Sheet metal triple-speed conveyor robot device

Abstract

This utility model relates to a sheet metal triple-speed conveying robot device, including a Z-axis base, a crossbeam, a Y-axis motion mechanism, and a vacuum gripping system. The Y-axis motion mechanism includes a Y1-axis servo motor and a Y2-axis servo motor that drive each other independently. The Y2-axis servo motor is located below the Y1-axis servo motor. The Y1-axis servo motor is connected to a Y-axis gear and rack mechanism through a first reducer, which drives the crossbeam to make a basic displacement along the Y direction. The Y2-axis servo motor drives the Y2 base to move along the Y-axis guide rail through a synchronous belt mechanism, and the movement speed of the Y2 base is an integer multiple of the basic displacement speed of the crossbeam. The advantages of this utility model are: triple-speed composite motion: through the independent servo coupling of the Y1 axis (gear and rack basic displacement) and the Y2 axis (synchronous belt double speed displacement), a high-rate conveying of 3 × basic speed of the end effector can be achieved within the same stroke, matching the cycle time of downstream workstations such as high-speed stamping and laser welding.

Description

Technical Field

[0001] This utility model relates to a sheet metal three-times-speed conveying robot device, belonging to the field of robot arms. Background Technology

[0002] Sheet metal parts, as the core carrier of the casings and internal structures of large and small household appliances, have an annual output exceeding hundreds of millions of pieces. Traditional conveying methods still mainly rely on manual handling, simple logistics vehicles, or early single-axis / dual-axis robotic arms, with cycle times generally remaining at 6-10 seconds per piece. As household appliance products shift towards "small batches, multiple varieties, and rapid iteration," the overall production line cycle time is required to be compressed to within 2 seconds per piece. At the same time, the shapes of sheet metal parts are becoming increasingly complex (large-size washing machine panels, perforated air conditioner panels, ultra-thin refrigerator side panels), placing higher demands on the positioning accuracy, stability, and surface scratch-free operation of the conveying process. Traditional methods have reached systemic bottlenecks in terms of speed, accuracy, and flexibility.

[0003] The structural defects of traditional technologies are as follows:

[0004] 1. Manual handling: This method is labor-intensive, has an uncontrollable pace, and requires two people to work together to handle large sheet metal parts. There is also a risk of secondary deformation due to drops or collisions.

[0005] 2. Logistics vehicle transportation: The round-trip transfer time is long, and the fixed route cannot be adapted to flexible production lines; the wear and tear of the wheels and tracks generates metal dust, which pollutes the pre-treatment environment before spraying.

[0006] 3. Early robotic arms: mostly a combination of a single servo motor and a cylinder, capable of only uniform motion within the effective Y-axis stroke, with acceleration ≤3m / s². 2 The line cannot break through the cycle limit; the end vacuum circuit is not zoned and controlled, and the part is prone to falling off due to vacuum leakage when grabbing large thin plates; the transmission chain uses ordinary gear rack or chain, with large backlash and repeatability of ≥±0.5mm, which is difficult to meet the ±0.1mm requirement of laser welding or riveting station; there is a lack of real-time plate recognition, which requires manual secondary correction, further reducing the overall line utilization rate. Utility Model Content

[0007] To overcome the shortcomings of existing technologies, this utility model provides a sheet metal three-times-speed conveying robot device. The technical solution of this utility model is as follows:

[0008] A sheet metal three-speed conveying robot includes a Z-axis base (6), a crossbeam (4), a Y-axis motion mechanism, and a vacuum gripping system (10); the Y-axis motion mechanism includes a Y1-axis servo motor (1) and a Y2-axis servo motor (2) that are driven independently of each other, the Y2-axis servo motor (2) being located below the Y1-axis servo motor (1), wherein:

[0009] The Y1 axis servo motor (1) is connected to the Y-axis gear rack mechanism (5) through the first reducer, and the Y-axis gear rack mechanism (5) drives the crossbeam (4) to make basic displacement along the Y direction;

[0010] The Y2 axis servo motor (2) drives the Y2 base (14) to move along the Y direction guide rail (9) through the synchronous belt mechanism (11), and the movement speed of the Y2 base (14) is an integer multiple of the displacement speed of the crossbeam (4);

[0011] The combined motion of the Y1 and Y2 axes enables the end effector to achieve three times the conveying speed in the Y direction.

