CN109647974A - Auto parts multistation progressive stamping line and its Sheet Metal Forming Technology - Google Patents
Auto parts multistation progressive stamping line and its Sheet Metal Forming Technology Download PDFInfo
- Publication number
- CN109647974A CN109647974A CN201811546229.XA CN201811546229A CN109647974A CN 109647974 A CN109647974 A CN 109647974A CN 201811546229 A CN201811546229 A CN 201811546229A CN 109647974 A CN109647974 A CN 109647974A
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- China
- Prior art keywords
- longitudinal
- manipulator
- auto parts
- mechanical gripper
- punching
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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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
- B21D35/00—Combined processes according to or processes combined with methods covered by groups B21D1/00 - B21D31/00
- B21D35/002—Processes combined with methods covered by groups B21D1/00 - B21D31/00
- B21D35/003—Simultaneous forming, e.g. making more than one part per stroke
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C51/00—Measuring, gauging, indicating, counting, or marking devices specially adapted for use in the production or manipulation of material in accordance with subclasses B21B - B21F
-
- 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
- B21D43/026—Combination of two or more feeding devices provided for in B21D43/04 - B21D43/18
-
- 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
-
- 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
- B21D43/12—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by chains or belts
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses auto parts multistation progressive stamping line and its Sheet Metal Forming Technology, production line includes that press work system, grabbing assembly, clast hold component, conveying assembly, control system；Press work system includes rack, press work platform, the transversely arranged stamping tools for having the different stamping procedures of several adaptations on press work platform；Grabbing assembly include one be arranged in press work platform front side or rear side can transverse movement manipulator mounting base, manipulator mounting base is equipped with two mechanical grippers, several longitudinal cleaning manipulators, longitudinal catching robot；The conveying assembly includes automobile iron plate conveyer belt to be punched, the punching press completion auto parts conveyer belt for being disposed longitudinally on the arranged on left and right sides of grabbing assembly.The present invention realizes the auto parts punch process of multistation by multimachine structure coordinative operation, and the degree of automation is higher, and working efficiency and homework precision are all further enhanced, and can greatly save enterprises using the labor cost.
Description
Technical field
The invention belongs to auto parts to automate machining apparatus technical field, and in particular to auto parts are connected with multistation
Continuous stamping line and its Sheet Metal Forming Technology.
Background technique
The metallic stamping pieces of auto parts are highly important part in automobile construction, such as car door, vehicle frame, the vehicle of automobile
The main body in compartment is all as made of assemble welding after Steel Sheet.The step-feeding automatic press part used in current industry,
Horizontal plate can only be met, shaped piece, the part for having stretching, Pressing Deformation part is not suitable with and is unable to complete and pushes away because bottom surface is uneven
It send.Entire stamping procedure can be arranged more, such as blanking, punching, stretching, flange, trimming, the multiple processes of shaping, additionally, due to
Yield is big, sheet metal weight weight, therefore worker's physical demands is also big when actual job, it usually needs multiple worker's alternately operatings,
This causes recruitment cost higher.On the other hand, artificial high-strength working inevitably can cause to ask safely because of operation careless omission and fault
Topic.Certainly also there are some enterprises to implement feeding using automated mechanical hand substitution is artificial at present, but exist in practice
Following problem:
1) quality requirement that plate is piled up in manipulator crawl is higher, if worker piles up in a jumble, or piles up height not
In place, then manipulator often can not be successfully crawl, needs worker to rearrange and stacks, more time-consuming and laborious instead；
2) multiple processes such as blanking, punching, stretching, flange, trimming, shaping require to grab, manipulator when actual job
It is still lower to grab efficiency, if needing very big place that each manipulator could be unfolded using multiple manipulators.
Summary of the invention
It is an object of the present invention in view of the deficiencies of the prior art, supply automobile parts with multistation progressive stamping
Line and the method for processing part with the production line.
The technical solution adopted by the present invention is as follows.
A kind of auto parts multistation progressive stamping line, it is characterised in that: press work system, grabbing assembly,
Clast holds component, conveying assembly, control system.
The press work system includes rack, and the lower section of rack is equipped with press work platform, cross on press work platform
To being arranged with several punching production lower dies for adapting to different stamping procedures, the surface of each punching production lower die in each rack
Equipped with punching production upper mold corresponding with its punching production process, each punching production passes through catenary motion driving dress with upper mold
Set connection on the rack.
