Punch manipulator displacement compensation device and punch using same

Abstract

The utility model discloses a punch manipulator displacement compensation device and a punch using the same. The punch manipulator displacement compensation device comprises a linear driving mechanism, a transmission mechanism, a connecting rod, a driven side guide rail and a clamping jaw connecting plate, the displacement compensation device of the punching machine manipulator is configured as follows: the linear driving mechanism drives the mechanical clamping jaw on the clamping jaw connecting plate to move in the length direction of the extension arm of the manipulator through the transmission mechanism and the connecting rod; and under the condition that the feeding distance of the extension arm of the manipulator is not changed, the displacement compensation distance of the mechanical clamping jaw on the clamping jaw connecting plate is increased by one section. According to the scheme, it is guaranteed that the feeding distance of the mechanical arm is not changed, complex transformation or replacement of the whole mechanical arm is not needed, the feeding displacement of the punching machine mechanical arm can be increased, the production requirement is met, and the scheme has the advantages of being low in cost, high in reliability, good in effect and the like.

Description

Technical Field

[0001] This utility model relates to the field of punch press technology, and in particular to a displacement compensation device for a punch press robot and a punch press using the same. Background Technology

[0002] The statements in this section are merely background information related to this application and do not necessarily constitute prior art.

[0003] Two-dimensional robotic arms for punch presses are generally used to grip and move materials, enabling loading, unloading, and feeding functions within the punch press. Since sheet metal often cannot be formed in a single stamping operation, multiple processes are required within the punch press to stamp the sheet metal multiple times. The two-dimensional robotic arm is responsible for gripping and transporting the material to the corresponding stamping positions in each process. However, the displacement during material loading is greater than the displacement of the material between processes within the punch press; therefore, displacement compensation is necessary when the robotic arm grips and loads the material.

[0004] For example, the displacement of the currently used 2D robotic arm in the X direction is 300mm, while the loading distance of the punch press is 631.5mm. The current displacement of the 2D robotic arm in the X direction cannot realize the loading function of the punch press, thus failing to meet production needs.

[0005] Therefore, how to solve the problem that the existing two-dimensional manipulators for punch presses cannot perform displacement compensation and cannot meet production needs has become the research topic to be solved by this utility model. Utility Model Content

[0006] The purpose of this invention is to provide a displacement compensation device for a punch press robot and a punch press using the same.

[0007] To achieve the above objectives, the first aspect of this utility model proposes a displacement compensation device for a punch press robot, used for displacement compensation of the mechanical grippers during robot loading. Its innovation lies in:

[0008] The displacement compensation device for the punch press robot is installed on the extended arm of the robot. The displacement compensation device for the punch press robot includes a linear drive mechanism, a transmission mechanism, a connecting rod, a driven side guide rail, and a gripper connecting plate.

[0009] The linear drive mechanism and the driven side guide rail are sequentially installed along the length of the extended arm. The drive end of the linear drive mechanism is connected to the transmission mechanism, the transmission mechanism is connected to the connecting rod, the connecting rod is connected to the gripper connecting plate, and the gripper connecting plate is slidably installed on the driven side guide rail. The gripper connecting plate has a mounting position for positioning and installing the mechanical gripper.

[0010] The displacement compensation device for the punch press robot is configured such that the linear drive mechanism drives the mechanical gripper on the gripper connecting plate to move along the length direction of the robot's extended arm through the transmission mechanism and connecting rod, so as to increase the displacement compensation distance of the mechanical gripper on the gripper connecting plate while keeping the feeding distance of the robot's extended arm unchanged.

[0011] To achieve the above objectives, a second aspect of this utility model provides a punch press that uses the punch press robot displacement compensation device as described in the first aspect of this utility model.

[0012] The relevant contents of this utility model are explained as follows:

[0013] 1. The implementation of the above-mentioned technical solution of this utility model addresses the problem that existing two-dimensional manipulators for punch presses cannot perform displacement compensation during material feeding, thus failing to meet production requirements. It innovatively designs a displacement compensation device for a punch press manipulator, and a punch press using this device. In this displacement compensation device, the device is installed on the extended arm of the manipulator. The device includes a linear drive mechanism, a transmission mechanism, a connecting rod, a driven side guide rail, and a gripper connecting plate. The linear drive mechanism, through the transmission mechanism and the connecting rod, drives the mechanical grippers on the gripper connecting plate to move along the length of the extended arm of the manipulator. This increases the displacement compensation distance of the mechanical grippers on the gripper connecting plate while maintaining the same feeding distance of the extended arm. Therefore, it ensures that the feeding distance of the manipulator remains constant, eliminating the need for complex modifications or replacements to the entire manipulator, while increasing the feeding displacement of the punch press manipulator to meet production requirements. This solution has advantages such as low cost, high reliability, and good results.