[0012] The Z-axis motion mechanism includes a Z-axis servo motor (3), which is connected to a Z-axis gear rack mechanism (7) via a second reducer. The Z-axis gear rack mechanism (7) drives the vacuum gripping system (10) to move up and down along the Z-axis. The Z-axis base (6) is fixed on the Y2 base (14) and moves back and forth with the Y2 base (14).

[0013] The vacuum gripping system (10) includes a vacuum suction cup assembly with grooves or anti-slip textures on its surface that are adapted to the profile of the sheet metal; and a proximity sensor for identifying the position of the sheet metal and triggering the gripping action.

[0014] The synchronous belt mechanism (11) includes a synchronous pulley and a belt tensioner (8). A driven synchronous pulley is rotatably mounted on the Y-direction guide rail (9). An active synchronous pulley is mounted on the output shaft of the Y2 axis servo motor (2). The active synchronous pulley and the driven synchronous pulley are connected by a synchronous belt drive. The Y2 base (14) is connected to the synchronous belt through a connector. The synchronous belt maintains a constant transmission ratio through the tensioner (8).

[0015] It also includes a lubrication system (141) that automatically lubricates the Y-axis rack and pinion mechanism (5), the Z-axis rack and pinion mechanism (7), and the Y-axis guide rail (9).

[0016] The crossbeam (4) and the Z-axis base (6), and the Y2 base (14) and the crossbeam (4) are connected by linear guide rail slider pairs.

[0017] It also includes a collision buffer (12) which is positioned at the travel limit positions in the Y and Z directions.

[0018] The advantages of this utility model are:

[0019] 1. Triple-speed composite motion: Through independent servo coupling of the Y1 axis (gear and rack basic displacement) and the Y2 axis (synchronous belt double speed displacement), the end effector can achieve a high-rate conveying of 3× basic speed within the same stroke, directly matching the cycle time of downstream workstations such as high-speed stamping and laser welding.

[0020] 2. Servo-reducer direct drive + gear / rack / synchronous belt hybrid transmission: The servo motor is directly connected to the reducer to output high torque. The gear / rack + synchronous belt two-stage transmission chain has a backlash of <0.05mm and a repeatability of ±0.1mm, meeting the requirements of high-precision riveting or welding. The synchronous belt is oil-free and has high cleanliness, making it suitable for pre-painting processes.

[0021] 3. Highly flexible vacuum gripping: The surface of the vacuum suction cup assembly has grooves / anti-slip textures that match the contours of the sheet metal, and works with proximity sensors to identify the position of the sheet metal in real time.

[0022] 4. Modular and lightweight beam structure: The beam and the Z-axis base and Y2 base are all connected by linear guide slider pairs, which have high rigidity and low friction.

[0023] 5. Full life cycle lubrication and anti-collision: The automatic lubrication system provides timed and metered oil to gears, racks and guide rails. Replaceable anti-collision buffers are provided at the Y / Z travel limits to protect the robot and mold.

[0024] 6. Energy saving and cost reduction: The three-times-speed design shortens the conveying time of a single piece, saving 1-2 operators for the same production capacity. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the main structure of this utility model.

[0026] Figure 2 yes Figure 1 Side view.

[0027] Figure 3 yes Figure 1 Top view. Detailed Implementation

[0028] The present invention will be further described below with reference to specific embodiments, and the advantages and features of the present invention will become clearer as a result of the description. However, these embodiments are merely exemplary and do not constitute any limitation on the scope of the present invention. Those skilled in the art should understand that modifications or substitutions can be made to the details and form of the technical solution of the present invention without departing from the spirit and scope of the present invention, but all such modifications and substitutions fall within the protection scope of the present invention.

[0029] See Figures 1 to 3This utility model relates to a sheet metal three-times-speed conveying robot device, including a Z-axis base 6, a crossbeam 4, a Y-axis motion mechanism, and a vacuum gripping system 10; the Y-axis motion mechanism includes a Y1-axis servo motor 1 and a Y2-axis servo motor 2 that are driven independently of each other, the Y2-axis servo motor 2 being located below the Y1-axis servo motor 1, wherein:

[0030] Y1 axis servo motor 1 is connected to Y-axis gear rack mechanism 5 through the first reducer, and drives crossbeam 4 to make basic displacement along the Y direction through the Y-axis gear rack mechanism 5.

[0031] Y2 axis servo motor 2 drives Y2 base 14 to move along Y direction guide rail 9 through synchronous belt mechanism 11, and the movement speed of Y2 base 14 is an integer multiple of the displacement speed of crossbeam 4.

