Automatic die changing three-axis robot of bending machine

Abstract

The three-axis robot is mainly used for the automatic die changing system of the bending machine, and the upper die and the lower die of the bending machine can be positioned, grabbed, fixed and moved through the three-axis robot. The die is accurately grabbed from a certain fixed position and movably installed on the bending machine, the grabbing robot is provided with a safety limiting device, when the grabbing hand grabs the die, the die can be locked and prevented from falling accidentally, and the safety of the die is guaranteed.

Description

Technical Field

[0001] This utility model relates to the technical field of automatic mold changing system for bending machines, and in particular to a three-axis robot for automatic mold changing of bending machines. Background Technology

[0002] Traditional bending machines require automated robots for automatic mold changing. However, non-standard customized robots need to be equipped with different specifications of robots to grasp and move the mold, which leads to high robot costs. Moreover, the robots require regular inspection and maintenance, and different molds require corresponding programming of actions, resulting in poor applicability and unsuitability for occasions with frequent mold changes. Utility Model Content

[0003] The technical problem this invention aims to solve is that the grasping mechanism of non-standard customized robots cannot be adapted to molds with different structures; moreover, different actions need to be programmed for different molds, resulting in poor applicability and unsuitability for situations where molds change frequently.

[0004] The technical solution adopted by this utility model to solve its technical problem is: a three-axis robot for automatic mold changing of a bending machine, including a movable guide rail mounting plate with an X-axis linear guide rail and an X-axis drive rack mounted on its surface and a robot body, wherein the robot body is connected to the X-axis linear guide rail and the X-axis drive rack through a connecting frame.

[0005] The robot body includes an electrically controlled X-axis adjustment mechanism, an electrically controlled Y-axis adjustment mechanism, and an electrically controlled Z-axis adjustment mechanism mounted on a connecting frame.

[0006] The connecting frame includes a main frame, a sub-frame, an X-axis mounting plate fixed to the left side wall of the main frame, a Y-axis mounting plate fixed to the right side wall of the sub-frame, a Z-axis fixing plate fixed to the upper end of the sub-frame, a Z-axis movable plate slidably mounted on the Z-axis fixing plate, an X-axis slider fixed to the assembly surface of the main frame, and a Y-axis slider fixed to the assembly surface of the sub-frame.

[0007] The electronically controlled X-axis adjustment mechanism includes an X-axis motor fixed on the surface of the X-axis mounting plate and an X-axis drive gear axially fixed on the X-axis motor drive shaft. The X-axis motor is driven by meshing with the X-axis drive rack through the X-axis drive gear.

[0008] The right side wall of the sub-frame has a Y-axis drive rack. The electronically controlled Y-axis adjustment mechanism includes a Y-axis motor fixed on the Y-axis mounting plate and a Y-axis drive gear axially fixed on the Y-axis motor drive shaft. The Y-axis motor is driven by meshing with the Y-axis drive rack through the Y-axis drive gear.

[0009] The Z-axis fixed plate is equipped with a Z-axis lead screw for controlling the sliding and translational movement of the Z-axis movable plate. A Z-axis cylinder is fixedly mounted on the upper end of the Z-axis movable plate, and a top mounting frame controlled by the Z-axis cylinder is slidably mounted on the upper end of the Z-axis movable plate.

[0010] The Z-axis lead screw includes a Z-axis motor fixed on the inner side of the Z-axis fixed plate, a translation lead screw movably installed inside the Z-axis fixed plate, an external pulley set, and a Z-axis lead screw nut fixed inside the Z-axis movable plate.

[0011] The top mounting frame is equipped with a safety lock release cylinder, a clamping safety cylinder, and a laser rangefinder.

[0012] A Y-axis limit sensor sheet metal is fixedly mounted on the side wall of the Y-axis mounting plate, and a Z-axis limit sensor plate is fixed on the upper end of the Z-axis mounting plate.

[0013] Limit sensors are fixedly installed on the side wall of the Z-axis movable plate via the Z-axis limit sensor mounting seat and on the side wall of the X-axis mounting plate via the Y-axis limit sensor mounting seat.

[0014] The Z-axis fixed plate is fixedly equipped with a Z-axis linear guide rail for improving the translational stability of the Z-axis movable plate.

[0015] The beneficial effects of this utility model are:

[0016] (1) The automatic mold changing three-axis robot of the bending machine of this utility model can realize the positioning, gripping, fixing and moving of the upper and lower molds of the bending machine;

[0017] (2) The mold is accurately grasped from a fixed position and moved and installed on the bending machine. The grasping robot is equipped with a safety limit device. When the gripper grasps the mold, it can lock the mold to prevent it from falling accidentally and ensure its safety. Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0019] Figure 1 This is a schematic diagram of the structure of this utility model.

