A high-speed flexible stamping and conveying device

Abstract

This utility model discloses a high-speed flexible stamping and handling device, specifically relating to the field of high-speed stamping automation technology. It includes a Y-axis section, a Z-axis section, and a C1-axis section connected below the Z-axis section. The lower part of the C1-axis section connects to the X1-axis section, the lower part of the X1-axis section connects to the X2-axis section, the front end of the X2-axis section connects to the C2-axis section, the C2-axis section connects to the B-axis section, and the B-axis section connects to an end effector. A camera assembly and a lighting assembly are mounted above the end effector. The camera assembly is connected to a vision inspection system, which in turn is connected to a PLC controller. This utility model provides a high-speed, highly flexible, seven-axis single-arm robot for stamping and handling, which quickly adjusts the sheet metal's posture, accurately places it into the mold cavity, and achieves a fit between the sheet metal and the mold cavity surface. It also provides feedback on the positional relationship between the sheet metal and the mold cavity to verify the accuracy and correctness of the sheet metal posture adjustment, saving sheet metal and enabling multi-posture adjustment of parts.

Description

Technical Field

[0001] This utility model belongs to the field of high-speed stamping automation technology, specifically relating to a high-speed flexible stamping handling device. Background Technology

[0002] In the passenger vehicle body panel stamping industry, the stamping production of large body panels typically employs a series arrangement of multiple presses. Therefore, rapid material handling between presses is crucial for improving stamping production efficiency. Currently, automakers generally use robotic stamping automation lines to replace traditional manual production lines. These lines enable automated material handling between presses, allowing robots to replace manual labor and ensuring product quality and stability. For example, specialized stamping robots from companies like ABB and KUKA are commonly used.

[0003] Chinese invention patent application number CN2024113488144 discloses a high-speed, highly flexible seven-axis single-arm robot for stamping and handling. Through the linkage of various axes, it achieves high-speed handling of stamped parts between presses and allows for multi-positional adjustment of the parts. However, in practical use, it has been found that although production efficiency is greatly improved, the overall structure is relatively complex and occupies a large space. When initially placing the sheet metal on the press, it is often difficult to quickly adjust its position, leading to misalignment between the sheet metal and the stamping die. Precise adjustment by visual inspection is difficult and time-consuming. In existing technologies, to achieve precise positioning of the sheet metal and the stamping die, the size of the sheet metal is often increased, resulting in material waste and increased costs.

[0004] This solution provides a high-speed flexible stamping and conveying device to address the aforementioned technical challenges. Utility Model Content

[0005] The purpose of this invention is to provide a high-speed flexible stamping conveying device that solves the technical problem of how to quickly adjust the positional relationship between sheet metal and stamping die. It enables rapid sheet metal orientation adjustment, accurate placement into the die cavity, and proper fit between the sheet metal and die cavity surfaces. It also provides feedback on the positional relationship between the sheet metal and the die cavity to verify the accuracy and correctness of the sheet metal orientation adjustment, thus saving sheet metal and avoiding waste. Furthermore, this conveying device further improves the production efficiency of stamped parts and enhances the orientation adjustment function. Through the linkage of various shafts, it enables high-speed conveying of stamped parts between presses and allows for multi-orientation adjustment of the parts.

[0006] A high-speed flexible stamping and conveying device includes a seven-axis linkage system fixed on the front or rear side of a press.

[0007] The seven-axis linkage system includes a horizontally placed Y-axis section, a horizontally movable Z-axis section mounted on the Y-axis section, and a C1-axis section connected below the Z-axis section and used for horizontal rotation.

[0008] The lower part of the C1 axis is connected to the X1 axis, which moves horizontally perpendicular to the Y direction. The lower part of the X1 axis is connected to the X2 axis in the same direction of movement. The front end of the X2 axis is connected to the C2 axis, which is used for horizontal adjustment and rotation. The C2 axis is connected to the B axis, which is used for rotation around the center line in the Y direction. The B axis is connected to an end effector for clamping the stamped parts.

[0009] A camera assembly and a lighting assembly are arranged above the end effector. The camera assembly is connected to a vision inspection system, and the vision inspection system is connected to a PLC controller.

[0010] The Y-axis section includes a main beam horizontally fixed on the front or rear side of the press, a guide rail assembly and a rack arranged parallel to the main beam, a slide plate slidably connected to the guide rail assembly, and a power structure connected to the rack plate. The guide rail assembly is arranged parallel to the rack plate, and the power structure is arranged on the slide plate.

[0011] The power structure includes a gear assembly that meshes with the rack and pinion, and a servo motor that is connected to the gear assembly via a reducer. The reducer is connected to the gear assembly.

