Three-axis manipulator for punching machine

By using a dual-stroke structure of a three-axis drive assembly and a material handling assembly, the problem of insufficient mobility of the robotic arm in a large stamping frame environment is solved, enabling multi-degree-of-freedom material handling operations and improving production efficiency.

CN223603317UActive Publication Date: 2025-11-28KUNSHAN WE CHUM PRECISION MASCH CO LTD
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Patent Information

Application Number
CN202422967302.8
Authority / Receiving Office
CN · China
Patent Type
Utility models(China)
Current Assignee / Owner
Filing Date
2024-12-03
Publication Date
2025-11-28
Estimated Expiration
2034-12-03

AI Technical Summary

Technical Problem

Existing robotic arm material handling components are mostly single-stroke structures, which have limitations when dealing with large stamping frames. They lack flexibility in the feeding direction, restrict material handling and unloading, resulting in low production efficiency.

Method used

It adopts a dual-stroke structure of three-axis drive assembly and material handling assembly. Through the combined drive of X-axis, Y-axis and Z-axis, the working range of the material handling assembly is expanded to realize multi-degree-of-freedom movement, including the coordinated work of X-axis moving assembly, Z-axis lifting assembly and Y-axis moving assembly.

Benefits of technology

It significantly improves the mobility of the material handling components, enabling accurate placement of materials in large stamping environments, improving production efficiency, and adapting to the needs of various stamping parts.

✦ Generated by Eureka AI based on patent content.

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Abstract

The utility model discloses a three-axis mechanical arm for a punching machine. The three-axis mechanical arm comprises a three-axis driving assembly and a material taking assembly arranged at the output end of the three-axis driving assembly. The three-axis driving assembly comprises an X-axis moving assembly arranged on the punching machine frame, and the stroke of the X-axis moving assembly is perpendicular to the conveying direction of the stamping parts. The Z-axis lifting assembly is arranged on the X-axis moving assembly, and the stroke of the Z-axis lifting assembly is in the vertical direction; the Y-axis moving assembly is arranged at the lower end of the Z-axis lifting assembly through a second connecting plate and comprises a Y-axis driving motor arranged on the upper end face of the second connecting plate, a second mounting frame extending in the stamping part conveying direction is arranged on the lower end face of the second connecting plate, and the Y-axis driving motor is in transmission connection with the second mounting frame; and the second mounting frame is in transmission connection with the material taking assembly. According to the structure, driving of the three-axis driving assembly is matched with a double-stroke structure of the material taking assembly, the working range of the material taking assembly can be effectively expanded, materials can be easily and accurately placed at all positions, and the environment requirement of a large punching frame is met.
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Description

TECHNICAL FIELD

[0001] The utility model relates to stamping processing technical field especially is related to a three -axis manipulator for punch press. BACKGROUND

[0002] In the stamping processing field, the manipulator is responsible for transferring the stamping part from the feeding position to the punch press for stamping, and then to the next station after stamping.

[0003] The existing manipulator material taking assembly is mostly single-stroke structure, which has limitations when facing large stamping frames, such as insufficient flexibility in feeding direction, and limited material taking and placing. Therefore, a new type of punch press manipulator is urgently needed to expand the working range of the material taking assembly and improve production efficiency. UTILITY MODEL CONTENT

[0004] To solve the above technical problems, the utility model provides a three -axis manipulator for punch press. Through the cooperation of the driving of the three -axis driving assembly and the double -stroke structure of the material taking assembly, the working range of the material taking assembly can be effectively expanded, even in the environment of large stamping frame, the material can be accurately placed in each position, thereby the production efficiency is improved significantly.

[0005] The technical scheme of the utility model is: including three -axis driving assembly, set up in three -axis driving assembly output end's material taking assembly;The three -axis driving assembly includes the X -axis moving assembly set up in the punch press frame and perpendicular to the stamping part conveying direction's stroke;Z -axis lifting assembly set up in X -axis moving assembly and along the vertical direction's stroke;Y -axis moving assembly set up in Z -axis lifting assembly and along the stamping part conveying direction's stroke;

[0006] The Y-axis moving assembly is arranged at the lower end of the Z-axis lifting assembly through the second connecting plate, and includes a Y-axis driving motor arranged on the upper end face of the second connecting plate. The lower end face of the second connecting plate is provided with a second mounting rack extending along the stamping part conveying direction. The Y-axis driving motor is in transmission connection with the second mounting rack. The second mounting rack and the material taking assembly are in transmission connection.

[0007] Further, the second mounting rack is provided with synchronous wheels at both ends along the stamping part conveying direction. The two synchronous wheels are in meshing transmission connection through the toothed synchronous belt. The upper straight section and the lower straight section of the toothed synchronous belt are fixedly connected with the second connecting plate and the material taking assembly respectively.