[0020] Figure 2 This is a top view of the present invention.

[0021] Figure 3 This is a side sectional view of the present invention.

[0022] Figure 4 This is a schematic diagram of the X-axis linear guide transmission end in this utility model.

[0023] Figure 5 yes Figure 3 A partial schematic diagram of position E in the middle. Detailed Implementation

[0024] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the present invention, and therefore only show the components relevant to the present invention.

[0025] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0026] Figures 1-5 The movable guide rail mounting plate 3 shown serves as a guide platform for the lateral movement of the entire three-axis robot along the X-axis. Its length can be customized according to actual travel requirements. Two X-axis linear guide rails 1 are mounted on it to guide the X-axis movement of the three-axis robot. An X-axis drive rack 2 is linearly mounted on the two X-axis linear guide rails 1. The X-axis drive gear 14 on the output shaft of the X-axis motor 13 meshes with the X-axis drive rack 2 to drive the left and right lateral movement of the three-axis robot.

[0027] The X-axis slider 11 cooperates with the X-axis linear guide 1 to perform linear motion. Each X-axis linear guide 1 is equipped with two X-axis sliders 11. The connecting frame is fixed to the above four X-axis sliders 11 by screws. The connecting frame can then move freely left and right on the movable guide rail mounting plate 3.

[0028] The Y-axis sliders 12 are mounted and fixed on the connecting frame. A total of four Y-axis sliders 12 are installed. Every two Y-axis sliders 12 are paired with one Y-axis linear guide, and each frame is equipped with two Y-axis linear guides. With the Y-axis sliders 12 fixed, the Y-axis linear guides can move up and down relative to the Y-axis sliders 12. The two Y-axis linear guides are fixed on the sub-frame 6, driving the sub-frame 6 to move up and down.

[0029] The Z-axis fixing plate 9 is fixed to the upper end face of the sub-frame 6 with screws. Two bearing seats are mounted on top of it, each housing a bearing. A translation screw 22 is installed between the two bearings. An external pulley assembly 23 is installed at the input shaft end of the translation screw 22. The translation screw 22 is connected to the Z-axis motor 21 via the external pulley assembly 23. The Z-axis motor 21 is fixed to the Z-axis motor mounting plate. The Z-axis motor mounting plate is fixed to the end face of the Z-axis fixing plate 9 with screws. By controlling the Z-axis motor 21, the rotation of the translation screw 22 can be controlled. The translation screw 22 is equipped with a Z-axis screw nut 24; by controlling the rotation of the screw, the forward and backward movement of the Z-axis screw nut 24 can be controlled.

[0030] The Z-axis movable plate 10 is bolted to the Z-axis lead screw nut 24, and the Z-axis lead screw nut 24 is bolted to the lower surface of the Z-axis movable plate 10. Z-axis linear guides 33 are mounted on both sides of the Z-axis movable plate 10. Z-axis linear sliders are fitted onto the Z-axis linear guides 33. The Z-axis linear sliders are fixed to the inner sides of the two side plates of the top mounting frame 19. With the rotation of the Z-axis motor 21, the forward and backward movement of the Z-axis movable plate 10 can be controlled through the power transmission of the translation lead screw 22.

[0031] The Z-axis cylinder mounting base is installed on the upper surface of the Z-axis movable plate 10 by screws, and a Z-axis cylinder 18 is mounted on top of it. The piston of the Z-axis cylinder 18 is fixed on the top mounting frame 19. The top mounting frame 19 has machined holes on both sides, and a top mounting frame linear bearing is installed in the machined holes. The top mounting frame linear bearing is sleeved on the top mounting frame guide shaft.

[0032] Two top mounting frame guide shafts provide guidance for the linear movement of the top mounting frame 19, and the top mounting frame 19 is moved forward and backward by the extension and retraction of the Z-axis cylinder 18.

[0033] The tail ends of slide shaft one and slide shaft two are fixed to the top mounting frame. Slide shaft one and slide shaft two pass through the inner hole of the sliding sleeve fixed in the machining hole of the slide shaft guide seat. By pushing the top mounting frame 19, slide shaft one and slide shaft two move back and forth. The slide shaft guide seat is installed on the upper front surface of the Z-axis movable plate 10.