[0012] The servo motor and reducer drive the gear assembly to rotate reciprocally. The gear assembly meshes with the rack, and the slide moves reciprocally along the guide rail assembly in the Y direction, thus adjusting the horizontal position of the stamped parts in the Y direction.

[0013] The Z-axis portion includes a rack two and a guide rail assembly two vertically fixed on the slide plate one, a vertical beam slidably disposed on the guide rail assembly two, and a power structure two connected to the rack two. The guide rail assembly two is disposed parallel to the rack two, and the power structure two is disposed on the vertical beam.

[0014] The second power structure includes a second gear assembly that meshes with the second rack and pinion, and a second servo motor that is connected to the second gear assembly via a second reducer. The second reducer is connected to the second gear assembly.

[0015] One side of the slide is connected to one side of the balance cylinder, and the other side of the balance cylinder is fixed to the vertical beam, providing auxiliary power for the lifting and lowering movement of the vertical beam.

[0016] The servo motor and reducer drive the gear assembly to rotate, which in turn drives the rack to reciprocate linearly. The rack then drives the vertical beam to achieve reciprocating lifting motion.

[0017] The C1 shaft section includes a transition flange connected to the vertical beam, a servo motor three, a reducer three connected to the servo motor three, a connecting seat connected to the reducer three for rotary drive, and a tank chain one. The reducer three is fixedly connected to the transition flange, and the outer ring of the transition flange is fixed to the bottom end of the vertical beam by screws.

[0018] The output shaft of the reducer drives the connecting seat to rotate, enabling it to reciprocate around the vertical center line of the vertical beam, thereby adjusting the rotational posture of the stamped parts in the horizontal plane.

[0019] The X1 axis includes an upper guide rail and a lower guide rail that are horizontally slidably disposed on the connecting seat, a crossbeam disposed between the upper guide rail and the lower guide rail and reciprocating, a rack three that is horizontally fixed on the crossbeam, a tank chain two, and a power structure three connected to the rack three, the power structure three being disposed on the connecting seat;

[0020] The power structure three includes a gear assembly three that meshes with the rack three, and a servo motor four that is connected to the gear assembly three via a reducer four. The reducer four is connected to the gear assembly three, and both the servo motor four and the reducer four are fixed on the connecting seat.

[0021] The upper guide rail and the lower guide rail are connected, and the lower guide rail is connected to the servo motor four-way through a linkage structure.

[0022] Servo motor four and reducer four are fixed on the connecting seat. Servo motor four and reducer four drive gear assembly three to rotate. Gear assembly three drives rack three to reciprocate linearly. Rack three drives crossbeam to achieve reciprocating telescopic motion.

[0023] The linkage structure includes a timing belt and timing pulley assemblies respectively disposed at both ends of the timing belt. The timing pulley assemblies are connected to the servo motor via the timing belt and the timing belt is fixedly connected to the connecting housing.

[0024] The X2 axis portion includes a connecting housing fixedly connected to the lower guide rail and a carbon fiber beam connected to the inner side of the connecting housing.

[0025] The C2 shaft section includes a right-angle reducer fixed on the carbon fiber beam, a servo motor connected to the right-angle reducer, and an RV reducer that is connected to the right-angle reducer via a synchronous belt and a synchronous pulley assembly, thereby realizing the reciprocating rotation of the output shaft of the RV reducer and adjusting the rotational posture of the stamped parts in the horizontal plane.

[0026] The B-axis section includes a transition flange fixed on the RV reducer, a T-type reducer connected to the transition flange, and a servo motor connected to the T-type reducer, which realizes the adjustment of the forward and backward tilting posture of the stamped parts. The transition flange is also connected to the transition flange through a rotating fixed seat.

[0027] The end effector includes a YL axis and a YR axis that are parallel to each other. A main rod is provided on both the YL axis and the YR axis. The main rod is connected to the B axis housing through a transition flange. A guide rail is provided on the main rod and is slidably connected to a secondary rod. A suction cup is provided on the secondary rod. The two main rods are connected by a connector. The main rod is connected to the transition flange through a quick-change plate.

[0028] The auxiliary rod is connected to the cylinder drive to realize reciprocating translational motion along the YL and YR axes, thereby realizing the position adjustment of the stamping parts in the YL and YR directions and the gripping of the stamping parts.

