A long-stroke up-and-down feeding manipulator for stamping

Abstract

The utility model discloses a kind of for stamping's large-stroke feeding and discharging manipulator, including rack, Z-axis drive component, X-axis drive component and material taking assembly;The X-axis drive component includes: X-axis servo motor, and the output end of Z-axis drive component is fixedly connected by second mounting bracket;Primary transmission support is connected with the X-axis servo motor transmission by rack and pinion structure;Secondary transmission support is set below primary transmission support, and is linked with primary transmission support by primary synchronous belt component and secondary synchronous belt component;The material taking assembly is connected with secondary transmission support transmission by tertiary synchronous belt component, and is driven along X by secondary transmission support Mobile.The utility model X-axis drive component is driven under the combination of rack and pinion structure, primary synchronous belt component, secondary synchronous belt component and tertiary synchronous belt component by layered primary transmission support, secondary transmission support and first sliding plate, realizes the large-stroke material handling of material taking assembly.

Description

Technical Field

[0001] This utility model relates to the field of stamping automation equipment technology, and in particular to a long-stroke loading and unloading robot for stamping. Background Technology

[0002] In automated stamping production, robotic arms are commonly used for loading and unloading workpieces. Traditional robotic arms typically employ single-axis servo drives, whose stroke is limited by the mechanical structure and drive method, making it difficult to meet the loading and unloading requirements of large-span stamping equipment. Increasing the power of the servo motor or lengthening the robotic arm would not only increase equipment costs and space requirements but also reduce operational stability and positioning accuracy.

[0003] In existing technologies, some robotic arms use gear and rack or synchronous belt drives to achieve X-axis movement, but these typically only achieve single-stage transmission and have limited stroke extension. Therefore, there is an urgent need for a compact, stable, and long-span loading and unloading robotic arm to achieve efficient material handling in stamping production lines. Utility Model Content

[0004] To solve the above-mentioned technical problems, this utility model provides a long-stroke loading and unloading robot for stamping, which is suitable for material handling in stamping production lines with large spans and high efficiency.

[0005] The technical solution of this utility model is: Includes a frame, Z-axis drive assembly, X-axis drive assembly, and material handling assembly. The moving direction of the material handling component is defined as the X-axis; the X-axis drive component includes: The X-axis servo motor is fixedly connected to the output end of the Z-axis drive assembly via the second mounting bracket. The primary transmission support is connected to the X-axis servo motor via a gear and rack structure. The secondary transmission support is located below the primary transmission support and is linked to the primary transmission support through the primary synchronous belt assembly and the secondary synchronous belt assembly; the material picking component is connected to the secondary transmission support through the tertiary synchronous belt assembly and is driven by the secondary transmission support to move along the X direction.

[0006] Furthermore: the secondary transmission bracket is slidably connected to the primary transmission bracket via the first sliding plate; the primary synchronous belt assembly includes primary transmission wheels disposed at both ends of the primary transmission bracket along the X direction, and a first synchronous belt wound around each set of primary transmission wheels. After each set of first synchronous belts wound around the primary transmission wheel at its end, one end is fixed to the corresponding end of the second mounting bracket, and the other end is fixed to the corresponding end of the first sliding plate.

[0007] Furthermore: the secondary synchronous belt assembly includes secondary transmission wheels disposed at both ends of the first sliding plate along the X direction, and a second synchronous belt wound around each set of secondary transmission wheels; after each set of second synchronous belts passes over the secondary transmission wheel at its end, one end is fixed to the corresponding end of the primary transmission bracket, and the other end is fixed to the corresponding end of the secondary transmission bracket.

[0008] Furthermore: the material handling component is slidably connected to the bottom end face of the secondary transmission support via the second sliding plate, and is connected to the secondary transmission support via the third-stage synchronous belt assembly; the third-stage synchronous belt assembly includes three-stage transmission wheels installed at both ends of the secondary transmission support along the X direction, and a third synchronous belt wound around each set of three-stage transmission wheels; one end of each set of third synchronous belts is fixed to the corresponding end of the first sliding plate, and the other end is fixed to the corresponding end of the second sliding plate.

