CN107900245A - Punching machine automatic loading and unloading manipulator - Google Patents
Punching machine automatic loading and unloading manipulator Download PDFInfo
- Publication number
- CN107900245A CN107900245A CN201711131383.6A CN201711131383A CN107900245A CN 107900245 A CN107900245 A CN 107900245A CN 201711131383 A CN201711131383 A CN 201711131383A CN 107900245 A CN107900245 A CN 107900245A
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- Prior art keywords
- manipulator
- feeding
- arm
- platform
- stent
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
- B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/003—Positioning devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/18—Advancing work in relation to the stroke of the die or tool by means in pneumatic or magnetic engagement with the work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D45/00—Ejecting or stripping-off devices arranged in machines or tools dealt with in this subclass
- B21D45/02—Ejecting devices
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Punching machine automatic loading and unloading manipulator provided by the invention, is related to technical field of mechanical automation.The punching machine automatic loading and unloading manipulator includes material loading platform, feeding manipulator and horizontal sub-arm, and product is transferred to punching press platform by feeding manipulator, and horizontal sub-arm removes product from punching press platform.Feeding manipulator includes the first operating platform and servo motion module, control system, mechanical arm and manipulator on the first operating platform.Servo motion module is electrically connected with control system, and servo motion module is connected with mechanical arm, and mechanical arm is connected with manipulator.Horizontal sub-arm includes horizontal beam, the first transmission component, stent and grabbing assembly, and horizontal beam is installed on punching press platform, and the first transmission component is installed on horizontal beam, and stent is connected with the first transmission component, and grabbing assembly is connected with stent.Punching machine automatic loading and unloading manipulator manipulation is convenient, and loading and unloading are efficient, and control accuracy is high, securely and reliably.
Description
Technical field
The present invention relates to technical field of mechanical automation, in particular to a kind of punching machine automatic loading and unloading manipulator.
Background technology
Carrying and transhipment for metal sheet material, are always the problem of metal plate punching processing industry, existing universal
The punching press automatic loading and unloading manipulator used, carries out operation using Chang Sanzhoulei robots mostly, realizes the plate in spatial dimension
Material is carried and plate is placed into punching machine mold platform and positioned.
But though such robot can solve the problems, such as the automatic loading/unloading of workpiece, there is also shortcomings：First,
Equipment dynamic regulation bothers, during specifically used equipment, must be requested that punching machine is needed by between standard in manipulator stroke range
Away from being arranged, can not flexible manufacturing, i.e., arrange that different product types, can not be rapidly completed and set for different plant area's equipment
Standby operation in place；It is difficult in maintenance and floor space is too wide.
In view of this, design and manufacture a kind of punching machine automatic loading and unloading manipulator, can realize the plate in spatial dimension
Carry and plate is placed into punching machine mold platform and be accurately positioned, and be easy to dynamic regulation and maintenance, be metal plate class punching press
It is badly in need of improved technical problem in technical field.
The content of the invention
It is an object of the invention to provide a kind of punching machine automatic loading and unloading manipulator, including material loading platform, feeding manipulator
With horizontal sub-arm, product is transferred to punching press platform by feeding manipulator from material loading platform, and horizontal sub-arm is by product from punching press
Platform removes.Feeding manipulator realizes turning for metal plate class product by servo motion module, control system, mechanical arm and manipulator
Fortune, and be accurately located at punching press platform and carry out punching press.Horizontal sub-arm by horizontal beam, the first transmission component, stent and
Grabbing assembly, metal plate class product is quickly removed from punching press platform.Punching machine automatic loading and unloading manipulator manipulation it is convenient, it can be achieved that
The dynamic regulation of equipment, loading and unloading are efficient, and control accuracy is high, securely and reliably, easy to safeguard.
It is defeated being set at horizontal beam the present invention also aims to provide another punching machine automatic loading and unloading manipulator
Go out platform, output stage includes servomotor and conveyer belt, and metal plate class product is moved to defeated by horizontal sub-arm from punching press platform
Go out platform, metal plate class output of products is quickly realized discharging by output stage.
The present invention, which improves its technical problem, to be realized using following technical solution.
A kind of punching machine automatic loading and unloading manipulator provided by the invention, the punching machine automatic loading and unloading manipulator include feeding
Platform, feeding manipulator and horizontal sub-arm, the feeding manipulator and the horizontal sub-arm are respectively arranged on punching press platform
Product is transferred to the punching press platform by both sides, the feeding manipulator from the material loading platform, and the horizontal sub-arm is by institute
Product is stated to remove from the punching press platform.
The material loading platform includes say good-bye device, lifting cylinder and positioning component, and the device of saying good-bye connects with the lifting cylinder
Connecing, the product in heaps is divided into the single product by the device of saying good-bye, and the lifting cylinder is connected with the positioning component,
The feeding manipulator obtains the product at the positioning component.