[0014] 2. In the first aspect of the above technical solution, the linear drive mechanism includes a servo motor, which is connected to the transmission mechanism via a coupling. The use of a servo motor ensures the accuracy of displacement compensation of the mechanical gripper when the robot arm is feeding material, resulting in higher accuracy.

[0015] 3. In the first aspect of the above technical solution, the servo motor is mounted on the profile base plate through a motor plate and an active side plate. The profile base plate is connected to the extension arm of the robot through a module pad, thereby ensuring the stability and reliability of the servo motor operation and enabling the displacement compensation device of the punch press robot to be better installed on the extension arm of the original robot.

[0016] 4. In the first aspect of the above technical solution, the transmission mechanism includes a ball screw, a nut seat, a screw slider, an active side guide rail, and a slider connecting plate. The ball screw is connected to a coupling, the ball screw is connected to the nut seat via a nut, the nut seat is connected to the slider connecting plate via the screw slider, the screw slider is slidably mounted on the active side guide rail, and the active side guide rail is mounted on the profile base plate. This allows the rotation of the servo motor to be better converted into the linear motion of the connecting rod, resulting in precise and controllable displacement distance and greater stability.

[0017] 5. In the first aspect of the above technical solution, the active side plate is provided with an anti-collision pad facing the lead screw slider side to prevent the lead screw slider from colliding with the active side plate and avoid damage.

[0018] 6. In the first aspect of the above technical solution, the connecting rod adopts a fisheye connector connecting rod, the connecting rod has three sections, the middle section of the connecting rod is connected to both ends through a fisheye connector, and the two ends of the connecting rod are respectively connected to the slider connecting plate and the gripper connecting plate, so as to better transmit torque. This structure and layout are also better compatible with the extension arm of the original robot, the structure is more reasonable, the space occupation is less, and interference with other components is avoided.

[0019] 7. In the first aspect of the above technical solution, a photoelectric switch is provided on one of the lead screw slider and the profile base plate, and a sensing plate is provided on the other. The photoelectric switch is communicatively connected to the electrical control system of the punch press, so as to collect the displacement signal of the displacement compensation device through the sensing plate and the photoelectric switch, and to provide feedback on the signal through the electrical control element, thereby realizing closed-loop control of the servo motor and improving the accuracy of the system.

[0020] 8. In the first aspect of the above technical solution, the displacement compensation device of the punch press robot is arranged in pairs on the two extended arms of the robot, and then operated synchronously by electronic control to improve stability and displacement accuracy.

[0021] Due to the application of the above solution, this utility model has the following advantages and effects compared with the prior art:

[0022] In this invention, a displacement compensation device for a punch press robot is installed on the extended arm of the robot. The device includes a linear drive mechanism, a transmission mechanism, a connecting rod, a driven side guide rail, and a gripper connecting plate. The linear drive mechanism, through the transmission mechanism and the connecting rod, drives the mechanical grippers on the gripper connecting plate to move along the length of the extended arm of the robot. This increases the displacement compensation distance of the mechanical grippers on the gripper connecting plate while maintaining the same feeding distance of the extended arm. Therefore, this invention ensures that the feeding distance of the robot remains constant, eliminates the need for complex modifications or replacements to the entire robot, and increases the feeding displacement of the punch press robot to meet production requirements. This solution offers advantages such as low cost, high reliability, and good results. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the displacement compensation device for a punch press robot according to an embodiment of the present invention;

[0024] Figure 2 This is a partial schematic diagram of the displacement compensation device for a punch press robot according to an embodiment of the present invention (viewpoint 1).

[0025] Figure 3 This is a partial schematic diagram (view 2) of the displacement compensation device for the punch press robot according to an embodiment of this utility model.