[0029] The superior technical effects of this utility model are as follows:

[0030] (1) A Y-axis section is provided to realize the reciprocating translational position adjustment of the stamped parts in the Y direction; a Z-axis section is provided to realize the vertical position adjustment of the stamped parts in the Z direction; a C1-axis section is provided to enable the stamped parts to rotate around the Z-axis center line, thus realizing the rotational posture adjustment of the stamped parts in the horizontal plane; an X1-axis section is provided, which, together with the X2-axis section, enables the stamped parts to reciprocate translational movement at twice the speed in the X direction, thus realizing the rapid handling of the stamped parts;

[0031] The system includes a C2 axis section that reciprocates around the vertical centerline of the vertical beam, enabling adjustment of the stamped parts' rotational posture in the horizontal plane; a B section that enables the stamped parts to reciprocate around the Y direction, thereby enabling adjustment of the stamped parts' tilt posture in the front-to-back direction; and an end effector that, driven by a cylinder, enables reciprocating translational motion in the YL / YR directions, thereby enabling position adjustment of the stamped parts in the YL / YR directions and gripping of the stamped parts.

[0032] Ultimately, this allows the stamped parts to translate and rotate in three-dimensional space, adjusting their position in multiple dimensions;

[0033] (2) The overall structure of this scheme is compact. It adopts a seven-axis linkage of 3+1 linear axes and 3 rotary axes, which can achieve a large transport distance in a small space, and at the same time realize the attitude adjustment of the transported parts in four degrees of freedom;

[0034] This solution requires a press spacing smaller than the conventional press spacing (5500mm-6500mm). This solution can shorten the length of the entire production line, making more rational and efficient use of space. Through the seven-axis linkage of a high-speed, highly flexible handling robot, this solution can achieve centering and gripping of the sheet metal at the beginning of the line. At the end of the line, this solution can use one machine to achieve multiple sheet metal discharge modes, such as side discharge from a single-sided belt conveyor or direct discharge from a double belt conveyor. In this way, the shuttle machine can be eliminated at the end of the line, further shortening the length of the entire production line and reducing the overall line cost. In addition, due to the shortened line length, if an automatic framing station is added at the end of the line, more framing stations can be added, improving the overall production efficiency.

[0035] The motion trajectories of each component in this solution are simple, making it easy to optimize the trajectory curves through kinematic analysis. It can quickly optimize the trajectory of different molds, has strong adaptability, and is convenient and quick to install and debug, shortening the debugging cycle.

[0036] (3) The X1 axis adopts a synchronous belt to drive the moving parts. While ensuring accurate transmission, it also has a certain degree of flexibility, which can reduce the impact of the end pick-up device on the sheet material during material picking, and reduce the degree of damage caused by interference and collision with the mold in case of accident.

[0037] The X2 axis is made of carbon fiber, which meets the requirements of strength and stiffness while reducing the weight of moving parts, reducing the moment of inertia, and reducing the load.

[0038] The YL / YR axes and end effectors are driven by cylinders. By changing the limit blocks of different lengths and using proximity switches, they can be adapted to different stamping parts. Compared with the structure of servo motor + lead screw, the structure is simpler, the overall weight of the end effector is reduced, thus reducing the load and further reducing the moment of inertia of the end effector, thereby improving the stability of the equipment and reducing the cost.

[0039] The YL / YR axes and end effectors adopt a quick-change disc design, which facilitates the replacement of end effectors corresponding to different stamping parts.

[0040] (4) This solution changes the previous technical problem of manually controlling the relative position of sheet metal and stamping die. Through the coordinated action of PLC-controlled camera and visual inspection system, people can quickly put the sheet metal in the appropriate position, greatly improving labor productivity, saving time, cost and material utilization of sheet metal, and at the same time having extremely high accuracy, avoiding the errors that may occur in the previous manual operation. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of the overall structure of the stamping and handling robot in this utility model.

[0042] Figure 2 This is a schematic diagram of the connection structure between the Y-axis and Z-axis portions in this utility model.

[0043] Figure 2-1 This is a schematic diagram of the connection structure of the reducer in this utility model.

[0044] Figure 3 This is a schematic diagram of the Z-axis portion of this utility model.

[0045] Figure 4 This is a front view of the C1 axis portion in this utility model.

[0046] Figure 5 This is a side view of the C1 axis portion in this utility model.

[0047] Figure 6 This is a schematic diagram of the X1 axis portion in this utility model.

[0048] Figure 7 This is a schematic diagram of the X2 axis and C2 axis in this utility model.

[0049] Figure 8 This is a cross-sectional structural diagram of the X2 axis and C2 axis in this utility model.

[0050] Figure 9 This is a schematic diagram of the B-axis portion of this utility model.