The feeding manipulator includes the first operating platform and the servo motion mould on first operating platform
Block, control system, mechanical arm and manipulator；The servo motion module is electrically connected with the control system, the servo motion
Module is connected with the mechanical arm, and the mechanical arm is connected with the manipulator.
The horizontal sub-arm includes horizontal beam, the first transmission component, stent and grabbing assembly, and the horizontal beam is installed on
On the punching press platform, first transmission component is installed on the horizontal beam, the stent and first transmission component
Connection, the grabbing assembly are connected with the stent.
Further, the material loading platform includes feeding base and feeding stent, and the device of saying good-bye is installed on the feeding
On base, the lifting cylinder is installed on the feeding stent with the positioning component, and the feeding stent is equipped with cylinder
Mounting bracket, the lifting cylinder are installed on the cylinder mount frame.
Further, the feeding stent is equipped with sliding rail, and the cylinder mount frame is equipped with sliding shoe, the cunning
Motion block is connected with the sliding rail and can be moved along the sliding rail；The lifting cylinder is equipped with pickup component.
Further, the feeding stent is equipped with belt wheel, belt and driving motor, the driving motor and the belt wheel
Connection, the belt sleeve are arranged on the belt wheel, and the cylinder mount frame is connected with the belt wheel.
Further, the lifting cylinder is fixedly connected with the first rod piece and the second bar close to one end of the feeding base
Be respectively equipped with the pickup component on part, first rod piece and second rod piece, the pickup component be magnetic handgrip or
Sucker.
Further, the positioning component includes the first support arm and the second support arm, first support arm and described
Second support arm is fixedly connected with the feeding stent, and positioning is provided with first support arm and second support arm
Plate, the positioning plate are used to place the product, and the positioning plate is equipped with alignment sensor.
Further, the mechanical arm is equipped with the first track, and the manipulator can be moved along first track；Institute
Stating servo motion module includes hydraulic device, and the hydraulic device is installed on first operating platform, the hydraulic device
It is connected with the mechanical arm, for rising or falling the mechanical arm.Be provided with the mechanical arm the first stepper motor and
Second stepper motor, first stepper motor are connected with the manipulator, for driving the manipulator along first rail
Road moves, and second stepper motor is used to drive the mechanical arm to rotate
Further, the manipulator includes Suction cup assembly, and the Suction cup assembly is connected with the first cylinder, the sucker group
Part is equipped with vacuum suction detector, and the control system is controlled using PLC program.
Further, the horizontal sub-arm is equipped with the 3rd stepper motor, the 3rd stepper motor and the stent
Connection, drives the stent to be moved along the horizontal beam；The stent is equipped with installing plate, and the grabbing assembly is fixed on described
On installing plate, the grabbing assembly is sucker.
Another kind punching machine automatic loading and unloading manipulator provided by the invention, the punching machine automatic loading and unloading manipulator includes upper
Material platform, feeding manipulator, horizontal sub-arm and output stage, the feeding manipulator and the horizontal sub-arm are respectively arranged on
The both sides of punching press platform, the output stage are arranged on the lower section of the horizontal sub-arm, and the feeding manipulator is by product from institute
State material loading platform and be transferred to the punching press platform, the product is moved to described by the horizontal sub-arm from the punching press platform
Output stage.
The material loading platform includes say good-bye device, lifting cylinder and positioning component, and the device of saying good-bye connects with the lifting cylinder
Connecing, the product in heaps is divided into the single product by the device of saying good-bye, and the lifting cylinder is connected with the positioning component,
The feeding manipulator obtains the product at the positioning component.
The feeding manipulator includes the first operating platform and the servo motion mould on first operating platform
Block, control system, mechanical arm and manipulator.The servo motion module is electrically connected with the control system, the servo motion
Module is connected with the mechanical arm, and the mechanical arm is connected with the manipulator；The feeding manipulator is equipped with laser ranging
Instrument, when the laser range finder detects barrier, the feeding manipulator stops operating.
The horizontal sub-arm includes horizontal beam, the first transmission component, stent and grabbing assembly, and the horizontal beam is installed on
On the punching press platform, first transmission component is installed on the horizontal beam, the stent and first transmission component
Connection, the grabbing assembly are connected with the stent.
The output stage includes conveyer belt, belt wheel, shaft and servomotor, and the belt wheel is sheathed in the shaft,
The conveyer belt is sheathed on the belt wheel, and the servomotor is connected with the shaft, drives the belt wheel to rotate, so that band
The dynamic conveyer belt movement, production line is removed by the product.