[0026] The parts in the diagram are illustrated below:

[0027] 1. Linear drive mechanism

[0028] 11 Servo Motors

[0029] 12 Couplings

[0030] 2. Transmission mechanism

[0031] 21 Ball Screw

[0032] 22 Nut seat

[0033] 23. Lead screw and slider

[0034] 24 Active Side Guide Rail

[0035] 25 Slider connecting plate

[0036] 3 Connecting rods

[0037] 31 Fisheye connector

[0038] 4 Driven side guide rail

[0039] 5. Gripper connecting plate

[0040] 51 mounting positions

[0041] 61 Active side panel

[0042] 62 Module Pad

[0043] 63 Anti-collision pads

[0044] 64 Profile Cover Plate

[0045] 71 Photoelectric Switch

[0046] 72 Induction sheet

[0047] 9. Extend your arm. Detailed Implementation

[0048] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0049] The terminology used herein is for the purpose of describing specific embodiments only and is not intended to limit the scope of this work. Singular forms such as “a,” “this,” “this,” “the,” and “the” as used herein also include plural forms.

[0050] The terms "first," "second," etc., used in this article do not specifically refer to order or sequence, nor are they intended to limit this case; they are merely used to distinguish components or operations described using the same technical terms.

[0051] The terms "connection" or "positioning" as used in this article can refer to two or more components or devices making direct physical contact with each other, or making indirect physical contact with each other, or to two or more components or devices operating or moving with each other.

[0052] The terms “include,” “including,” and “have” used in this article are all open-ended, meaning they include but are not limited to.

[0053] Unless otherwise specified, the terms used herein generally have their ordinary meaning in the context of the art, the subject matter, and the specific context. Certain terms used to describe this case will be discussed below or elsewhere in this specification to provide additional guidance to those skilled in the art in describing the case.

[0054] This utility model aims to solve the problem that existing two-dimensional manipulators for punch presses cannot perform displacement compensation and cannot meet production needs. It innovatively designs a displacement compensation device for a punch press manipulator suitable for small and medium-sized punch presses, and a punch press using the displacement compensation device to increase the displacement compensation distance of the mechanical gripper on the gripper connecting plate 5 while keeping the feeding distance of the manipulator's extended arm 9 unchanged.

[0055] Example 1, as Figures 1 to 3 As shown, Embodiment 1 of this utility model proposes a displacement compensation device for a punch press robot. The displacement compensation device for the punch press robot is installed on the extended arm 9 of the robot. The displacement compensation device for the punch press robot includes a linear drive mechanism 1, a transmission mechanism 2, a connecting rod 3, a driven side guide rail 4, and a gripper connecting plate 5.

[0056] The linear drive mechanism 1 and the driven side guide rail 4 are sequentially installed along the length of the extension arm 9. The drive end of the linear drive mechanism 1 is connected to the transmission mechanism 2. The transmission mechanism 2 is connected to the connecting rod 3. The connecting rod 3 is connected to the gripper connecting plate 5. The gripper connecting plate 5 is slidably installed on the driven side guide rail 4. The gripper connecting plate 5 has a mounting position 51 for positioning and installing the mechanical gripper.

[0057] The displacement compensation device for the punch press robot is configured such that the linear drive mechanism 1 drives the mechanical gripper on the gripper connecting plate 5 to move along the length direction of the extended arm 9 of the robot through the transmission mechanism 2 and the connecting rod 3, so as to increase the displacement compensation distance of the mechanical gripper on the gripper connecting plate 5 while keeping the feeding distance of the extended arm 9 of the robot unchanged.

[0058] In one embodiment of the present invention, the linear drive mechanism 1 includes a servo motor 11, which is connected to the transmission mechanism 2 via a coupling 12. The use of the servo motor 11 ensures the accuracy of displacement compensation of the mechanical gripper when the robot arm is feeding, resulting in higher accuracy.

[0059] In another embodiment of the present invention, the servo motor 11 is mounted on the profile base plate via a motor plate and an active side plate 61. The profile base plate is connected to the extension arm 9 of the robot arm via a module pad 62, thereby ensuring the stability and reliability of the servo motor 11 and enabling the displacement compensation device of the punch press robot arm to be better installed on the extension arm 9 of the original robot arm.

[0060] In the first embodiment of this utility model, the transmission mechanism 2 includes a ball screw 21, a nut seat 22, a screw slider 23, an active side guide rail 24, and a slider connecting plate 25. The ball screw 21 is connected to the coupling 12, and the ball screw is connected to the nut seat 22 through a nut. The nut seat 22 is connected to the slider connecting plate 25 through the screw slider. The screw slider is slidably mounted on the active side guide rail 24, and the active side guide rail 24 is mounted on the profile base plate. This allows the rotation of the servo motor 11 to be better converted into the linear motion of the connecting rod 3, resulting in precise and controllable displacement distance and greater stability.