[0051] Figure 10 This is a schematic diagram of the structure of the mid-range pickup of this utility model. Figure 1 .

[0052] Figure 10-1 This is a schematic diagram of the structure of the mid-range pickup of this utility model. Figure 2 .

[0053] The reference numerals in the attached diagram are as follows: 1. Y-axis section; 2. Z-axis section; 3. C1-axis section; 4. X1-axis section; 5. C2-axis section; 6. X2-axis section; 7. B-axis section; 8. End effector;

[0054] 10. Main beam; 11. Guide rail assembly 1; 12. Rack 1; 13. Slide 1; 14. Gear assembly 1; 15. Servo motor 1; 16. Reducer 1;

[0055] 20. Rack and pinion II; 21. Guide rail assembly II; 22. Vertical beam; 23. Gear assembly II; 24. Servo motor II; 25. Reducer II; 26. Balance cylinder;

[0056] 30. Transition flange; 31. Servo motor three; 32. Reducer three; 33. Connecting seat; 34. Tank track one;

[0057] 40. Upper guide rail; 41. Lower guide rail; 42. Crossbeam; 43. Rack three; 44. Gear assembly three; 45. Servo motor four; 46. Reducer four;

[0058] 50. Connecting housing; 51. Carbon fiber beam; 52. Synchronous belt one; 53. Synchronous belt pulley assembly one;

[0059] 60. Right-angle reducer; 61. Servo motor five; 62. Synchronous belt two; 63. Synchronous belt pulley assembly two; 64. RV reducer; 65. Adapter flange one;

[0060] 70. Adapter flange two; 71. T-type reducer; 72. Servo motor six; 73. Rotary fixed base;

[0061] 80. YL axis; 81. YR axis; 82. Main rod; 83. Transition flange; 84. Quick change plate; 85. Guide rail; 86. Secondary rod; 87. Suction cup; 88. Cylinder. Detailed Implementation

[0062] To more clearly illustrate the technical features of this solution, the following detailed implementation method will be used to explain the solution.

[0063] See Figure 1-Figure 10-1 A high-speed flexible stamping and conveying device includes a seven-axis linkage system fixed on the front or rear side of a press.

[0064] The seven-axis linkage system includes a horizontally placed Y-axis section 1, a horizontally movable Z-axis section 2 on the Y-axis section 1, and a C1-axis section 3 connected below the Z-axis section 2 and used for horizontal rotation.

[0065] The lower part of C1 axis section 3 is connected to X1 axis section 4, which moves horizontally perpendicular to the Y direction. X2 axis section 6 is connected to the lower part of X1 axis section 4 in the same direction of movement. The front end of X2 axis section 6 is connected to C2 axis section 5, which is used for horizontal adjustment and rotation. C2 axis section 5 is connected to B axis section 7, which is used for rotation around the center line in the Y direction. B axis section 7 is connected to end effector 8, which is used for clamping stamped parts.

[0066] A camera assembly and a lighting assembly are installed above the end effector 8. The camera assembly is connected to the vision inspection system, and the vision inspection system is connected to the PLC controller.

[0067] Y-axis section 1 includes a main beam 10 horizontally fixed on the front or rear side of the press, a guide rail assembly 11 and a rack 12 parallel to the main beam 10, a slide 13 slidably connected to the guide rail assembly 11, and a power structure 1 connected to the rack 12. The guide rail assembly 11 is arranged parallel to the rack 12, and the power structure 1 is arranged on the slide 13.

[0068] The power structure includes a gear assembly 14 that meshes with a rack 12, and a servo motor 15 that is connected to the gear assembly 14 via a reducer 16. The reducer 16 is connected to the gear assembly 14.

[0069] The servo motor 15 and the reducer 16 drive the gear assembly 14 to reciprocate. The gear assembly 14 meshes with the rack, and the slide 13 moves reciprocally in the Y direction along the guide rail assembly 11, thus realizing the horizontal position adjustment of the stamped parts in the Y direction.

[0070] Z-axis part 2 includes rack 20 and guide rail assembly 21, which are vertically fixed on slide plate 13, vertical beam 22, which is slidably arranged on guide rail assembly 21, and power structure 2 connected to rack 20. Guide rail assembly 21 is arranged parallel to rack 20, and power structure 2 is arranged on vertical beam 22.

[0071] The second power structure includes a gear assembly 23 that meshes with a rack 20, and a reducer 25 that is connected to the gear assembly 23 via a servo motor 24. The reducer 25 is connected to the gear assembly 23.

[0072] The slide plate 13 is connected to one side of the balance cylinder 26, and the other side of the balance cylinder 26 is fixed to the vertical beam 22, providing auxiliary power for the lifting and lowering movement of the vertical beam 22.