Punching machine automatic loading and unloading manipulator provided by the invention has the beneficial effect of the following aspects：
It is provided by the invention including material loading platform, feeding manipulator and horizontal sub-arm, feeding manipulator is by product from upper
Material platform is transferred to punching press platform, and horizontal sub-arm removes product from punching press platform.Feeding manipulator passes through servo motion mould
Block, control system, mechanical arm and manipulator realize the transhipment of metal plate class product, and are accurately located at punching press platform and are rushed
Pressure.Horizontal sub-arm is quickly put down metal plate class product by horizontal beam, the first transmission component, stent and grabbing assembly from punching press
Platform removes.Punching machine automatic loading and unloading manipulator manipulation is convenient, it can be achieved that the dynamic regulation of equipment, loading and unloading are efficient, control
Precision is high, securely and reliably, easy to safeguard.
Another kind punching machine automatic loading and unloading manipulator provided by the invention, is setting output stage at horizontal beam, defeated
Going out platform includes servomotor and conveyer belt, and metal plate class product is moved to output stage by horizontal sub-arm from punching press platform, defeated
Go out platform by metal plate class output of products, quickly realize discharging.The punching machine automatic loading and unloading manipulator loading and unloading are efficient, and structure is tight
Gather, floor space is small, easy to safeguard.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not construed as pair
The restriction of scope, for those of ordinary skill in the art, without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the structural representation at the first visual angle of the punching machine automatic loading and unloading manipulator that the specific embodiment of the invention provides
Figure；
Fig. 2 is the structural representation at the second visual angle of the punching machine automatic loading and unloading manipulator that the specific embodiment of the invention provides
Figure；
Fig. 3 is the structural representation at the 3rd visual angle of the punching machine automatic loading and unloading manipulator that the specific embodiment of the invention provides
Figure；
Fig. 4 is the structural representation of the feeding manipulator for the punching machine automatic loading and unloading manipulator that the specific embodiment of the invention provides
Figure；
Fig. 5 is the partial enlarged view at A in Fig. 1.
Icon：100- punching machine automatic loading and unloading manipulators；101- punching press platforms；103- metal plate class products；110- feeders
Tool hand；The first operating platforms of 111-；112- servo motion modules；1121- hydraulic devices；113- mechanical arms；The first rails of 1131-
Road；115- manipulators；1151- Suction cup assemblies；The first cylinders of 1153-；120- control systems；121- electric cabinets；The man-machine friendships of 123-
Mutual interface；130- material loading platforms；1301- movable pulleys；131- feeding bases；133- feeding stents；1331- control buttons；1335-
Tutorial light；135- says good-bye device；137- cylinder mount frames；The first rod pieces of 1371-；The second rod pieces of 1373-；139- lifting airs
Cylinder；141- sliding rails；The first support arms of 143-；145- positioning plates；147- belt wheels；The horizontal sub-arms of 150-；151- horizontal beams；
153- mobile cylinders；155- grabbing assemblies；170- output stages；171- conveyer belts.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, instead of all the embodiments.The present invention implementation being usually described and illustrated herein in the accompanying drawings
The component of example can be arranged and designed with a variety of configurations.
Therefore, below the detailed description of the embodiment of the present invention to providing in the accompanying drawings be not intended to limit it is claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.Based on the embodiments of the present invention, this area is common
Technical staff's all other embodiments obtained without creative efforts, belong to the model that the present invention protects
Enclose.
In the description of the present invention, it is to be understood that the orientation or position relationship of the instruction such as term " on ", " under " are base
In orientation shown in the drawings or position relationship, or product of the present invention using when the orientation usually put or position relationship, or
Person is the orientation or position relationship that those skilled in the art usually understand, is for only for ease of the description present invention and simplifies description,
Rather than instruction or imply signified equipment or element must have specific orientation, with specific azimuth configuration and operation, because
This is not considered as limiting the invention.
" first ", " second " etc. of the present invention, is used only for being distinguish between in description, not special implication.
In the description of the present invention, it is also necessary to explanation, unless otherwise clearly defined and limited, term " setting ",
" installation " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can be
It is connected directly, can also be indirectly connected by intermediary.For the ordinary skill in the art, can be with concrete condition
Understand the concrete meaning of above-mentioned term in the present invention.
Fig. 1 is that the structure at the first visual angle of the punching machine automatic loading and unloading manipulator 100 that the specific embodiment of the invention provides is shown
It is intended to, Fig. 2 is the structural representation at the second visual angle of the punching machine automatic loading and unloading manipulator 100 that the specific embodiment of the invention provides
Figure, Fig. 3 are the structure diagram at the 3rd visual angle of the punching machine automatic loading and unloading manipulator 100 that the specific embodiment of the invention provides,
Fig. 1 be refer to Fig. 3.