[0061] Specifically, the active side plate 61 is provided with an anti-collision pad 63 facing the lead screw slider side to prevent the lead screw slider from colliding with the active side plate 61 and avoid damage.

[0062] In another embodiment of the present invention, the connecting rod 3 is connected by a fisheye connector 31. The connecting rod 3 has three sections. The middle section of the connecting rod 3 is connected to both ends through the fisheye connector 31. The two ends of the connecting rod 3 are respectively connected to the slider connecting plate 25 and the gripper connecting plate 5 to better transmit torque. This structure and layout are also better compatible with the existing extension arm 9 of the robotic arm. The structure is more reasonable, occupies less space, and avoids interference with other components.

[0063] In one embodiment of this utility model, a photoelectric switch 71 is installed on one of the lead screw slider 23 and the profile base plate, and a sensing plate 72 is installed on the other. The photoelectric switch 71 is communicatively connected to the electrical control system of the punch press, so as to collect the displacement signal of the displacement compensation device through the sensing plate 72 and the photoelectric switch 71, and to provide feedback on the signal through the electrical control components, thereby realizing closed-loop control of the servo motor 11 and improving the accuracy of the system. Specifically, the sensing plate 72 is installed on the lead screw slider 23, and the two photoelectric switches 71 are installed at the front and rear ends of the profile base plate along its length direction through mounting plates.

[0064] Example 2: This utility model provides a punch press that uses the punch press robot displacement compensation device as described in Example 1.

[0065] In the second embodiment of this utility model, the punch press has a robot arm with two extended arms 9. The displacement compensation device of the punch press robot arm is arranged in pairs on the two extended arms 9 of the robot arm. The gripper connecting plate 5 is displaceably and supplementarily arranged on the driven side guide rail 4. This enables the punch press to increase the feeding displacement of the punch press robot arm while ensuring that the feeding distance of the robot arm remains unchanged and without the need for complex modification or replacement of the robot arm as a whole, thereby meeting more production needs.

[0066] The present invention will be further described below with reference to one more specific detailed embodiment.

[0067] Figure 1 This is a general structural diagram of a displacement compensation device for a punch press robot. In this detailed embodiment, the displacement compensation device for a punch press robot increases the displacement of the robot's gripper in the X direction based on the feeding distance of the robot's extended arm 9, thereby meeting production requirements.

[0068] In this detailed embodiment, it is worth noting that, Figure 2 The coupling 12 in the middle is driven by the servo motor 11 to drive the ball screw to rotate. The rotation of the ball screw drives the nut seat 22 to move along the axial direction of the ball screw through the nut.

[0069] In this detailed embodiment, Figure 2 The servo motor 11 is fixedly mounted on the active side plate 61 via a motor plate; the active side plate 61 is fixedly mounted on the extension arm 9 via a profile base plate. The ball screw is fixedly mounted on the screw direct connection mounting seat via a 7002 bearing; one side of the 7002 bearing is fixedly mounted on the screw direct connection mounting seat via a screw bearing locking plate, and the other side is axially fixed via an inner diameter 15 retaining ring and an M15 round nut.

[0070] In this detailed embodiment, the nut seat 22 drives the connecting rod 3 of the fisheye joint 31 to move axially via the lead screw slider and the slider connecting plate 25. The lead screw slider moves axially along the guide rail via the slider.

[0071] In this detailed embodiment, the fisheye connector 31 connecting rod 3 drives the mechanical gripper connecting plate 5 to move axially along the driven side guide rail 4 via a slider, thereby achieving displacement compensation. The driven side guide rail 4 is fixedly mounted on the robot arm extension 9 via a guide rail mounting plate.

[0072] In this detailed embodiment, a profile cover plate 64 is installed on the active side plate 61 of the displacement compensation device.

[0073] In this detailed embodiment, the lead screw and slider are connected to the sensing plate 72; the photoelectric switch 71 is fixedly mounted on the profile base plate by the mounting plate. The movement of the lead screw and slider drives the sensing plate 72 to move. When the photoelectric switch 71 passes through, a signal is generated and sent to the electrical control system, thereby realizing the automated control of the robot displacement compensation device.