[0073] The servo motor 24 and reducer 25 drive the gear assembly 23 to rotate, the gear assembly 23 drives the rack 20 to reciprocate linearly, and the rack 20 drives the vertical beam 22 to achieve reciprocating lifting motion.

[0074] C1 shaft part 3 includes a transition flange 30 connected to the vertical beam 22, a servo motor 31, a reducer 32 connected to the servo motor 31, a connecting seat 33 connected to the reducer 32 for rotary drive, and a tank chain 34. The reducer 32 is fixedly connected to the transition flange 30, and the outer ring of the transition flange 30 is fixed to the bottom end of the vertical beam 22 by screws.

[0075] The output shaft on reducer 32 rotates to drive connecting seat 33, enabling it to reciprocate around the vertical center line of vertical beam 22, thus adjusting the rotational posture of the stamped parts in the horizontal plane.

[0076] The X1 axis section 4 includes an upper guide rail 40 and a lower guide rail 41 that are horizontally slidably disposed on the connecting seat 33, a crossbeam 42 that is disposed between the upper guide rail 40 and the lower guide rail 41 and reciprocates, a rack 3 43 that is horizontally fixed on the crossbeam 42, a tank chain 2, and a power structure 3 connected to the rack 3 43. The power structure 3 is disposed on the connecting seat 33.

[0077] The power structure includes a gear assembly 44 that meshes with a rack 43, and a servo motor 45 that is connected to the gear assembly 44 via a reducer 46. The reducer 46 is connected to the gear assembly 44, and both the servo motor 45 and the reducer 46 are fixed on the connecting seat 33.

[0078] The upper guide rail 40 and the lower guide rail 41 are connected, and the lower guide rail 41 is connected to the servo motor 46 through a linkage structure.

[0079] Servo motor 45 and reducer 46 are fixed on connecting seat 33. Servo motor 45 and reducer 46 drive gear assembly 44 to rotate. Gear assembly 44 drives rack 43 to reciprocate linearly. Rack 43 drives crossbeam to achieve reciprocating telescopic motion.

[0080] The linkage structure includes a timing belt 52 and timing pulley assemblies 53 respectively disposed at both ends of the timing belt 52. The timing pulley assemblies 53 are driven and connected to the servo motor 45 through the timing belt 52. The timing belt 52 is fixedly connected to the connecting housing 50.

[0081] The X2 axis section 6 includes a connecting housing 50 fixedly connected to the lower guide rail 41 and a carbon fiber beam 51 connected to the inside of the connecting housing 50.

[0082] The C2 shaft section 5 includes a right-angle reducer 60 fixed on a carbon fiber beam 51, a servo motor 61 connected to the right-angle reducer 60, an RV reducer 64 connected to the right-angle reducer 60 via a synchronous belt 62 and a synchronous pulley assembly 63, and a transition flange 65 connected to the B shaft section. This enables the output shaft of the RV reducer 64 to reciprocate and rotate, thereby adjusting the rotational posture of the stamped parts in the horizontal plane.

[0083] The B-axis section 7 includes a T-type reducer 71 fixed below the RV reducer 64 and connected to a first adapter flange 65, a servo motor 72 connected to the T-type reducer 71, and a second adapter flange 70 connected to the T-type reducer 71 to achieve the tilting posture adjustment of the stamped parts in the front and rear directions. The second adapter flange 70 is also connected to the transition flange 83 through a rotating fixed seat 73.

[0084] The end effector 8 includes a YL axis 80 and a YR axis 81 that are parallel to each other. A main rod 82 is provided on both the YL axis 80 and the YR axis 81. The main rod 82 is connected to the transition flange 83 through a quick-change plate 84. A cylinder 88 is provided inside the main rod 82. The cylinder 88 is connected to the secondary rod 86. A guide rail 85 is provided on the main rod 82 and is slidably connected to the secondary rod 86. A suction cup 87 is provided on the secondary rod 86. The main rod 82 on the YL axis 80 and the YR axis 81 is connected to the transition flange 83 through the quick-change plate 84.

[0085] The auxiliary rod 86 is driven and connected to the cylinder 88 to realize reciprocating translational movement along the YL axis 80 and YR axis 81, thereby realizing the position adjustment of the stamping parts in the YL and YR directions and the gripping of the stamping parts.

[0086] Specifically, the camera and lighting components are fixedly mounted above the main pole 82, and their positions can be adjusted according to the actual situation to facilitate lighting and shooting.