[0034] The clamping pin fixing seat is installed at the front end of slide shaft one and slide shaft two, making the front ends of slide shaft one and slide shaft two form a whole. The safety lock release cylinder mounting seat is fixed on the clamping pin fixing seat, and three safety lock release cylinders 25 are installed on it. The piston of the safety lock release cylinder 25 is equipped with the safety lock release cylinder top shaft. When the three-axis robot needs to remove the mold from the bending machine, the safety release button on the mold must be pressed first before the mold can be removed. Pressing the safety release button on the mold is accomplished by the safety lock release cylinder 25. By extending the piston of the safety release cylinder, the top shaft of the safety lock release cylinder 25 presses against the safety release button on the mold, releasing the safety limit between the mold and the bending machine, thereby allowing the three-axis robot to remove the mold.

[0035] Clamping pin one is installed in the hole above the clamping pin fixing seat. Clamping pin two is installed in the hole below the clamping pin fixing seat. The mold clamping fixing sleeve is embedded in the opening on the bending machine mold. The clamping safety valve core passes through the center hole of the sliding shaft two, and its tail end is locked in the piston thread hole of the clamping safety cylinder 26. The clamping safety valve core passes through the center hole of the sliding shaft two and the center hole of the clamping safety valve core guide sleeve installed at the end of the clamping pin two. Its head passes through the center hole of the clamping pin two and is controlled to move back and forth by the clamping safety cylinder 26. The head of the clamping safety valve core has two machined grooves, and several clamping fixing steel balls are placed in the grooves. When the piston of the clamping safety cylinder retracts, the clamping fixing steel balls are located in the two grooves on the head of the clamping safety valve core. When the piston of the clamping safety cylinder extends, the clamping safety valve core pushes the clamping fixing steel balls out of the arc-shaped machined hole on the clamping pin two, so that the steel balls are higher than the outer surface of the clamping pin two. At this point, the steel ball can be embedded in the two arc-shaped grooves inside the mold clamping and fixing sleeve, which can clamp the mold and prevent it from falling off the three-axis robot when disassembling and moving the mold, thus ensuring safety during mold changing.

[0036] The laser rangefinder 27 is mounted on a laser rangefinder mounting plate, which is installed on the side of the sliding shaft guide seat. The laser rangefinder 27 moves back and forth with the Z-axis movable plate 10 to measure the distance from the Z-axis to the mold to be gripped in real time, so as to control the Z-axis motor 21 to control the movement distance of the Z-axis and prevent the Z-axis from colliding with the mold to be gripped.

[0037] The Z-axis limit sensor mounting base is installed on the Z-axis movable plate 10, which is equipped with two limit sensors 32. When the Z-axis movable plate 10 moves to the front and rear limit positions, the limit sensor can sense the corresponding Z-axis limit sensing plate 29. At this time, the system automatically stops the Z-axis motor 21 to prevent the Z-axis movable plate 10 from exceeding its travel range and damaging the mechanism.

[0038] The Y-axis mounting plate 8 is installed on the upper right side of the connecting frame, and the Y-axis motor 21 is fixed on the Y-axis mounting plate 8. The Y-axis drive gear 17 is installed on the output shaft of the Y-axis motor 21. The Y-axis drive gear 17 meshes with the Y-axis drive rack 15 installed on the right side of the sub-frame 6. By adjusting the meshing tightness between the Y-axis drive gear 17 and the Y-axis drive rack 15, the three-axis robot is driven by the Y-axis motor 21 to achieve the up-and-down movement of the Y-axis.

[0039] The Y-axis limit sensor sheet metal 28 is installed on the left side of the sub-frame 6, with two distributed vertically. The Y-axis limit sensor mounting base 31 is installed on the left end face of the connecting frame, and two limit sensors 32 are installed on it. The principle is the same as that of the Z-axis limit sensor, which is used to limit the extreme position of the Y-axis vertical movement to prevent it from exceeding the stroke and damaging the mechanism.

[0040] X-axis mounting plate 7 is mounted on the connecting frame, on which X-axis motor 13 is mounted. X-axis drive gear 14 is mounted on the output shaft of X-axis motor 13. X-axis drive gear 14 meshes with X-axis drive rack 2. An X-axis motor adjusting block is mounted on the connecting frame, with a threaded hole drilled in it. A long screw is screwed into the X-axis mounting plate 7 and extends outwards, with the screw thread end pressing against the X-axis mounting plate 7. By adjusting this screw, the X-axis drive gear 14 and X-axis drive rack 2 can be tightly meshed. The left and right movement of the entire three-axis robot in the X-axis direction is driven by controlling X-axis motor 13.

