limit the protection scope of the present utility model. Any equivalent changes or modifications made according to the spirit and essence of the present utility model should be covered within the protection scope of the present utility model.

Claims

1. A high-speed handling robot, characterized in that: include: Bracket, At least two groups of mechanical arms, at least two groups of the mechanical arms are sequentially arranged on the bracket along the y-axis of a three-dimensional coordinate system and movably cooperate with the bracket, each of the mechanical arms is provided with at least one clamping arm, and at least two clamping arms respectively arranged on two adjacent mechanical arms cooperate with each other to form a clamp; at least one x-axis cam structure, the x-axis cam structure being in transmission cooperation with the robotic arm, the x-axis cam structure being capable of converting its own rotational motion around the x-axis into linear reciprocating motion of the robotic arm along the x-axis; At least one lx rotating cam structure, the lx rotating cam structure is in transmission cooperation with the mechanical arm, and the lx rotating cam structure can convert its own rotational motion around the x-axis into the rotational motion of the mechanical arm around the x-axis.

2. The high-speed transport robot according to claim 1, characterized in that: The x-axis cam structure comprises a first cam and a first cam follower, the first cam can rotate around its own axis, the first cam is provided with a first cam groove, the first cam follower is movably provided in the first cam groove, the first cam follower can move along the first cam groove, and reciprocate along the x-axis of the three-dimensional coordinate system relative to the first cam, at least two groups of the mechanical arms are also fixedly connected to the first cam followers, and can reciprocate along the x-axis synchronously with the first cam followers; The lx rotating cam structure includes a second cam, a second cam follower and at least one group of transmission rod groups, the second cam can rotate around its own axis, the second cam is provided with a second cam groove, the second cam follower is movably arranged in the second cam groove, the second cam follower can move along the second cam groove and reciprocate along the z-axis of the three-dimensional coordinate system relative to the second cam, the second cam follower is connected to the robot arm through a group of transmission rod groups, and the transmission rod group can convert the reciprocating motion of the second cam follower along the z-axis into the rotational motion of the robot arm around the x-axis.

3. The high-speed transport robot according to claim 2, characterized in that: The x-axis cam structure also includes a drive plate, which is arranged on the bracket. The drive plate is fixedly connected to the first cam follower. On the x-axis, the drive plate and the bracket are movably matched, and the robotic arm is fixedly matched with the drive plate. The robotic arm can reciprocate along the x-axis synchronously with the drive plate.

4. The high-speed transport robot according to claim 3, characterized in that: The driving plate is movably matched with the bracket via a linear guide rail slider assembly.

5. The high-speed transport robot according to claim 3, characterized in that: The lx rotating cam structure is fixedly matched with the driving plate, and the lx rotating cam structure can reciprocate along the x-axis synchronously with the driving plate and the mechanical arm.

6. The high-speed transport robot according to claim 5, characterized in that: The first cam and the second cam are movably matched on the x-axis but can rotate synchronously around the x-axis.

7. The high-speed transport robot according to claim 6, characterized in that: The first cam and the second cam are connected via a spline shaft.

8. The high-speed transport robot according to claim 5, characterized in that: The first cam groove is provided on a circumferential side surface of the first cam, and the second cam groove is provided on an axial end surface of the second cam.

9. The high-speed transport robot according to claim 5, characterized in that: The first cam and the axis of the second cam are both parallel to the x-axis.

10. The high-speed transport robot according to claim 9, characterized in that: The first cam is coaxially arranged with the second cam.

11. The high-speed transport robot according to claim 3, characterized in that: The transmission rod group includes a first transmission rod, a second transmission rod, a third transmission rod, a fourth transmission rod and a fifth transmission rod which are connected end to end in sequence and rotated together. The first transmission rod is also fixedly connected to the second cam follower, and the fifth transmission rod is also connected to the robotic arm. The fifth transmission rod and the robotic arm can generate relative motion on the x-axis, and the fifth transmission rod and the robotic arm can rotate synchronously around the x-axis.

12. The high-speed transport robot according to claim 11, characterized in that: The first transmission rod is configured to be able to perform linear motion only along the z-axis, the third transmission rod is configured to be able to perform linear motion only along the y-axis, the fifth transmission rod is also connected to the robotic arm, and the fifth transmission rod and the robotic arm can generate relative motion on the x-axis, the fifth transmission rod and the robotic arm can rotate synchronously around the x-axis, when the first transmission rod and the second cam follower move synchronously along the z-axis, the third transmission rod moves along the y-axis, the second transmission rod, the fourth transmission rod and the fifth transmission rod rotate around the x-axis, and the fifth transmission rod also rotates synchronously with the robotic arm around the x-axis.

13. The high-speed transport robot according to claim 11, characterized in that: A limit plate is also fixedly arranged on the driving plate, and the limit plate is fixedly arranged on the driving plate. The third transmission rod is rotatably matched with the limit plate.

14. The high-speed transport robot according to claim 11 or 12, characterized in that: The mechanical arm is connected to the lx rotating cam structure via a spline shaft.

15. The high-speed transport robot according to claim 14, characterized in that: The mechanical arm is coaxial with the spline shaft and fixedly connected, the fifth transmission rod cooperates with the spline shaft, the fifth transmission rod and the spline shaft are movably matched on the x-axis, and the fifth transmission rod and the spline shaft can rotate synchronously around the x-axis.

16. The high-speed transport robot according to claim 2, characterized in that: include: Two lx rotating cam structures are arranged at two ends of the mechanical arm along the x-axis.

17. The high-speed transport robot according to claim 16, characterized in that: The lx rotating cam structure includes two transmission rod groups, the two transmission rod groups are connected to the same second cam follower, and the second cam and the second cam follower respectively drive the two mechanical arms to move toward each other along the y-axis simultaneously through the two transmission rod groups.

18. A punching machine, characterized in that include: A punch press body and the high-speed transport robot described in any one of claims 1-17, wherein the high-speed transport robot is used to transfer products in the stamping die area of ​​the punch press body, and the first cam and the second cam of the high-speed transport robot are drivingly connected to the rotating spindle of the punch press body.

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