[0087] The specific working process of this utility model:

[0088] First, the sheet metal is transported to the top of the stamping die using a conveying device. The edge of the stamping die or a specific reference area nearby is illuminated. Then, the specific reference area in the illuminated area is photographed and the photograph is transmitted to the vision inspection system.

[0089] Then, computer software is used to process, analyze, and measure the images. Based on the results (such as size, defects, color, presence or absence, etc.), the system automatically determines whether the product is in a suitable position. Specifically, it determines whether the relative position of the sheet metal and the stamping die is reasonable and meets the stamping requirements.

[0090] When the position is suitable, the end effector 8 releases the sheet metal; when the position is unsuitable, people in the control room operate the PLC controller to control the various power components on the conveying device to adjust their positions. After adjustment, photos are taken again. This process is repeated until the requirements are met. In this way, people can quickly adjust the positional relationship between the sheet metal and the stamping die while saving materials.

[0091] Specifically, when the sheet metal stops above the stamping die, the PLC sends a signal to the inspection camera to take a picture. After the camera completes the picture, the data is transmitted to the host computer inspection program, i.e., the vision inspection system, for analysis. The vision inspection system feeds back the inspection results to the PLC to determine whether it is in the appropriate position. The vision inspection system then presents the inspection process and results to the technical observers through a display screen in the control room.

[0092] It should be noted that when the sheet metal is initially placed above the stamping die, the image is captured and analyzed. Once the sheet metal is properly adjusted, the equipment will automatically run according to the parameters set by the PLC controller. No further capturing or image analysis is required afterward.

[0093] The following is a detailed description of the specific structure and working process of the conveying device in this solution:

[0094] The Y-axis section 1 is provided to realize the reciprocating translational position adjustment of the stamping part in the Y direction; the Z-axis section 2 is provided to realize the vertical position adjustment of the stamping part in the Z direction.

[0095] The working principles of Y-axis section 1 and Z-axis section 2 are basically the same. They both utilize the gear and rack meshing principle to achieve linear movement of the slider on the track. Y-axis section 1 moves horizontally, while Z-axis section 2 moves vertically.

[0096] The C1 axis section 3 is provided, which enables the stamping part to rotate around the Z-axis center line, thereby realizing the adjustment of the rotation posture of the stamping part in the horizontal plane; specifically, the servo motor 31 drives the reducer 32 to operate, and the reducer 32 rotates to drive the connecting seat 33, so that the connecting seat 33 rotates around the Z-axis center line, and the rotation surface is the horizontal plane.

[0097] The X1 axis section 4, together with the X2 axis section 6, enables the stamping parts to reciprocate and translate at twice the speed in the X direction, thus realizing the rapid handling of the stamping parts; specifically, the servo motor 45 drives the reducer 46 to operate, the reducer 46 drives the rack 43 to move through the gear assembly 44, and the rack 43 drives the crossbeam 42 to reciprocate linearly.

[0098] In addition, the upper guide rail 40 and the lower guide rail 41 are also movable, and their direction of movement is the same as that of the crossbeam 42. When the crossbeam 42 moves, the upper guide rail 40 and the lower guide rail 41 also move accordingly. The movement of the upper guide rail 40 and the lower guide rail 41 is also driven by the servo motor 45, but through a linkage structure, the lower guide rail 41 is moved.

[0099] The linkage structure includes a timing belt 52 and timing pulley assemblies 53 respectively disposed at both ends of the timing belt 52. The timing pulley assemblies 53 are driven and connected to the servo motor 45 via the timing belt 52. The timing belt 52 is fixedly connected to the lower guide rail 41 via the connecting housing 50. Therefore, the servo motor 45 drives the timing pulley assemblies 53 to rotate, the timing pulley assemblies 53 drive the timing belt 52 to move, and the timing belt 52 then drives the slider of the lower guide rail 41 to move.

[0100] The C2 axis section 5 is equipped with a reciprocating rotary motion around the vertical center line of the vertical beam 22, which realizes the adjustment of the rotational posture of the stamped parts in the horizontal plane. Specifically, the servo motor 61 drives the right angle reducer 60 to work. The right angle reducer 60 drives the RV reducer 64 to run through the synchronous belt 62 and the synchronous pulley assembly 63. The output shaft of the RV reducer rotates, thereby realizing the adjustment of the rotational posture of the stamped parts in the horizontal plane.

[0101] Part B is provided, which realizes the reciprocating rotation of the stamping parts around the Y direction, thereby realizing the tilting posture adjustment of the stamping parts in the front and back directions; an end effector 8 is provided, which is driven by a cylinder 88 to realize the reciprocating translational motion in the YL / YR direction, thereby realizing the position adjustment of the stamping parts in the YL / YR direction and the gripping of the stamping parts.