[0009] Furthermore: a second linear slide rail is provided between the first sliding plate and the first-stage transmission support, and a third linear slide rail is provided between the first sliding plate and the second-stage transmission support.

[0010] Furthermore: the Z-axis drive assembly is fixed on the frame and includes a Z-axis servo motor, a lifting bracket, and a lead screw transmission structure; the lead screw transmission structure includes a lead screw that is connected to the output end of the Z-axis servo motor and a lead screw nut that cooperates with the lead screw, and the lead screw nut is fixedly connected to the lifting bracket.

[0011] Furthermore, it also includes a balance cylinder, the cylinder body of which is fixed to the frame, and the piston rod end is connected to a lifting bracket.

[0012] Furthermore: the gear and rack structure includes a drive gear mounted on the output end of the X-axis servo motor and a rack fixedly mounted on the primary transmission bracket, extending along the X direction and meshing with the drive gear; a first linear slide rail is provided between the primary transmission bracket and the second mounting bracket, and the primary transmission bracket slides relative to the second mounting bracket in the X direction through the first linear slide rail.

[0013] Furthermore, a fourth linear slide rail is provided between the second sliding plate and the secondary transmission support, and the material taking component slides relative to the secondary transmission support in the X direction via the fourth linear slide rail.

[0014] Furthermore: the motion transmission relationship of the X-axis drive assembly satisfies: The first stroke S1 is the travel of the primary transmission support along the X direction via the gear and rack structure. The second-stage transmission support moves relative to the first-stage transmission support via the first-stage synchronous belt assembly and the second-stage synchronous belt assembly for a second stroke S2, and S2 = 2S1. Therefore, the total stroke of the second-stage transmission support relative to the second mounting bracket along the X direction is S1 + S2 = 3S1. The material handling component obtains a stroke S3=S1 relative to the secondary transmission support through the three-stage synchronous belt assembly; the final total travel of the material handling component relative to the second mounting frame along the X direction is S1+S2+S3=4S1.

[0015] The beneficial technical effects of this utility model are as follows: Through the combined transmission of the gear and rack structure, primary synchronous belt assembly, secondary synchronous belt assembly, and tertiary synchronous belt assembly of the X-axis drive component, the material handling assembly achieves a four-fold stroke movement, significantly increasing the working range of the robot within a limited structural space, making it suitable for large-span stamping equipment. The X-axis drive component adopts a layered transmission structure consisting of a primary transmission support, a secondary transmission support, and a first sliding plate, resulting in a compact structure that facilitates assembly and maintenance. The entire structure achieves large-stroke, high-efficiency stamping loading and unloading operations. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the specific structure of the Z-axis drive assembly of this utility model; Figure 3 This is a cross-sectional view of the overall structure of the Z-axis drive assembly of this utility model; Figure 4 This is a schematic diagram of the overall structure of the X-axis drive assembly of this utility model; Figure 5 This is a schematic diagram of the material handling component of this utility model operating along the X direction; The components include: 1. Frame; 11. Mounting base; 2. Z-axis drive assembly; 21. Z-axis servo motor; 22. Lifting bracket; 23. Screw transmission structure; 24. First mounting bracket; 25. Vertical linear slide rail; 26. Balance cylinder; 3. X-axis drive assembly; 31. Second mounting bracket; 32. X-axis servo motor; 33. Primary transmission bracket; 34. Secondary transmission bracket; 35. Primary synchronous belt assembly; 351. First synchronous belt; 36. Gear and rack structure; 37. First linear slide rail; 38. First sliding plate; 39. Second linear slide rail; 40. Third linear slide rail; 41. Secondary synchronous belt assembly; 411. Second synchronous belt; 42. Second sliding plate; 43. Tertiary synchronous belt assembly; 431. Third synchronous belt; 44. Fourth linear slide rail; 4. Material handling assembly. Detailed Implementation

[0017] In order to better understand the technical means of this utility model and to implement it in accordance with the contents of the specification, the specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this utility model, but are not intended to limit the scope of this utility model.