A kind of punching machine automatic loading and unloading manipulator 100 provided in this embodiment, punching machine automatic loading and unloading manipulator 100 include
Feeding manipulator 110 and horizontal sub-arm 150, feeding manipulator 110 and horizontal sub-arm 150 are respectively arranged on punching press platform 101
Both sides, product is transferred to punching press platform 101 by feeding manipulator 110, and horizontal sub-arm 150 is by product from punching press platform 101
Remove.
Fig. 4 is the knot of the feeding manipulator 110 for the punching machine automatic loading and unloading manipulator 100 that the specific embodiment of the invention provides
Structure schematic diagram, refer to Fig. 4.
Feeding manipulator 110 includes the first operating platform 111 and the servo motion mould on the first operating platform 111
Block 112, control system 120, mechanical arm 113 and manipulator 115.Servo motion module 112 is electrically connected with control system 120, is watched
Take motion module 112 to be connected with mechanical arm 113, mechanical arm 113 is connected with manipulator 115.
Horizontal sub-arm 150 includes horizontal beam 151, the first transmission component, stent and grabbing assembly 155, and horizontal beam 151 is pacified
On punching press platform 101, the first transmission component is installed on horizontal beam 151, and stent is connected with the first transmission component, crawl group
Part 155 is connected with stent.Feeding manipulator 110 uses four axis robots, can realize preferable special plane matching.
Control system 120 includes electric cabinet 121 and human-computer interaction interface 123, and electric cabinet 121 is installed on the first operating platform
On 111, human-computer interaction interface 123 is electrically connected with electric cabinet 121, and human-computer interaction interface 123 includes display screen and operated key, display
Screen is used for the working status for showing feeding manipulator 110, and operated key is used to regulate and control the working status of feeding manipulator 110.
Mechanical arm 113 is equipped with the first track 1131, and manipulator 115 can be moved along the first track 1131.Servo motion
Module 112 includes hydraulic device 1121, and hydraulic device 1121 is installed on the first operating platform 111, hydraulic device 1121 and machine
Tool arm 113 connects, for rising or falling mechanical arm 113, so as to drive manipulator 115 to rise or fall.
Manipulator 115 includes Suction cup assembly 1151 and multiple fingers.Suction cup assembly 1151 is connected with the first cylinder 1153, is inhaled
Disk component 1151 is equipped with vacuum suction detector, for detecting whether Suction cup assembly 1151 adsorbs firmly.Multiple fingers and
Two cylinder (not shown)s connect, and can realize bending, pickup product.First cylinder 1153 and the second cylinder can be same
A pneumatic shuttle, manipulator 115 use flexible pneumatic finger, that is, utilize the machine driven made of high molecular material and using cylinder
Tool hand 115, can carry out flexible manufacturing, arrange that different product types, manipulator 115 can be flexible for different plant area's equipment
It is mobile, the operation in place of equipment is rapidly completed, it is adaptable.
Preferably, control system 120 is controlled using PLC program, and the first stepper motor and second are provided with mechanical arm 113
Stepper motor, the first stepper motor are connected with manipulator 115, are moved for driving manipulator 115 along the first track 1131.Second
Stepper motor is used to drive mechanical arm 113 to rotate, and mechanical arm 113 can realize 360 degree of rotations.
Fig. 5 is the partial enlarged view at A in Fig. 1, refer to Fig. 5.
Alternatively, punching machine automatic loading and unloading manipulator 100 further includes material loading platform 130, and material loading platform 130 is equipped with device of saying good-bye
135 and positioning component, metal plate class product 103 be ranked and stacked pile on material loading platform 130, device 135 of saying good-bye is used for the metal plate of stacking
Golden class product 103 separates in layer, once takes a metal plate class product 103 to be put on positioning component, and manipulator 115 is again from fixed
Metal plate class product 103 is moved to punching press platform 101 on hyte part.
Specifically, material loading platform 130 includes feeding base 131 and feeding stent 133, and feeding stent 133 is fixedly connected on
The top of feeding base 131, the metal plate class product 103 into pile is stacked on feeding base 131, and feeding stent 133, which is equipped with, to be risen
Sending down abnormally ascending cylinder 139, cylinder mount frame 137 and sliding rail 141, cylinder mount frame 137 and sliding rail 141 connect, and can
Translated along sliding rail 141, lifting cylinder 139 is installed on cylinder mount frame 137, and lifting cylinder 139 is close to feeding base 131
One end be fixedly connected with the first rod piece 1371 and the second rod piece 1373, set respectively on the first rod piece 1371 and the second rod piece 1373
There is pickup component, pickup component can be magnetic handgrip or sucker etc., and in the present embodiment, pickup component is sucker.