[0032] The combined motion of the Y1 and Y2 axes enables the end effector to achieve three times the conveying speed in the Y direction.

[0033] Advantages of this Y-axis motion structure:

[0034] 1. Dual servo superposition: Y1 provides the basic displacement, and Y2 follows at an integer multiple speed. The two strokes are completed in one go, and the Y-axis speed is instantly tripled, significantly shortening the cycle time.

[0035] 2. Compact structure: The Y2 servo is placed below the Y1, and the crossbeam is coaxially arranged with the Y2 base. The overall height is low and the footprint is small, so it can be directly embedded into the existing production line.

[0036] 3. Precise transmission: Gear and rack are responsible for high thrust, synchronous belt achieves double speed with no slippage, minimal backlash, consistent positioning throughout the entire process, and no need for adjustment.

[0037] 4. Flexible and adjustable: Different speeds can be switched simply by modifying the servo parameters, without the need to replace mechanical parts, adapting to rapid model changes for multiple products.

[0038] The Z-axis motion mechanism includes a Z-axis servo motor 3, which is connected to a Z-axis gear and rack mechanism 7 via a second reducer. The Z-axis gear and rack mechanism 7 drives the vacuum gripping system 10 to move up and down in the Z direction. The Z-axis base 6 is fixed on the Y2 base 14 and moves back and forth with the Y2 base 14.

[0039] Advantages of this Z-axis motion structure:

[0040] 1. Follow-up lifting: The Z-axis base 6 is installed on the Y2 base 14. The Z-axis movement is synchronized with the Y-axis movement at three times the speed. No additional line changing mechanism is required. The path is short and the cycle time is fast.

[0041] 2. Gear-rack direct drive: The servo motor 3 is directly connected to the rack via a reducer, which provides high thrust and good rigidity, and ensures that the thin plate does not vibrate during high-speed lifting.

[0042] 3. Simple structure: The motor, reducer, and rack are all hidden inside the crossbeam, which is dustproof, aesthetically pleasing, and provides ample maintenance space.

[0043] The vacuum gripping system 10 includes a vacuum suction cup assembly with grooves or anti-slip textures on its surface that are adapted to the contour of the sheet metal; and a proximity sensor for identifying the position of the sheet metal and triggering the gripping action.

[0044] The synchronous belt mechanism 11 includes a synchronous pulley and a belt tensioner 8. A driven synchronous pulley is rotatably mounted on the Y-direction guide rail 9. An active synchronous pulley is mounted on the output shaft of the Y2 axis servo motor 2. The active synchronous pulley and the driven synchronous pulley are connected by a synchronous belt drive. The Y2 base 14 is connected to the synchronous belt through a connector. The synchronous belt maintains a constant transmission ratio through the tensioner 8.

[0045] Advantages of this synchronous belt mechanism:

[0046] 1. Tensioner 8 maintains belt tension in real time, ensuring a constant transmission ratio with no slippage, and precise and reliable speed increase.

[0047] 2. Synchronous belt flexible transmission has low noise and requires no lubrication, complementing the rigid gear-rack chain, resulting in both speed and stability.

[0048] It also includes a lubrication system 141, which automatically lubricates the Y-axis gear rack mechanism 5, the Z-axis gear rack mechanism 7 and the Y-axis guide rail 9.

[0049] The crossbeam 4 and the Z-axis base 6, and the Y2 base 14 and the crossbeam 4 are all connected by linear guide rail slider pairs.

[0050] It also includes a collision buffer 12, which is set at the travel limit positions in the Y and Z directions.

[0051] The working principle of this utility model is as follows:

[0052] (1) Standby position: The lubrication system 141 pre-fills the gears, racks and guide rails with oil. The Y1 axis servo motor 1, Y2 axis servo motor 2 and Z axis servo motor 3 are all in the zero position. The anti-collision buffer 12 ensures no overtravel.

[0053] (2) Identification and descent: The Z-axis servo motor 3 starts and drives the Z-axis base 6 to descend vertically along the linear guide rail slider pair on the crossbeam 4 via the second reducer and the Z-axis gear rack mechanism 7; at the same time, the proximity sensor in the vacuum gripping system 10 scans the sheet metal position and gives a gripping signal after confirming that it is in place.

[0054] (3) Gripping: The suction cup assembly of the vacuum gripping system 10 contacts the sheet metal, and a seal is formed by the surface grooves / anti-slip textures. A vacuum is established, and the sheet metal is firmly adsorbed.