The grabbing assembly includes a manipulator mounting base that press work platform front side or rear side is arranged in, manipulator peace
Dress seat is mounted on a transverse movement component；The left and right both ends of the top surface of manipulator mounting base are respectively provided with rotary shaft vertically to setting
The turntable set；Turntable is connected with the turntable driving motor in setting manipulator mounting base immediately below it, is equipped with one on each turntable
Mechanical gripper；It is transversely arranged between the turntable of both ends on manipulator mounting base top surface to have several longitudinal manipulator bases, the longitudinal machine in part
At hand seat is longitudinally equipped with longitudinal cleaning manipulator to tool and longitudinal cleaning machinery is equipped with clast suction tray, the longitudinal machine in part on hand
Tool is at hand longitudinally equipped with longitudinal catching robot on seat.
The conveying assembly include be disposed longitudinally on grabbing assembly arranged on left and right sides automobile iron plate conveyer belt to be punched,
Auto parts conveyer belt is completed in punching press.
It includes clast holding box that the clast, which holds component, and clast holding box is horizontally installed on press work platform and machinery
Between the hand mounting base or separate grabbing assembly side of press work platform.
The control device includes several for detecting the sensor of auto parts position, and each sensor, is indulged mechanical gripper
It is electrically connected with the controller to cleaning manipulator, longitudinal catching robot, and controller connects control mechanical gripper, Zong Xiangqing simultaneously
Manage the movement of manipulator, longitudinal catching robot, conveyer belt kinematic driving unit, each catenary motion driving device.
As optimal technical scheme, the mechanical gripper includes vertically being arranged to the mechanical gripper column of setting, laterally
Mechanical gripper articulated shaft, mechanical gripper longitudinal electric telescopic mounting, the vertical connecting rod of mechanical gripper, the absorption of the first auto parts
The oblique electric telescopic device of disk, mechanical gripper, the oblique plate of mechanical gripper, mechanical gripper pedestal, the bottom end of mechanical gripper column
Hinged by mechanical gripper articulated shaft and the top of the oblique plate of mechanical gripper, the bottom end of the oblique plate of mechanical gripper passes through mechanical gripper
Pedestal is connected with the rear end of the top surface of turntable, the separate press work platform end connection of mechanical gripper longitudinal electric telescopic mounting
On the top of mechanical gripper column；The vertical connecting rod of mechanical gripper is connected to the close of mechanical gripper longitudinal electric telescopic mounting
The lower section at press work platform end, the first auto parts suction tray are mounted on the lower end of the vertical connecting rod of mechanical gripper；Mechanical gripping
The front of the oblique electric telescopic device of mechanical gripper of the top surface of the front end and turntable of the oblique electric telescopic device of hand is hinged,
The rear end of the oblique electric telescopic device of tool handgrip and the upper end of mechanical gripper column are hinged；The mechanical gripper longitudinal electric can
The oblique electric telescopic device of telescopic device, mechanical gripper is electric linear driver；The first auto parts suction tray is
Electromagnetic adsorption dish or vaccum-suction attachement pad.
As optimal technical scheme, longitudinal machinery hand of clearing up includes vertically clearing up manipulator column, cross to the longitudinal of setting
To the longitudinal cleaning manipulator articulated shaft, longitudinal cleaning manipulator longitudinal electric telescopic mounting, longitudinal cleaning manipulator of setting
Vertical connecting rod, clast suction tray, the oblique electric telescopic device of longitudinal cleaning manipulator, longitudinal cleaning oblique plate of manipulator,
The bottom end of longitudinal cleaning manipulator column passes through the longitudinal cleaning manipulator articulated shaft being laterally arranged and longitudinal cleaning manipulator is oblique
Hinged to the top of plate, longitudinal bottom end for clearing up the oblique plate of manipulator is connected with the rear end of longitudinal manipulator base, longitudinal to clear up
The separate press work platform end of manipulator longitudinal electric telescopic mounting is connected to the top of longitudinal cleaning manipulator column；It is vertical
The close press work for being connected to longitudinal cleaning manipulator longitudinal electric telescopic mounting to the cleaning vertical connecting rod of manipulator is flat
The lower section of end, clast suction tray are mounted on the lower end of longitudinal cleaning vertical connecting rod of manipulator；Longitudinal cleaning manipulator is oblique
The front end of electric telescopic device and the front of manipulator base longitudinal on the top surface of manipulator mounting base are hinged, longitudinal descaling machine
The rear end of the oblique electric telescopic device of tool hand and the upper end of longitudinal cleaning manipulator column are hinged；Longitudinally cleaning is mechanical for the machine
Hand longitudinal electric telescopic mounting, longitudinal cleaning oblique electric telescopic device of manipulator are electric linear driver；Clast is inhaled
Attached disk is electromagnetic adsorption dish or vaccum-suction attachement pad.