Feeding stent 133 is equipped with belt wheel 147, belt and driving motor, and driving motor is connected with belt wheel 147, belt sleeve
On belt wheel 147, cylinder mount frame 137 is connected with belt wheel 147, and driving motor rotates, and drives belt to rotate, and belt rotates band
Dynamic cylinder mount frame 137 moves, and cylinder moves in the lump with cylinder mount frame 137, by metal plate class product 103 from feeding base
It is moved on 131 on positioning component.
Preferably, cylinder mount frame 137 is equipped with sliding shoe, and sliding shoe offers an arc notch, and arc notch is stuck in
On sliding rail 141, under the action of motor is driven, cylinder mount frame 137 moves, the cooperation of sliding shoe and sliding rail 141
Set, play the guiding role, it is ensured that cylinder mount frame 137 is along rectilinear movement.
Positioning component is installed on feeding stent 133, and positioning component includes the first support arm 143, the second support arm and determines
Position plate 145, the first support arm 143 and the second support arm are fixedly connected on feeding stent 133, and positioning plate 145 is fixedly connected on
On first support arm 143 and the second support arm, positioning plate 145 is equipped with alignment sensor, and lifting cylinder 139 is by metal plate class product
103 suck up from feeding base 131 and are moved on positioning plate 145, and manipulator 115 is captured or inhaled above positioning plate 145
Attached metal plate class product 103, manipulator 115 is by sensing the position of identification alignment sensor, so as to accurately capture metal plate class product
103 and punching press platform 101 is moved to, completes Sheet Metal Forming Technology.
Control button 1331 and tutorial light 1335 are additionally provided with feeding stent 133, control button 1331 includes start and stop
Button and scram button, tutorial light 1335 use tri coloured lantern, distinguish different working statuses respectively.For example grasped during startup
Make indicator light 1335 as green, tutorial light 1335 be yellow during stopping, and tutorial light 1335 is red during emergency stop.Feeding
The bottom of base 131 is equipped with movable pulley 1301, easy to the movement of material loading platform 130.
The first transmission component on horizontal sub-arm 150 includes the 3rd stepper motor and mobile cylinder 153, the 3rd stepping electricity
Machine is connected with stent, and mobile cylinder 153 is rack-mount, and driving arm is moved along horizontal beam 151.Stent is equipped with installation
Plate, grabbing assembly 155 are fixed on a mounting board, and grabbing assembly 155 is sucker.Preferably, horizontal beam 151 is equipped with guide rail, branch
Frame is moved along guide rail to ensure stent along rectilinear translation.
Mobile cylinder 153 drops to punching press platform 101, picks up metal plate class product 103, and rising makes metal plate class product 103 de-
From punching press platform 101, then along guide rail rectilinear translation, after reaching the top of output stage 170, mobile cylinder 153 declines, by metal plate class
Product 103 is placed into output stage 170.
Another kind punching machine automatic loading and unloading manipulator 100 provided in this embodiment, punching machine automatic loading and unloading manipulator 100 wraps
Feeding manipulator 110, horizontal sub-arm 150 and output stage 170 are included, feeding manipulator 110 and horizontal sub-arm 150 are set respectively
In the both sides of punching press platform 101, output stage 170 is arranged on the lower section of horizontal sub-arm 150, and feeding manipulator 110 moves product
Send to punching press platform 101, horizontal sub-arm 150 and product is moved to output stage 170 from punching press platform 101.
Feeding manipulator 110 includes the first operating platform 111 and the servo motion mould on the first operating platform 111
Block 112, control system 120, mechanical arm 113 and manipulator 115.Servo motion module 112 is electrically connected with control system 120, is watched
Take motion module 112 to be connected with mechanical arm 113, mechanical arm 113 is connected with manipulator 115.Feeding manipulator 110 is equipped with laser
Rangefinder, when laser range finder detects barrier, feeding manipulator 110 stops operating, and prevents personal injury.
Horizontal sub-arm 150 includes horizontal beam 151, the first transmission component, stent and grabbing assembly 155, and horizontal beam 151 is pacified
On punching press platform 101, the first transmission component is installed on horizontal beam 151, and stent is connected with the first transmission component, crawl group
Part 155 is connected with stent.
Output stage 170 includes conveyer belt 171, drive pulley, shaft and servomotor, and drive pulley is sheathed on shaft
On, conveyer belt 171 is sheathed on belt wheel 147, and servomotor is connected with shaft, and driving drive pulley rotates, so as to drive transmission
Band 171 moves, and product is removed production line.
The control system 120 of the punching machine automatic loading and unloading manipulator 100 uses motion control card, logic control card, Internet of Things
Control card shuffling formula communicates, and upper communication is done using PLC, using 485MODBUS agreements, realizes motion control and is tied with communication
Close, remote control is combined with information-based operation.