[0055] (4) Lifting: The Z-axis servo motor 3 reverses, and the vacuum gripping system 10 lifts the sheet metal to a safe height to avoid interference with the mold.

[0056] (5) Three times speed conveying in the Y direction: The Y1 axis servo motor 1 drives the crossbeam 4 to perform "basic displacement" through the first reducer and the Y-axis gear rack mechanism 5;

[0057] The Y2 axis servo motor 2 drives the Y2 base 14 to perform "double speed displacement" along the Y-direction guide rail 9 through the active synchronous pulley, synchronous belt, driven synchronous pulley and belt tensioner 8; the crossbeam 4 and the Y2 base 14 are also kept rigid by a linear guide rail slider pair;

[0058] With the speeds of the two axes combined, the end effector achieves a three-fold speed forward movement, delivering the sheet metal to the next workstation.

[0059] (6) Descending and releasing: After reaching the target position, the Z-axis descends again; the vacuum is disconnected, and the sheet metal is accurately placed.

[0060] (7) Zeroing: The Z-axis rises first, and then the Y1 and Y2 axes return to zero synchronously or independently. The anti-collision buffer 12 provides end protection at the extreme position to complete one cycle.

[0061] Throughout the process, the lubrication system 141 continuously supplies a small amount of oil, and the synchronous belt tensioner 8 maintains a constant transmission ratio, ensuring long-term high-speed and stable operation.

[0062] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A sheet metal triple speed transfer robot device, characterized by, It includes a Z-axis base (6), a crossbeam (4), a Y-axis motion mechanism, a Z-axis motion mechanism, and a vacuum gripping system (10); The Y-axis motion mechanism includes a Y1-axis servo motor (1) and a Y2-axis servo motor (2) that are driven independently of each other. The Y2-axis servo motor (2) is located below the Y1-axis servo motor (1), wherein: The Y1 axis servo motor (1) is connected to the Y-axis gear rack mechanism (5) through the first reducer, and the Y-axis gear rack mechanism (5) drives the crossbeam (4) to make basic displacement along the Y direction; The Y2 axis servo motor (2) drives the Y2 base (14) to move along the Y direction guide rail (9) through the synchronous belt mechanism (11), and the movement speed of the Y2 base (14) is an integer multiple of the displacement speed of the crossbeam (4); The combined motion of the Y1 and Y2 axes enables the end effector to achieve three times the conveying speed in the Y direction.

2. The sheet metal triple-speed conveying robot device according to claim 1, characterized in that, The Z-axis motion mechanism includes a Z-axis servo motor (3), which is connected to a Z-axis gear rack mechanism (7) via a second reducer. The Z-axis gear rack mechanism (7) drives the vacuum gripping system (10) to move up and down along the Z-axis. The Z-axis base (6) is fixed on the Y2 base (14) and moves back and forth with the Y2 base (14).

3. The sheet metal triple-speed conveying robot device according to claim 1, characterized in that, The vacuum gripping system (10) includes a vacuum suction cup assembly with grooves or anti-slip textures on its surface that are adapted to the profile of the sheet metal; and a proximity sensor for identifying the position of the sheet metal and triggering the gripping action.

4. The sheet metal triple-speed conveying robot device according to claim 1, characterized in that, The synchronous belt mechanism (11) includes a synchronous pulley and a belt tensioner (8). A driven synchronous pulley is rotatably mounted on the Y-direction guide rail (9). An active synchronous pulley is mounted on the output shaft of the Y2 axis servo motor (2). The active synchronous pulley and the driven synchronous pulley are connected by a synchronous belt drive. The Y2 base (14) is connected to the synchronous belt through a connector. The synchronous belt maintains a constant transmission ratio through the tensioner (8).

5. The sheet metal triple-speed conveying robot device according to claim 1, characterized in that, It also includes a lubrication system (141) that automatically lubricates the Y-axis rack and pinion mechanism (5), the Z-axis rack and pinion mechanism (7), and the Y-axis guide rail (9).

6. The sheet metal triple-speed conveying robot device according to claim 1, characterized in that, The crossbeam (4) and the Z-axis base (6), and the Y2 base (14) and the crossbeam (4) are connected by linear guide rail slider pairs.

7. The sheet metal triple-speed conveying robot device according to claim 1, characterized in that, It also includes a collision buffer (12) which is positioned at the travel limit positions in the Y and Z directions.

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