[0018] like Figure 1As shown, the present invention discloses a long-stroke loading and unloading robot for stamping, comprising a frame 1, a Z-axis drive assembly 2, an X-axis drive assembly 3, and a material handling assembly 4. The moving direction of the material handling assembly 4 is defined as the X-axis. The driving stroke of the Z-axis drive assembly 2 is vertical. The X-axis drive assembly 3 is located at the drive output end of the Z-axis drive assembly 2, and its driving stroke is along the X-axis. The material handling assembly 4 is located at the drive output end of the X-axis drive assembly 3.

[0019] Specifically: The frame 1 is fixedly provided with a mounting base 11.

[0020] like Figure 2 and Figure 3 The Z-axis drive assembly 2 includes a Z-axis servo motor 21, a lifting bracket 22, and a lead screw transmission structure 23. The Z-axis servo motor 21 is fixedly mounted on the mounting base 11 via a first mounting bracket 24. A vertical linear slide rail 25 is provided between the lifting bracket 22 and the first mounting bracket 24. The lifting bracket 22 is slidably connected to the first mounting bracket 24 via the vertical linear slide rail 25 to achieve vertical guidance. The lead screw transmission structure 23 includes a lead screw that is driven to the output end of the Z-axis servo motor 21 and a lead screw nut that cooperates with the lead screw. The lead screw nut is fixedly connected to the lifting bracket 22, so that when the Z-axis servo motor 21 drives the lead screw to rotate, it drives the lifting bracket 22 to move up and down along the vertical linear slide rail 25.

[0021] Furthermore, it also includes two sets of balance cylinders 26 symmetrically arranged on both sides of the lifting bracket 22. The piston rod of each balance cylinder 26 is vertically downward, and the cylinder body of the balance cylinder 26 is fixed on the first mounting bracket 24. The end of its piston rod is connected to the lifting bracket 22. The pressure of the balance cylinder 26 is set by a precision pressure regulating valve to balance the load of the lifting bracket 22 in the vertical direction, thereby reducing the power requirement of the Z-axis servo motor 21.

[0022] The X-axis drive assembly 3 is fixedly mounted to the bottom end face of the lifting bracket 22 via the second mounting bracket 31. The X-axis drive assembly 3 includes an X-axis servo motor 32, a primary transmission bracket 33, a secondary transmission bracket 34, and a primary synchronous belt assembly 35, as shown below. Figure 4 and Figure 5 .

[0023] The X-axis servo motor 32 is fixedly mounted on the second mounting bracket 31. The primary transmission bracket 33 is connected to the output end of the X-axis servo motor 32 via a gear and rack structure 36. The gear and rack structure 36 includes a drive gear mounted on the output end of the X-axis servo motor 32 and a rack fixedly mounted on the primary transmission bracket 33, extending along the X-direction and meshing with the drive gear. A first linear slide rail 37 is provided between the primary transmission bracket 33 and the second mounting bracket 31, allowing the primary transmission bracket 33 to slide relative to the second mounting bracket 31 in the X-direction via the first linear slide rail 37. When the X-axis servo motor 32 is driven, the gear and rack structure 36 drives the transmission bracket to reciprocate relative to the second mounting bracket 31 along the X-direction; this travel distance is defined as S1: the first travel distance.

[0024] A first sliding plate 38 is provided between the opposite end faces of the secondary transmission support 34 and the primary transmission support 33. The first sliding plate 38 and the primary transmission support 33 are slidably connected by a second linear slide rail 39, and the first sliding plate 38 and the secondary transmission support 34 are slidably connected by a third linear slide rail 40. Both the second linear slide rail 39 and the third linear slide rail 40 extend along the X direction.

[0025] The primary synchronous belt assembly 35 includes primary transmission pulleys disposed at both ends of the primary transmission bracket 33 along the X-direction, and two sets of first synchronous belts 351 wound around the two sets of primary transmission pulleys. After each set of first synchronous belts 351 passes over the primary transmission pulley at its end, one end is fixed to the corresponding end of the second mounting bracket 31, and the other end is fixed to the corresponding end of the first sliding plate 38. When the primary transmission bracket 33 moves along the X-direction under the drive of the X-axis servo motor 32, since one end of the first synchronous belt 351 is fixed to the stationary second mounting bracket 31, the other end of the first synchronous belt 351 will drive the first sliding plate 38 to reciprocate relative to the primary transmission bracket 33 along the X-direction.