[0102] Specifically, servo motor 72 drives T-type reducer 71 to operate, and the transition flange 83 connected to the rotating fixed seat 73 of T-type reducer 71 drives end effector 8 to rotate. When the end effector 8 is working, under the action of cylinder 88, it drives auxiliary rod 86 to move back and forth. Auxiliary rod 86 moves on guide rail 85 and drives suction cup 87 to move back and forth, thereby realizing the position adjustment of inter-sequence stamping parts in the YL and YR directions and the gripping of stamping parts.

[0103] Ultimately, this allows the stamped parts to translate and rotate in three-dimensional space, adjusting their position in multiple dimensions;

[0104] This solution has a compact overall structure and adopts a seven-axis linkage of 3+1 linear axes and 3 rotary axes, which can achieve a large transport distance in a small space, and at the same time realize the attitude adjustment of the transported parts in four degrees of freedom.

[0105] This solution requires a smaller press spacing than conventional press spacing, which can shorten the overall line length and make fuller use of space; if this solution is used at the unloading point, there is no need for a transition station or shuttle machine, reducing the overall line cost; the motion trajectory of each component in this solution is simple, which makes it easy to optimize the trajectory curve through kinematic analysis, and can quickly optimize the trajectory of different molds. It is highly adaptable, easy and quick to install and debug, and shortens the debugging cycle.

[0106] The X1 axis section 4 uses a synchronous belt to drive the moving parts. While ensuring precise transmission, it also has a certain degree of flexibility, which can reduce the impact of the end effector 8 on the sheet metal when picking up the material, and at the same time reduce the damage caused by interference and collision with the mold in case of accident.

[0107] The X2 axis section 6 is made of carbon fiber, which meets the requirements of strength and stiffness while reducing the weight of moving parts, reducing the moment of inertia, and reducing the load.

[0108] The YL / YR axis 81 and end effector 8 are driven by cylinder 88, which reduces motion inertia, load and cost compared to the servo motor + lead screw structure.

[0109] The YL / YR axes 81 and end effector 8 adopt the form of a quick-change disc 84, which facilitates the replacement of end effectors 8 corresponding to different stamping parts.

[0110] The technical features of this utility model not described can be implemented by or by using existing technology, and will not be repeated here. Of course, the above description is not a limitation of this utility model, and this utility model is not limited to the examples above. Any changes, modifications, additions or substitutions made by those skilled in the art within the scope of this utility model should also be within the protection scope of this utility model.

Claims

1. A high speed flexible press handling apparatus, characterized by, This includes a seven-axis linkage system fixed to the front or rear of the press; The seven-axis linkage system includes a horizontally placed Y-axis section (1), a horizontally movable Z-axis section (2) on the Y-axis section (1), and a C1-axis section (3) connected below the Z-axis section (2) and used for horizontal rotation. The lower part of the C1 axis section (3) is connected to the X1 axis section (4) which moves horizontally perpendicular to the Y direction. The lower part of the X1 axis section (4) is connected to the X2 axis section (6) in the same direction of movement. The front end of the X2 axis section (6) is connected to the C2 axis section (5) for horizontal adjustment and rotation. The C2 axis section (5) is connected to the B axis section (7) for rotation around the center line in the Y direction. The B axis section (7) is connected to the end effector (8) for clamping the stamped parts. A camera assembly and a lighting assembly are provided above the end effector (8). The camera assembly is connected to a vision inspection system, and the vision inspection system is connected to a PLC controller.

2. The high speed flexible press handling apparatus of claim 1, wherein, The Y-axis part (1) includes a beam (10) horizontally fixed on the front or rear side of the press, a guide rail assembly (11) and a rack (12) arranged parallel to the beam (10), a slide (13) slidably connected to the guide rail assembly (11), and a power structure connected to the rack (12). The guide rail assembly (11) is arranged parallel to the rack (12), and the power structure is arranged on the slide (13). The power structure includes a gear assembly (14) meshing with the rack (12) and a servo motor (15) connected to the gear assembly (14) via a reducer (16), wherein the reducer (16) is connected to the gear assembly (14).