[0041] The advantages of using the above invention are:

[0042] 1. The robot uses gear rack and pinion and lead screw transmission, which makes the robot move smoothly and respond quickly.

[0043] 2. Equipped with a safety locking device, the mold will not fall off accidentally when the robot grabs and moves the mold, ensuring the safety of the entire mechanism.

[0044] 3. It eliminates the need for traditional industrial robots, saving on equipment costs, maintenance costs, and operating costs.

[0045] Based on the above-described preferred embodiments of this utility model, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the technical concept of this utility model. The technical scope of this utility model is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A three-axis robot for automatic mold changing in a bending machine, comprising a movable guide rail mounting plate (3) with a surface-mounted X-axis linear guide rail (1) and an X-axis drive rack (2), and a robot body (4), characterized in that: The robot body (4) is connected to the X-axis linear guide (1) and the X-axis drive rack (2) via a connecting frame; The robot body (4) includes an electrically controlled X-axis adjustment mechanism, an electrically controlled Y-axis adjustment mechanism, and an electrically controlled Z-axis adjustment mechanism mounted on the connecting frame.

2. The automatic die-changing three-axis robot for bending machines according to claim 1, characterized in that: The connecting frame includes a main frame (5), a sub-frame (6), an X-axis mounting plate (7) fixed on the left side wall of the main frame (5), a Y-axis mounting plate (8) fixed on the right side wall of the sub-frame (6), a Z-axis fixing plate (9) fixed on the upper end of the sub-frame (6), a Z-axis movable plate (10) slidably mounted on the Z-axis fixing plate (9), an X-axis slider (11) fixed on the assembly surface of the main frame (5), and a Y-axis slider (12) fixed on the assembly surface of the sub-frame (6).

3. The automatic die-changing three-axis robot for bending machines according to claim 2, characterized in that: The electronically controlled X-axis adjustment mechanism includes an X-axis motor (13) fixed on the surface of the X-axis mounting plate (7) and an X-axis drive gear (14) axially fixed on the drive shaft of the X-axis motor (13). The X-axis motor (13) is driven by meshing with the X-axis drive rack (2) through the X-axis drive gear (14).

4. The automatic die-changing three-axis robot for bending machines according to claim 2, characterized in that: The subframe (6) has a Y-axis drive rack (15) on its right side wall. The electrically controlled Y-axis adjustment mechanism includes a Y-axis motor (16) fixed on the Y-axis mounting plate (8) and a Y-axis drive gear (17) axially fixed on the drive shaft of the Y-axis motor (16). The Y-axis motor (16) is driven by meshing with the Y-axis drive rack (15) through the Y-axis drive gear (17).

5. The automatic die-changing three-axis robot for bending machines according to claim 2, characterized in that: The Z-axis fixed plate (9) is equipped with a Z-axis lead screw for controlling the sliding translation of the Z-axis movable plate (10). The upper end of the Z-axis movable plate (10) is fixedly equipped with a Z-axis cylinder (18). The upper end of the Z-axis movable plate (10) is slidably equipped with a top mounting frame (19) controlled by the Z-axis cylinder (18).

6. The automatic die-changing three-axis robot for bending machines according to claim 5, characterized in that: The Z-axis lead screw includes a Z-axis motor (21) fixed on the inner side of the Z-axis fixed plate (9), a translation lead screw (22) movably installed inside the Z-axis fixed plate (9), an external pulley set (23), and a Z-axis lead screw nut (24) fixed inside the Z-axis movable plate (10).

7. The automatic die-changing three-axis robot for bending machines according to claim 5, characterized in that: The top mounting frame (19) is equipped with a safety lock release cylinder (25), a clamping safety cylinder (26), and a laser rangefinder (27).

8. The automatic die-changing three-axis robot for bending machines according to claim 5, characterized in that: The Y-axis mounting plate (8) is fixedly fitted with a Y-axis limit sensing sheet metal (28) on its side wall, and the Z-axis fixing plate (9) is fixed with a Z-axis limit sensing piece (29) on its upper end.

9. The automatic die-changing three-axis robot for bending machines according to claim 8, characterized in that: Limit sensors (32) are fixedly installed on the side wall of the Z-axis movable plate (10) via the Z-axis limit sensor mounting seat (30) and on the side wall of the X-axis mounting plate (7) via the Y-axis limit sensor mounting seat (31).

10. The automatic die-changing three-axis robot for bending machines according to claim 2, characterized in that: The Z-axis fixed plate (9) is fixedly equipped with a Z-axis linear guide (33) for improving the translational stability of the Z-axis movable plate (10).

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