As optimal technical scheme, the longitudinal direction catching robot includes vertically vertical to longitudinal catching robot of setting
Column, the longitudinal catching robot articulated shaft being laterally arranged, longitudinal catching robot longitudinal electric telescopic mounting, longitudinal gripper
The vertical connecting rod of tool hand, the second auto parts suction tray, the oblique electric telescopic device of longitudinal catching robot, longitudinal gripper
The oblique plate of tool hand, the bottom end of longitudinal catching robot column pass through the longitudinal catching robot articulated shaft being laterally arranged and grab with longitudinal
Take the top of the oblique plate of manipulator hinged, the rear end phase of the bottom end of longitudinal oblique plate of catching robot and longitudinal manipulator base
Even, it is vertical to be connected to longitudinal catching robot for the separate press work platform end of longitudinal catching robot longitudinal electric telescopic mounting
The top of column；Longitudinal vertical connecting rod of catching robot is connected to the close of longitudinal catching robot longitudinal electric telescopic mounting
The lower section at press work platform end, the second auto parts suction tray are mounted on the lower end of the vertical connecting rod of longitudinal catching robot；
Longitudinal manipulator base on the front end of longitudinal oblique electric telescopic device of catching robot and the top surface of manipulator mounting base
Front is hinged, and the upper end of the rear end of longitudinal oblique electric telescopic device of catching robot and longitudinal catching robot column is cut with scissors
It connects；The machine longitudinal direction catching robot longitudinal electric telescopic mounting, longitudinal oblique electric telescopic device of catching robot are
Electric linear driver；Second auto parts suction tray is electromagnetic adsorption dish or vaccum-suction attachement pad.
As optimal technical scheme, the vaccum-suction attachement pad include disk body, several suckers being arranged on the bottom surface of disk body,
Vacuum plant, hose；Vacuum plant includes vacuum pump, vacuum generator, vacuum feed valve, air admission valve, throttling palace gate, vacuum
Switch, vacuum filter, vacuum pump, vacuum feed valve, vacuum generator, vacuum filter are sequentially connected in series by pipeline；Vacuum
Filter is connected respectively at each sucker by hose by pipeline；Vacuum pump is connected by pipeline with air admission valve, and vacuum is broken
Bad valve is connected by pipeline with throttling palace gate, and throttling palace gate is connected by pipeline with vacuum filter；Vacuum generator and vacuum filter
Pipeline between device is equipped with vacuum switch.
As optimal technical scheme, vacuum generator includes shell and the air inlet being successively set on shell, Lavalle
Jet pipe, reception pipe, exhaust outlet, the upper end at the middle part of reception pipe is connected with negative pressure cavity on shell, the middle part of reception pipe on shell
Lower end is connected with vacuum chamber；Vacuum chamber is connected by pipeline with vacuum filter.
As optimal technical scheme, the punching production is with being provided with several punch-pin, punching production lower die phase in upper mold
Corresponding position is respectively arranged with several cavity plates, respectively completes blanking, punching, stretching, flange, trimming, whole by press work system
Several work in shape.
As optimal technical scheme, the transverse movement component includes a pedestal, is horizontally arranged with cunning on the top surface of pedestal
Slot, the left and right side of sliding slot are laterally fixed with manipulator mounting base electric linear driver, and manipulator mounting base is on the chute and two
End is connected with the telescopic shaft of manipulator mounting base electric linear driver respectively.
As optimal technical scheme, the transverse movement component includes two guide rails disposed in parallel being laterally arranged, and two lead
Sliding block is installed, manipulator mounting base is mounted on sliding block, and the sliding block is connected with sliding block transverse movement driving motor on rail.
The Sheet Metal Forming Technology of above-mentioned any one auto parts multistation progressive stamping line, it is characterised in that including following
Step:
Step 1: being put into automobile iron plate to be punched to automobile iron plate conveyer belt to be punched, sensor is fed back to controller wait rush
Press automobile iron plate to be punched position on automobile iron plate conveyer belt.
Step 2: transverse movement component drives manipulator mounting base to be laterally moved on guide rail close to automobile iron plate to be punched
Convey band edge；Turntable rotation in manipulator mounting base close to automobile iron plate to be punched conveying band edge grabs mechanical gripper thereon
It takes on automobile iron plate to press work platform to be punched in the punching production lower die of automobile iron plate to be punched conveying band edge,
Then the mechanical gripper removes the top working range of the punching production lower die, the punching production lower die surface
Punching production moved downward with upper mold and punching press automobile iron plate to be punched thereon completes a Sheet Metal Forming Technology and forms punching press vapour
Vehicle part；The movement of manipulator mounting base makes to be punched near the cleaning manipulator absorption of auto parts between its both ends turntable
The upper clast of automobile iron plate is simultaneously placed into clast holding box, and cleaning manipulator removes the top of the punching press auto parts；
Step 3: the movement of manipulator mounting base makes the crawl on the turntable near auto parts between its both ends turntable
Manipulator crawl auto parts be put on press work platform in next punching production lower die, the punching production with lower die just
The punching production of top is moved downward with upper mold and the punching press auto parts of punching press thereon complete a Sheet Metal Forming Technology, manipulator peace
Dress seat movement makes broken on the cleaning manipulator absorption punching press auto parts near the nearly auto parts between its both ends turntable
Consider and be placed into clast holding box to be worth doing, cleaning manipulator removes the top of the punching press auto parts；
It so repeats, until the auto parts vapour that punching press is completed until all punching productions all complete punching press with lower die
Vehicle part.