Punching machine automatic loading and unloading manipulator 100 provided by the invention, its operation principle are as follows：
Device 135 of saying good-bye will divide to be single into the metal plate class product 103 of pile, and lifting cylinder 139 produces single metal plate class
Product 103 are adsorbed and are moved on positioning plate 145, and manipulator 115 is moved to the top of positioning plate 145 and moves metal plate class product 103
To punching press platform 101, Sheet Metal Forming Technology is carried out, after the completion of punching press, horizontal sub-arm 150 is by the metal plate class on punching press platform 101
Product 103 is moved to output stage 170, and output stage 170 again removes metal plate class product 103, realizes metal plate class product 103
Automatic loading/unloading.
In conclusion punching machine automatic loading and unloading manipulator 100 provided by the invention has the beneficial effect of the following aspects
Fruit：
Punching machine automatic loading and unloading manipulator 100 provided by the invention, including feeding manipulator 110, horizontal sub-arm 150,
Product is transferred to punching press platform 101, water by material loading platform 130 and output stage 170, feeding manipulator 110 from material loading platform 130
Product is moved to output stage 170 by flat sub-arm 150 from punching press platform 101, and output stage 170 again removes product.Feeding
Manipulator 110 realizes metal plate class product by servo motion module 112, control system 120, mechanical arm 113 and manipulator 115
103 transhipment, and be accurately located at punching press platform 101 and carry out punching press.Horizontal sub-arm 150 passes through horizontal beam 151, first
Transmission component, stent and grabbing assembly 155, metal plate class product 103 is quickly removed from punching press platform 101, and by output stage
170 send out, and are automatically performed loading and unloading.The punching machine automatic loading and unloading manipulator 100 manipulation is convenient, it can be achieved that the dynamic tune of equipment
Section, loading and unloading are efficient, and control accuracy is high, securely and reliably, easy to safeguard.And using PLC control, can by motion control with
Communication combines, and remote control is combined with information-based operation, realizes intelligent operation.
The foregoing is only a preferred embodiment of the present invention, is not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various changes, combination and change.Within the spirit and principles of the invention, made
Any modification, equivalent substitution, improvement and etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of punching machine automatic loading and unloading manipulator, it is characterised in that the punching machine automatic loading and unloading manipulator is put down including feeding
Platform, feeding manipulator and horizontal sub-arm, the feeding manipulator and the horizontal sub-arm are respectively arranged on the two of punching press platform
Product is transferred to the punching press platform by side, the feeding manipulator from the material loading platform, and the horizontal sub-arm is by described in
Product is removed from the punching press platform；
The material loading platform includes say good-bye device, lifting cylinder and positioning component, and the device of saying good-bye is connected with the lifting cylinder, institute
State device of saying good-bye and the product in heaps is divided into the single product, the lifting cylinder is connected with the positioning component, described
Feeding manipulator obtains the product at the positioning component；
The feeding manipulator includes the first operating platform and servo motion module on first operating platform, control
System, mechanical arm and manipulator processed；The servo motion module is electrically connected with the control system, the servo motion module with
The mechanical arm connection, the mechanical arm are connected with the manipulator；
The horizontal sub-arm includes horizontal beam, the first transmission component, stent and grabbing assembly, and the horizontal beam is installed on described
On punching press platform, first transmission component is installed on the horizontal beam, and the stent is connected with first transmission component,
The grabbing assembly is connected with the stent.
2. punching machine automatic loading and unloading manipulator according to claim 1, it is characterised in that the material loading platform includes feeding
Base and feeding stent, the device of saying good-bye on the feeding base, with the positioning component install by the lifting cylinder
On the feeding stent, the feeding stent is equipped with cylinder mount frame, and the lifting cylinder is installed installed in the cylinder
On frame.
3. punching machine automatic loading and unloading manipulator according to claim 2, it is characterised in that the feeding stent, which is equipped with, to be slided
Dynamic rail road, the cylinder mount frame are equipped with sliding shoe, and the sliding shoe is connected with the sliding rail and can be along described
Sliding rail moves；The lifting cylinder is equipped with pickup component.
4. punching machine automatic loading and unloading manipulator according to claim 2, it is characterised in that the feeding stent is equipped with band
Wheel, belt and driving motor, the driving motor are connected with the belt wheel, and the belt sleeve is arranged on the belt wheel, the gas
Cylinder mounting bracket is connected with the belt wheel.
5. punching machine automatic loading and unloading manipulator according to claim 3, it is characterised in that the lifting cylinder is close to described
One end of feeding base is fixedly connected with the first rod piece and the second rod piece, is set respectively on first rod piece and second rod piece
There is the pickup component, the pickup component is magnetic handgrip or sucker.