[0008] Further, the Y-axis driving motor and the second mounting rack are provided with a gear and rack transmission structure. The gear and rack transmission structure includes a driving wheel and a rack in meshing connection. The driving wheel is connected with the motor shaft of the Y-axis driving motor. The rack extends along the stamping part conveying direction and is fixed on the second mounting rack.

[0009] Further, the second mounting frame is provided with Y-axis first linear rails and Y-axis second linear rails on two surfaces, and the second mounting frame is slidably connected with the second connecting plate through the Y-axis first linear rails; the material taking assembly is slidably connected with the second mounting frame through the Y-axis second linear rails.

[0010] Further, the punch frame is provided with a first mounting frame at a material inlet end, and the X-axis moving assembly is arranged on the first mounting frame and comprises a first connecting plate and an X-axis driving motor, and the first connecting plate is slidably connected to the first mounting frame through X-axis linear rails under the driving of the X-axis driving motor.

[0011] Further, the Z-axis lifting assembly is arranged on the first connecting plate and comprises a Z-axis lifting motor and a Z-axis connecting piece that moves up and down under the driving of the Z-axis lifting motor, and the Y-axis moving assembly is arranged at a lower end of the Z-axis connecting piece.

[0012] Further, a Z-axis transmission assembly is arranged between one side of the Z-axis connecting piece and the Z-axis lifting motor, and a counterweight cylinder is arranged on the other side of the Z-axis connecting piece, and a piston rod of the counterweight cylinder is connected with the Z-axis connecting piece.

[0013] Further, the punch comprises a plurality of the three-axis mechanical hands for punches, and the plurality of three-axis mechanical hands for punches are uniformly arranged on the material inlet end of the punch frame.

[0014] The beneficial technical effects of the utility model are as follows: the structure drives the second mounting frame and the material taking assembly to move along the Y direction in the first stroke interval through the Y-axis driving motor, the transmission belt of the synchronous belt assembly on the second mounting frame drives the material taking assembly to move along the Y direction in the second stroke interval, so that the moving interval of the material taking assembly is the sum of the first stroke interval and the second stroke interval; the double-stroke structure of the material taking assembly along the Y direction, in cooperation with the movement along the X direction and the Z direction, effectively expands the working range of the material taking assembly and improves the flexibility of the material taking assembly in the feeding direction, so that the material taking assembly better adapts to the environment demand of a large punch frame. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 is the overall installation schematic view of the utility model;

[0016] Figure 2 is the X-axis moving assembly structure schematic view of the utility model;

[0017] Figure 3 is the X-axis transmission assembly structure schematic view of the utility model;

[0018] Figure 4 is the Z-axis lifting assembly structure schematic view of the utility model;

[0019] Figure 5 is the Z-axis transmission assembly structure schematic view of the utility model;

[0020] Figure 6 is the Z-axis rail installation position schematic view of the utility model;

[0021] Figure 7 is the counterweight cylinder position schematic view of the utility model;

[0022] Figure 8 is the Y-axis moving assembly structure schematic view of the utility model;

[0023] Figure 9 is the synchronous belt assembly structure schematic view of the utility model;

[0024] Figure 10 is the Y-axis moving assembly and material taking assembly position schematic view of the utility model;

[0025] Among them: 1, punch frame;2, material taking assembly;21, cantilever;3, X-axis moving assembly;31, first connecting plate;32, X-axis drive motor;33, X-axis rail;34, X-axis transmission assembly;4, Z-axis lifting assembly;41, Z-axis lifting motor;42, Z-axis connecting piece;43, Z-axis transmission assembly;44, Z-axis rail;45, counterweight cylinder;5, Y-axis moving assembly;51, second connecting plate;52, Y-axis drive motor;53, second mounting frame;54, synchronous wheel;55, toothed synchronous belt;56, Y-axis first rail;57, Y-axis second rail;6, first mounting frame. DETAILED DESCRIPTION

[0026] In order to more clearly understand the technical means of the utility model, and can be implemented according to the content of the specification, the specific embodiments of the utility model are further described in detail below, the following examples are used to illustrate the utility model, but not to limit the scope of the utility model.

[0027] As Figure 1 Indicated, a kind of punch three-axis manipulator of the utility model, including being set to the three-axis drive assembly of punch frame 1, material taking assembly 2 being set to the output end of three-axis drive assembly.

[0028] Definition stamping part conveying direction is Y direction, and direction perpendicular to stamping part conveying direction is X direction.