[0074] The implementation of the above detailed embodiments gives the present invention the following advantages:

[0075] 1. This utility model improves the displacement of the punch press robot in the X direction when the robot is feeding by installing a displacement compensation device on the extension arm 9 of the robot. This ensures that the feeding distance of the robot remains unchanged and increases the displacement of the punch press robot, thus meeting production requirements.

[0076] 2. This utility model collects displacement signals from the displacement compensation device through the sensing element 72 and the photoelectric switch 71, and provides feedback on the signals through electronic control components, thereby realizing closed-loop control of the servo motor 11 and improving the accuracy of the system.

[0077] 3. This utility model uses a servo motor 11 to control the rotation of the ball screw, resulting in higher precision.

[0078] 4. The present invention provides an anti-collision pad 63 on the active side plate 61 to prevent the slider from driving the lead screw slider to collide with the active side plate 61.

[0079] The above embodiments are only for illustrating the technical concept and features of this utility model, and are intended to enable those skilled in the art to understand the content of this utility model and implement it accordingly. They should not be construed as limiting the scope of protection of this utility model. All equivalent changes or modifications made in accordance with the spirit and essence of this utility model should be included within the scope of protection of this utility model.

Claims

1. A displacement compensation device for a punch press robot, used for displacement compensation of the mechanical gripper during robot loading, characterized in that: The displacement compensation device of the punch press robot is installed on the extended arm (9) of the robot. The displacement compensation device of the punch press robot includes a linear drive mechanism (1), a transmission mechanism (2), a connecting rod (3), a driven side guide rail (4), and a gripper connecting plate (5). The linear drive mechanism (1) and the driven side guide rail (4) are sequentially installed along the length of the extended arm (9). The drive end of the linear drive mechanism (1) is connected to the transmission mechanism (2). The transmission mechanism (2) is connected to the connecting rod (3). The connecting rod (3) is connected to the gripper connecting plate (5). The gripper connecting plate (5) is slidably installed on the driven side guide rail (4). The gripper connecting plate (5) has a mounting position (51) for positioning and installing the mechanical gripper. The displacement compensation device for the punch press robot is configured such that the linear drive mechanism (1) drives the mechanical gripper on the gripper connecting plate (5) to move along the length direction of the extended arm (9) of the robot through the transmission mechanism (2) and the connecting rod (3), so as to increase the displacement compensation distance of the mechanical gripper on the gripper connecting plate (5) while keeping the feeding distance of the extended arm (9) of the robot unchanged.

2. The displacement compensation device for a punch press robot according to claim 1, characterized in that: The linear drive mechanism (1) includes a servo motor (11), which is connected to the transmission mechanism (2) via a coupling (12).

3. The displacement compensation device for a punch press robot according to claim 2, characterized in that: The servo motor (11) is mounted on the profile base plate via a motor board and an active side plate (61), and the profile base plate is connected to the extension arm (9) of the robot via a module pad (62).

4. The displacement compensation device for a punch press robot according to claim 3, characterized in that: The transmission mechanism (2) includes a ball screw (21), a nut seat (22), a screw slider (23), an active side guide rail (24), and a slider connecting plate (25). The ball screw (21) is connected to the coupling (12). The ball screw is connected to the nut seat (22) through a nut. The nut seat (22) is connected to the slider connecting plate (25) through the screw slider. The screw slider is slidably mounted on the active side guide rail (24). The active side guide rail (24) is mounted on the profile base plate.

5. The displacement compensation device for a punch press robot according to claim 4, characterized in that: The active side plate (61) is provided with a collision protection pad (63) facing the side of the lead screw slider.

6. The displacement compensation device for a punch press robot according to claim 4, characterized in that, The connecting rod (3) adopts a fisheye connector (31) to connect the rod (3). The connecting rod (3) has three sections. The middle section of the connecting rod (3) is connected to both ends through the fisheye connector (31). The two ends of the connecting rod (3) are respectively connected to the slider connecting plate (25) and the gripper connecting plate (5).

7. The displacement compensation device for a punch press robot according to claim 4, characterized in that: Between the lead screw slider (23) and the profile base plate, a photoelectric switch (71) is installed on one and a sensor plate (72) is installed on the other. The photoelectric switch (71) is communicatively connected to the electrical control system of the punch press.

8. The displacement compensation device for a punch press robot according to claim 1, characterized in that: The displacement compensation devices of the punch press robot are arranged in pairs on the two extended arms (9) of the robot.

9. A punch press, characterized in that: The punch press uses the punch press robot displacement compensation device as described in any one of claims 1 to 8.

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