6. punching machine automatic loading and unloading manipulator according to claim 2, it is characterised in that the positioning component includes first
Support arm and the second support arm, first support arm and second support arm are fixedly connected with the feeding stent, described
Positioning plate is provided with first support arm and second support arm, the positioning plate is used to place the product, the positioning
Plate is equipped with alignment sensor.
7. punching machine automatic loading and unloading manipulator according to claim 1, it is characterised in that the mechanical arm is equipped with first
Track, the manipulator can be moved along first track；The servo motion module includes hydraulic device, the hydraulic pressure dress
Put on first operating platform, the hydraulic device is connected with the mechanical arm, for rising the mechanical arm
Or decline；First stepper motor and the second stepper motor, first stepper motor and the machine are installed on the mechanical arm
Tool hand connects, and for driving the manipulator to be moved along first track, second stepper motor is used to drive the machine
Tool arm rotates.
8. punching machine automatic loading and unloading manipulator according to claim 4, it is characterised in that the manipulator includes sucker group
Part, the Suction cup assembly are connected with the first cylinder, and the Suction cup assembly is equipped with vacuum suction detector；The control system is adopted
Controlled with PLC program.
9. punching machine automatic loading and unloading manipulator according to claim 1, it is characterised in that the horizontal sub-arm is equipped with
3rd stepper motor, the 3rd stepper motor are connected with the stent, drive the stent to be moved along the horizontal beam；It is described
Stent is equipped with installing plate, and the grabbing assembly is fixed on the installing plate, and the grabbing assembly is sucker.
10. a kind of punching machine automatic loading and unloading manipulator, it is characterised in that the punching machine automatic loading and unloading manipulator is put down including feeding
Platform, feeding manipulator, horizontal sub-arm and output stage, the feeding manipulator and the horizontal sub-arm are respectively arranged on punching press
The both sides of platform, the output stage are arranged on the lower section of the horizontal sub-arm, and the feeding manipulator is by product from described
Material platform is transferred to the punching press platform, and the product is moved to the output by the horizontal sub-arm from the punching press platform
Platform；
The material loading platform includes say good-bye device, lifting cylinder and positioning component, and the device of saying good-bye is connected with the lifting cylinder, institute
State device of saying good-bye and the product in heaps is divided into the single product, the lifting cylinder is connected with the positioning component, described
Feeding manipulator obtains the product at the positioning component；
The feeding manipulator includes the first operating platform and servo motion module on first operating platform, control
System, mechanical arm and manipulator processed；The servo motion module is electrically connected with the control system, the servo motion module with
The mechanical arm connection, the mechanical arm are connected with the manipulator；The feeding manipulator is equipped with laser range finder, works as institute
When stating laser range finder and detecting barrier, the feeding manipulator stops operating；
The horizontal sub-arm includes horizontal beam, the first transmission component, stent and grabbing assembly, and the horizontal beam is installed on described
On punching press platform, first transmission component is installed on the horizontal beam, and the stent is connected with first transmission component,
The grabbing assembly is connected with the stent；
The output stage includes conveyer belt, belt wheel, shaft and servomotor, and the belt wheel is sheathed in the shaft, described
Conveyer belt is sheathed on the belt wheel, and the servomotor is connected with the shaft, drives the belt wheel to rotate, so as to drive institute
Conveyer belt movement is stated, the product is removed into production line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711131383.6A CN107900245B (en) | 2017-11-15 | 2017-11-15 | Punching machine automatic loading and unloading manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711131383.6A CN107900245B (en) | 2017-11-15 | 2017-11-15 | Punching machine automatic loading and unloading manipulator |
Publications (2)
| Publication Number | Publication Date |