[0029] The three-axis drive assembly includes X-axis moving assembly 3 of stroke perpendicular to stamping part conveying direction, Z-axis lifting assembly 4 of stroke along vertical direction being set to X-axis moving assembly 3, Y-axis moving assembly 5 of stroke along stamping part conveying direction being set to Z-axis lifting assembly 4, and the material taking assembly 2 is set to the moving end of Y-axis moving assembly 5, to realize the movement of material taking assembly 2 in space multiple degrees of freedom in this way.

[0030] In the embodiment, as Figures 2-3As shown, the punch frame 1 is provided with a first mounting frame 6 extending along the X direction on the incoming end, and the X-axis moving assembly 3 is arranged on the first mounting frame 6, including a first connecting plate 31, an X-axis drive motor 32 for driving the first connecting plate 31 to move along the X direction, and the first connecting plate 31 is slidably connected to the first mounting frame 6 through an X-axis linear rail 33.

[0031] Specifically, the first connecting plate 31 moves along the X direction under the driving of the X-axis drive motor 32 and the transmission of an X-axis transmission assembly 34, the X-axis drive motor 32 is arranged on the A face of the first connecting plate 31, the X-axis transmission assembly 34 is a gear and rack transmission structure, including a driving wheel and a rack in engagement, the driving wheel is arranged on the B face of the first connecting plate 31 and connected with the motor shaft of the X-axis drive motor 32, and the rack extends along the X direction and is fixed on the first mounting frame 6.

[0032] As Figures 4-7 , the Z-axis lifting assembly 4 is arranged on the first connecting plate 31, including a Z-axis lifting motor 41 and a Z-axis connecting piece 42 which moves up and down under the driving of the Z-axis lifting motor 41, and the Z-axis lifting motor 41 and the X-axis servo motor are respectively located on the upper and lower sides of the A face of the first connecting plate 31.

[0033] Specifically, the Z-axis connecting piece 42 moves along the vertical direction under the transmission of a Z-axis transmission assembly 43, and the Z-axis transmission assembly 43 also adopts a gear and rack transmission structure, including a driving wheel connected with the motor shaft of the Z-axis lifting motor 41 and a rack arranged on one side of the Z-axis connecting piece 42 along the vertical direction, which will not be described here.

[0034] A Z-axis linear rail 44 is arranged between the Z-axis connecting piece 42 and the first connecting plate 31, and the Z-axis connecting piece 42 is slidably connected to the Z-axis linear rail 44 under the driving of the Z-axis lifting motor 41.

[0035] Further, the first connecting plate 31 is further provided with a counterweight cylinder 45, and the counterweight cylinder 45 and the Z-axis lifting motor 41 are respectively located on the two sides of the Z-axis connecting piece 42, that is, the piston rod of the counterweight cylinder 45 is connected with the other side of the Z-axis connecting piece 42, so as to balance the load on the Z-axis connecting piece 42.

[0036] As Figures 8-10The Y-axis moving assembly 5 is arranged at the lower end of the Z-axis connecting piece 42 through a second connecting plate 51, and includes a Y-axis driving motor 52 arranged on the upper end surface of the second connecting plate 51. The lower end surface of the second connecting plate 51 is provided with a second mounting bracket 53 extending along the Y direction. The Y-axis driving motor 52 is in driving connection with the second mounting bracket 53 through a gear and rack transmission structure. The second mounting bracket 53 and the material taking assembly 2 are in driving connection through a synchronous belt assembly. Similarly, the gear and rack transmission structure includes a driving wheel and a rack in engagement. The driving wheel is connected with the motor shaft of the Y-axis driving motor 52, and the rack extends along the Y direction and is fixed on the second mounting bracket 53.

[0037] In operation, the Y-axis driving motor 52 drives the second mounting bracket 53 and the material taking assembly 2 to move along the Y direction in the first stroke interval. The second mounting bracket 53 drives the material taking assembly 2 to move along the Y direction in the second stroke interval. The movement range of the material taking assembly 2 is expanded through the movement of the material taking assembly 2 along with the movement of the second mounting bracket 53 and the movement of the material taking assembly 2 relative to the second mounting bracket 53. That is, the movement interval of the material taking assembly 2 is the sum of the first stroke interval and the second stroke interval.

[0038] Specifically, the synchronous belt assembly includes synchronous wheels 54 arranged at both ends of the second mounting bracket 53. The two synchronous wheels 54 are in meshing driving connection through a toothed synchronous belt 55. The upper flat section and the lower flat section of the toothed synchronous belt 55 are fixedly connected with the second connecting plate 51 and the material taking assembly 2 respectively. When the second mounting bracket 53 moves, the toothed synchronous belt 55 is pulled to move around the synchronous wheels 54, thereby driving the material taking assembly 2 to reciprocate along the Y direction in the second stroke interval.