[0026] A secondary synchronous belt assembly 41 is further provided between the primary transmission support 33 and the secondary transmission support 34. The secondary synchronous belt assembly 41 includes secondary transmission pulleys disposed at both ends of the first sliding plate 38 along the X direction, and a second synchronous belt 411 wound around each set of secondary transmission pulleys. After each set of second synchronous belts 411 passes over the secondary transmission pulley at its end, one end is fixed to the corresponding end of the primary transmission support 33, and the other end is fixed to the corresponding end of the secondary transmission support 34. When the first sliding plate 38 is driven by the primary synchronous belt assembly 35 to move relative to the primary transmission support 33, since the two ends of the second synchronous belt 411 are respectively fixed on the corresponding ends of the primary transmission support 33 and the secondary transmission support 34, the second synchronous belt 411 will drive the secondary transmission support 34 to move relative to the primary transmission support 33 along the X direction.

[0027] The relative travel distance between the secondary transmission support 34 and the primary transmission support 33 is defined as S2, and S2 = 2S1. Therefore, the total travel distance of the secondary transmission support 34 relative to the second mounting bracket 31 along the X direction is S1 + S2 = 3S1.

[0028] The material-picking component 4 is mounted on the bottom end face of the secondary transmission support 34 via the second sliding plate 42 and is connected to the secondary transmission support 34 via the third-stage synchronous belt assembly 43. A fourth linear slide rail 44 is provided on the opposite end face between the second sliding plate 42 and the secondary transmission support 34, extending along the X-direction. The material-picking component 4 is slidably connected to the secondary transmission support 34 via the fourth linear slide rail 44. The third-stage synchronous belt assembly 43 includes three-stage transmission wheels disposed at both ends of the secondary transmission support 34 along the X-direction, and a third synchronous belt 431 wound around each set of three-stage transmission wheels. One end of each set of third synchronous belts 431 is fixed to the corresponding end of the first sliding plate 38, and the other end is fixed to the corresponding end of the second sliding plate 42. When the secondary transmission support 34 reciprocates relative to the primary transmission support 33 along the X-direction, the third synchronous belt 431 will drive the second sliding plate 42 to move relative to the secondary transmission support 34, thereby driving the material-picking component 4 to reciprocate along the X-direction. The travel distance of the material picking component 4 relative to the secondary transmission support 34 obtained by the third synchronous belt 431 is defined as S3, and S3=S1. Therefore, the total travel distance of the material picking component 4 relative to the second mounting frame 31 is S1+S2+S3=4S1.

[0029] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. A long-stroke loading and unloading robot for stamping, comprising a frame (1), a Z-axis drive assembly (2), an X-axis drive assembly (3), and a material handling assembly (4), characterized in that: The moving direction of the material handling component (4) is defined as the X-axis; the X-axis drive component (3) includes: The X-axis servo motor (32) is fixedly connected to the output end of the Z-axis drive assembly (2) via the second mounting bracket (31); The primary transmission bracket (33) is connected to the X-axis servo motor (32) via a gear and rack structure (36); The secondary transmission support (34) is located below the primary transmission support (33) and is linked with the primary transmission support (33) through the primary synchronous belt assembly (35) and the secondary synchronous belt assembly (41); the material picking component (4) is connected to the secondary transmission support (34) through the tertiary synchronous belt assembly (43) and is driven by the secondary transmission support (34) to move along the X direction.

2. The long-stroke loading and unloading robot for stamping according to claim 1, characterized in that: The secondary transmission bracket (34) is slidably connected to the primary transmission bracket (33) via the first sliding plate (38); the primary synchronous belt assembly (35) includes primary transmission wheels disposed at both ends of the primary transmission bracket (33) along the X direction, and a first synchronous belt (351) wound around each set of primary transmission wheels. After each set of first synchronous belts (351) is wound around the primary transmission wheel at its end, one end is fixed to the corresponding end of the second mounting bracket (31), and the other end is fixed to the corresponding end of the first sliding plate (38).