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| CN107900245A true CN107900245A (en) | 2018-04-13 |
| CN107900245B CN107900245B (en) | 2019-09-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711131383.6A Expired - Fee Related CN107900245B (en) | 2017-11-15 | 2017-11-15 | Punching machine automatic loading and unloading manipulator |
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| CN108515103A (en) * | 2018-04-24 | 2018-09-11 | 青岛泽瀚机械制造有限公司 | Forge piece stamping equipment |
| CN108637083A (en) * | 2018-05-09 | 2018-10-12 | 金华辉煌三联工具实业有限公司 | An automatic stamping production equipment for spot welding guide plate outer plate |
| CN108637075A (en) * | 2018-04-24 | 2018-10-12 | 合肥学院 | Pipe batch processing device |
| CN108890362A (en) * | 2018-09-14 | 2018-11-27 | 山东瀚业机械有限公司 | A kind of column cap Excircle machining drilling equipment |
| CN108971345A (en) * | 2018-09-13 | 2018-12-11 | 招商局铝业(重庆)有限公司 | High-strength aluminum alloy case thermoforming drawing die and method |
| CN109051789A (en) * | 2018-09-30 | 2018-12-21 | 芜湖顺威精密塑料有限公司 | It is a kind of for manufacturing the handling equipment of through-flow end cap |
| CN109108951A (en) * | 2018-10-23 | 2019-01-01 | 嘉兴新维液压缸有限公司 | A kind of self-feeding mechanical arm device |
| CN110479891A (en) * | 2019-09-24 | 2019-11-22 | 佛山市中机一超机器人科技有限公司 | A kind of punching machine machining center |
| CN111957848A (en) * | 2020-07-06 | 2020-11-20 | 宁海县高级职业技术中心学校 | Drawing and trimming die for stationery case and demolding method thereof |
| CN112845930A (en) * | 2021-02-04 | 2021-05-28 | 湖南省恒盛厨具有限公司 | Blank partial shipment detection device of spinning-lathe |
| CN112918757A (en) * | 2021-05-12 | 2021-06-08 | 潍坊理工学院 | Service robot equipment for packing |
| CN113351780A (en) * | 2021-06-01 | 2021-09-07 | 河北工业大学 | Electric power-assisted manipulator for feeding and discharging materials in press machine |
| CN113478081A (en) * | 2021-06-30 | 2021-10-08 | 东莞市泓旭五金制品有限公司 | Automatic laser spot welding equipment of AI |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108515103B (en) * | 2018-04-24 | 2020-08-25 | 青岛泽瀚机械制造有限公司 | Forging piece stamping equipment |
| CN108637075A (en) * | 2018-04-24 | 2018-10-12 | 合肥学院 | Pipe batch processing device |
| CN108515103A (en) * | 2018-04-24 | 2018-09-11 | 青岛泽瀚机械制造有限公司 | Forge piece stamping equipment |
| CN108637075B (en) * | 2018-04-24 | 2019-07-26 | 合肥学院 | Pipe batch processing device |
| CN108637083A (en) * | 2018-05-09 | 2018-10-12 | 金华辉煌三联工具实业有限公司 | An automatic stamping production equipment for spot welding guide plate outer plate |
| CN108637083B (en) * | 2018-05-09 | 2019-07-23 | 金华辉煌三联工具实业有限公司 | A kind of automatic stamping production equipment for spot welding guide plate outer plate |
| CN108971345A (en) * | 2018-09-13 | 2018-12-11 | 招商局铝业(重庆)有限公司 | High-strength aluminum alloy case thermoforming drawing die and method |
| CN108890362A (en) * | 2018-09-14 | 2018-11-27 | 山东瀚业机械有限公司 | A kind of column cap Excircle machining drilling equipment |
| CN108890362B (en) * | 2018-09-14 | 2024-06-11 | 山东瀚业机械有限公司 | Column cap excircle processing drilling equipment |
| CN109051789A (en) * | 2018-09-30 | 2018-12-21 | 芜湖顺威精密塑料有限公司 | It is a kind of for manufacturing the handling equipment of through-flow end cap |
| CN109108951B (en) * | 2018-10-23 | 2023-10-03 | 嘉兴新维液压缸有限公司 | Automatic feeding manipulator device |
| CN109108951A (en) * | 2018-10-23 | 2019-01-01 | 嘉兴新维液压缸有限公司 | A kind of self-feeding mechanical arm device |
| CN110479891A (en) * | 2019-09-24 | 2019-11-22 | 佛山市中机一超机器人科技有限公司 | A kind of punching machine machining center |
| CN111957848A (en) * | 2020-07-06 | 2020-11-20 | 宁海县高级职业技术中心学校 | Drawing and trimming die for stationery case and demolding method thereof |
| CN111957848B (en) * | 2020-07-06 | 2022-09-13 | 宁海县高级职业技术中心学校 | Drawing and trimming die for stationery case and demolding method thereof |
| CN112845930A (en) * | 2021-02-04 | 2021-05-28 | 湖南省恒盛厨具有限公司 | Blank partial shipment detection device of spinning-lathe |
| CN112918757A (en) * | 2021-05-12 | 2021-06-08 | 潍坊理工学院 | Service robot equipment for packing |
| CN112918757B (en) * | 2021-05-12 | 2021-07-27 | 潍坊理工学院 | Service robot equipment for packing |
| CN113351780A (en) * | 2021-06-01 | 2021-09-07 | 河北工业大学 | Electric power-assisted manipulator for feeding and discharging materials in press machine |
| CN113351780B (en) * | 2021-06-01 | 2022-04-29 | 河北工业大学 | An electric power-assisted manipulator for loading and unloading of a press |
| CN113478081A (en) * | 2021-06-30 | 2021-10-08 | 东莞市泓旭五金制品有限公司 | Automatic laser spot welding equipment of AI |
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| CN107900245B (en) | 2019-09-17 |
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Granted publication date: 20190917 |