[0039] Further, both surfaces of the second mounting bracket 53 are provided with a Y-axis first linear rail 56 and a Y-axis second linear rail 57. The Y-axis first linear rail 56 is matched with the second connecting plate 51, and the Y-axis second linear rail 57 is matched with the material taking assembly 2. Under the driving of the Y-axis driving motor 52, the second mounting bracket 53 is in sliding connection with the second connecting plate 51 through the Y-axis first linear rail 56. Under the driving of the synchronous belt assembly, the material taking assembly 2 is in sliding connection with the second mounting bracket 53 through the Y-axis second linear rail 57.

[0040] In this embodiment, the material taking assembly 2 includes a cantilever 21 and an adsorption assembly. One end of the cantilever 21 is connected with the toothed synchronous belt 55, and the adsorption assembly is arranged on the other extending end of the cantilever 21. The material taking assembly can be customized and optimized according to actual needs to adapt to the needs of different stamping parts.

[0041] In another embodiment, two groups of three-axis mechanical hands are arranged on the material inlet end and the material outlet end of the punch press frame 1 respectively. The processing efficiency of the stamping parts is improved without additional space occupation.

[0042] The above merely is preferred implementation manner of the present application, and is not used for limiting the present application, it should be pointed out, for ordinary skilled person in the technical field, on the premise of not departing from the technical principle of the present application, can also make several improvements and variations, these improvements and variations also should be regarded as the protection scope of the present application.

Claims

1. A three-axis robot for a punch press, characterized by: The punch press frame (1) is provided with a first mounting frame (6) on the incoming end, the X-axis moving assembly (3) is arranged on the first mounting frame (6), and the X-axis moving assembly (3) comprises a first connecting plate (31) and an X-axis driving motor (32). The Y-axis moving assembly (5) is arranged at the lower end of the Z-axis lifting assembly (4) through a second connecting plate (51) and comprises a Y-axis driving motor (52) arranged on the upper end face of the second connecting plate (51).

2. The three-axis robot for a punch press according to claim 1, characterized by: The lower end face of the second connecting plate (51) is provided with a second mounting frame (53) extending along the stamping part conveying direction, the Y-axis driving motor (52) is in transmission connection with the second mounting frame (53), and the second mounting frame (53) and the material taking assembly (2) are in transmission connection.

3. The three-axis robot for a punch press as set forth in claim 1, wherein: The second mounting frame (53) is provided with synchronous wheels (54) at both ends along the stamping part conveying direction, the two end synchronous wheels (54) are in meshing transmission connection through a toothed synchronous belt (55), and the upper flat section and the lower flat section of the toothed synchronous belt (55) are fixedly connected with the second connecting plate (51) and the material taking assembly (2) respectively.

4. The three-axis robot for a punch press as set forth in claim 1, wherein: The Y-axis driving motor (52) and the second mounting frame (53) are provided with a gear and rack transmission structure, the gear and rack transmission structure comprises a driving wheel and a rack in meshing connection, the driving wheel is connected with the motor shaft of the Y-axis driving motor (52), and the rack extends along the stamping part conveying direction and is fixed on the second mounting frame (53).

5. The three-axis robot for a punch press according to claim 1, wherein: Both surfaces of the second mounting frame (53) are provided with a Y-axis first linear rail (56) and a Y-axis second linear rail (57), the second mounting frame (53) is slidably connected with the second connecting plate (51) through the Y-axis first linear rail (56), and the material taking assembly (2) is slidably connected with the second mounting frame (53) through the Y-axis second linear rail (57).

6. The three-axis robot for a punch press according to claim 5, wherein: The punch press frame (1) is provided with a first mounting frame (6) on the incoming end, the X-axis moving assembly (3) is arranged on the first mounting frame (6), and the X-axis moving assembly (3) comprises a first connecting plate (31) and an X-axis driving motor (32).

7. The three-axis robot for a punch press according to claim 6, wherein: The Z-axis lifting assembly (4) is arranged on the first connecting plate (31) and comprises a Z-axis lifting motor (41) and a Z-axis connecting piece (42) which moves up and down under the driving of the Z-axis lifting motor (41), and the Y-axis moving assembly (5) is arranged at the lower end of the Z-axis connecting piece (42).

8. A punch press characterized by: A Z-axis transmission assembly (43) is arranged between one side of the Z-axis connecting piece (42) and the Z-axis lifting motor (41), and a counterweight cylinder (45) is arranged on the other side of the Z-axis connecting piece (42), and the piston rod of the counterweight cylinder (45) is connected with the Z-axis connecting piece (42). The punch press frame (1) is provided with a first mounting frame (6) on the incoming end, the X-axis moving assembly (3) is arranged on the first mounting frame (6), and the X-axis moving assembly (3) comprises a first connecting plate (31) and an X-axis driving motor (32).