3. The high speed flexible press handling apparatus of claim 2, wherein, The Z-axis part (2) includes a rack two (20) and a guide rail assembly two (21) vertically fixed on the slide plate one (13), a vertical beam (22) slidably arranged on the guide rail assembly two (21), and a power structure two connected to the rack two (20). The guide rail assembly two (21) is arranged parallel to the rack two (20), and the power structure two is arranged on the vertical beam (22). The second power structure includes a second gear assembly (23) meshing with the second rack (20) and a second servo motor (24) connected to the second gear assembly (23) via a second reducer (25). The second reducer (25) is connected to the second gear assembly (23). The slide plate (13) is connected to one side of the balance cylinder (26), and the other side of the balance cylinder (26) is fixed to the vertical beam (22) to provide auxiliary power for the vertical beam (22) to move up and down.

4. The high speed flexible press handling apparatus of claim 3, wherein, The C1 shaft section (3) includes a transition flange (30) connected to the vertical beam (22), a servo motor (31), a reducer (32) connected to the servo motor (31), a connecting seat (33) connected to the reducer (32) for rotary drive, and a tank chain (34). The reducer (32) is fixedly connected to the transition flange (30), and the outer ring of the transition flange (30) is fixed to the bottom end of the vertical beam (22) by screws. The output shaft of the reducer (32) drives the connecting seat (33) to rotate, thereby realizing its reciprocating motion around the vertical center line of the vertical beam (22) and adjusting the rotational posture of the stamped parts in the horizontal plane.

5. The high speed flexible press handling apparatus of claim 4 wherein, The X1 axis portion (4) includes an upper guide rail (40) and a lower guide rail (41) that are horizontally slidably disposed on the connecting seat (33), a crossbeam (42) disposed between the upper guide rail (40) and the lower guide rail (41) and reciprocating, a rack three (43) that is horizontally fixed on the crossbeam (42), a tank chain two, and a power structure three connected to the rack three (43), the power structure three being disposed on the connecting seat (33); The power structure three includes a gear assembly three (44) meshing with the rack three (43) and a servo motor four (45) connected to the gear assembly three (44) via a reducer four (46). The reducer four (46) is connected to the gear assembly three (44), and both the servo motor four (45) and the reducer four (46) are fixed on the connecting seat (33). The upper guide rail (40) and the lower guide rail (41) are both connected to the crossbeam (42), and the lower guide rail (41) is connected to the servo motor (45) through a linkage structure.

6. The high speed flexible press handling apparatus of claim 5, wherein, The linkage structure includes a timing belt (52) and timing pulley assemblies (53) respectively disposed at both ends of the timing belt (52). The timing pulley assemblies (53) are driven and connected to the servo motor (45) through the timing belt (52) and the timing pulley assemblies (53). The timing belt (52) is fixedly connected to the lower guide rail (41).

7. The high speed flexible press handling apparatus of claim 5 wherein, The X2 axis portion (6) includes a connecting housing (50) fixedly connected to the lower guide rail (41) and a carbon fiber beam (51) connected to the inner side of the connecting housing (50).

8. The high speed flexible press handling apparatus of claim 7, wherein, The C2 shaft section (5) includes a right-angle reducer (60) fixed on the carbon fiber beam (51), a servo motor (61) connected to the right-angle reducer (60), and an RV reducer (64) that is connected to the right-angle reducer (60) via a synchronous belt (62) and a synchronous pulley assembly (63). The output shaft of the RV reducer (64) reciprocates and rotates, thereby adjusting the rotational posture of the stamped parts in the horizontal plane.

9. The high-speed flexible stamping and conveying device according to claim 8, characterized in that, The B-axis section (7) includes a T-type reducer (71) fixed below the RV reducer (64) and connected to the first adapter flange (65), a servo motor six (72) connected to the T-type reducer (71), an adapter flange two (70) connected to the T-type reducer (71), and a rotating fixed seat (73) connected to the adapter flange two (70), which realizes the adjustment of the forward and backward tilting posture of the stamped parts. The adapter flange two (70) is also connected to the transition flange (83) through the rotating fixed seat (73).

10. The high-speed flexible stamping and conveying device according to claim 9, characterized in that, The end effector (8) includes a YL axis (80) and a YR axis (81) that are parallel to each other. A main rod (82) is provided on both the YL axis (80) and the YR axis (81). The main rod (82) is connected to the rotating fixed seat (73) through a transition flange (83). A guide rail (85) is provided on the main rod (82) and is slidably connected to the secondary rod (86). A suction cup (87) is provided on the secondary rod (86). The two main rods (82) are connected by a connector. The main rod (82) is connected to the transition flange (83) through a quick-change plate (84). The auxiliary rod (86) is driven to connect with the cylinder (88) to realize reciprocating translational motion along the YL axis (80) and YR axis (81), thereby realizing the position adjustment of the stamping parts in the YL and YR directions and the gripping of the stamping parts.

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