3. The long-stroke loading and unloading robot for stamping according to claim 2, characterized in that: The secondary synchronous belt assembly (41) includes secondary transmission wheels disposed at both ends of the first sliding plate (38) along the X direction, and a second synchronous belt (411) wound around each set of secondary transmission wheels; after each set of second synchronous belts (411) passes over the secondary transmission wheel at its end, one end is fixed to the corresponding end of the primary transmission bracket (33), and the other end is fixed to the corresponding end of the secondary transmission bracket (34).

4. A long-stroke loading and unloading robot for stamping according to claim 3, characterized in that: The material handling component (4) is slidably connected to the bottom end face of the secondary transmission support (34) via the second sliding plate (42), and is connected to the secondary transmission support (34) via the third synchronous belt assembly (43). The third synchronous belt assembly (43) includes three transmission wheels installed at both ends of the secondary transmission support (34) along the X direction, and a third synchronous belt (431) wound around each set of three transmission wheels. One end of each set of third synchronous belts (431) is fixed to the corresponding end of the first sliding plate (38), and the other end is fixed to the corresponding end of the second sliding plate (42).

5. A long-stroke loading and unloading robot for stamping according to claim 2, characterized in that: A second linear slide rail (39) is provided between the first sliding plate (38) and the first-stage transmission support (33), and a third linear slide rail (40) is provided between the first sliding plate (38) and the second-stage transmission support (34).

6. A long-stroke loading and unloading robot for stamping according to claim 1, characterized in that: The Z-axis drive assembly (2) is fixed on the frame (1) and includes a Z-axis servo motor (21), a lifting bracket (22) and a lead screw transmission structure (23). The lead screw transmission structure (23) includes a lead screw that is connected to the output end of the Z-axis servo motor (21) and a lead screw nut that cooperates with the lead screw. The lead screw nut is fixedly connected to the lifting bracket (22).

7. A long-stroke loading and unloading robot for stamping according to claim 6, characterized in that: It also includes a balance cylinder (26), the cylinder body of which is fixed to the frame (1), and the piston rod end is connected to a lifting bracket (22).

8. A long-stroke loading and unloading robot for stamping according to claim 1, characterized in that: The gear and rack structure (36) includes a drive gear mounted on the output end of the X-axis servo motor (32) and a rack fixedly mounted on the primary transmission bracket (33), extending along the X direction and meshing with the drive gear; a first linear slide rail (37) is provided between the primary transmission bracket (33) and the second mounting bracket (31), and the primary transmission bracket (33) slides relative to the second mounting bracket (31) in the X direction through the first linear slide rail (37).

9. A long-stroke loading and unloading robot for stamping according to claim 4, characterized in that: A fourth linear slide rail (44) is provided between the second sliding plate (42) and the secondary transmission support (34), and the material picking component (4) slides relative to the secondary transmission support (34) via the fourth linear slide rail (44) in the X direction.

10. The long-stroke loading and unloading robot for stamping according to claim 4, characterized in that: The motion transmission relationship of the X-axis drive component (3) satisfies: The first-stage transmission support (33) moves along the X direction through the gear and rack structure (36) for the first stroke S1; The second-stage transmission bracket (34) moves relative to the first-stage transmission bracket (33) via the first-stage synchronous belt assembly (35) and the second-stage synchronous belt assembly (41) for a second stroke S2, and S2 = 2S1. Therefore, the total stroke of the second-stage transmission bracket (34) relative to the second mounting bracket (31) along the X direction is S1 + S2 = 3S1. The material taking component (4) obtains a stroke S3=S1 relative to the secondary transmission bracket (34) through the three-stage synchronous belt assembly (43); the final total travel of the material taking component (4) relative to the second mounting bracket (31) along the X direction is S1+S2+S3=4S1.

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