Step 4: manipulator mounting base moves on guide rail and completes auto parts conveying band edge, manipulator installation close to punching press
It seats against nearly punching press and completes auto parts that the mechanical gripper crawl punching press on the turntable of auto parts conveying band edge is completed to punching press
It completes on auto parts conveyer belt；It so repeats, full-automatic punching production can be carried out to multiple auto parts.
The beneficial effects of the present invention are: entire stamping procedure, can be arranged more, such as blanking, punching, stretching, flange, cut
Side, shaping etc., multiple processes, cope plate are respectively set corresponding multiple punch-pin, and lower template is arranged that multiple correspondences are recessed to touch and bullet block
Deng being correspondingly arranged multiple manipulators, the length of telescopic arm, according to the absorption of different workpieces point position difference, but its operation can be same
Step.Since manipulator mounting base can move, mechanical gripper, longitudinal cleaning manipulator, longitudinal catching robot need
Length is small.Mechanical gripper can be used for iron plate to be punched, auto parts are completed in punching press, and longitudinal manipulator of clearing up is used for cleared of debris,
Longitudinal catching robot is used to grab the auto parts in punching press and completes the auto parts longitudinal movement in punching press, transverse movement
Component is used for the transverse movement of auto parts, and the operation of several manipulators is the transfer completed a manipulator and expect punching from down
And reset, it occupies little space.Equipped with sucker, grip is steady, adsorption balance.Press work platform of the present invention is equipped with work area, can
To work at the same time, the time is saved, operating efficiency is improved.The present invention controls multimachine structure coordinative operation by the PLC of control system
Realize the auto parts punch process of multistation, the degree of automation is higher, and working efficiency and homework precision are all further mentioned
Height can greatly save enterprises using the labor cost.Multiple auto parts multistation progressive stamping lines can share to be punched
Automobile iron plate conveyer belt, punching press complete auto parts conveyer belt and realize series connection, further increase the production of automatic stamping production line
Can, significantly reduce the installation space of production line.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of one preferred embodiment of auto parts multistation progressive stamping line of the present invention.
Fig. 2 is the partial enlarged view of the part A of Fig. 1.
Fig. 3 is the partial enlarged view of the C portion of Fig. 2.
Fig. 4 is the partial enlarged view of the part B of Fig. 1.
Fig. 5 is a state diagram of the progressive stamping line of auto parts multistation shown in Fig. 1.
Fig. 6 is a state diagram of the progressive stamping line of auto parts multistation shown in Fig. 1.
Fig. 7 is a state diagram of the progressive stamping line of auto parts multistation shown in Fig. 1.
Fig. 8 is a state diagram of the progressive stamping line of auto parts multistation shown in Fig. 1.
Fig. 9 is a state diagram of the progressive stamping line of auto parts multistation shown in Fig. 1.
Figure 10 is a state diagram of the progressive stamping line of auto parts multistation shown in Fig. 1.
Figure 11 is a state diagram of the progressive stamping line of auto parts multistation shown in Fig. 1.
Figure 12 is a state diagram of the progressive stamping line of auto parts multistation shown in Fig. 1.
Figure 13 is a state diagram of the progressive stamping line of auto parts multistation shown in Fig. 1.
Figure 14 is a kind of structural schematic diagram of press work system.
Figure 15 is the bottom view of the punching production upper mold of press work system shown in Figure 14.
Figure 16 is the top view of the punching production lower die of press work system shown in Figure 14.
Figure 17 is the structural schematic diagram of vacuum type suction tray.
Figure 18 is the structural schematic diagram of vacuum generator.
Figure 19 is the structural schematic diagram of one preferred embodiment of auto parts multistation progressive stamping line of the present invention.
Figure 20 is the structural schematic diagram of one preferred embodiment of auto parts multistation progressive stamping line of the present invention.
Figure 21 is the partial enlarged view of the part D of Figure 20.
Figure 22 is the automobile iron plate conveyer belt to be punched of multiple auto parts multistation progressive stamping lines shared one, one
Punching press completes auto parts conveyer belt and realizes the schematic diagram after series connection.
Wherein: rack -1；Press work platform -2；Punching production lower die -21；Punching production upper mold -22；Vertical fortune
Dynamic driving device -23；Punch-pin -24；Cavity plate -25；Clast holding box -3；Automobile iron plate conveyer belt -4 to be punched；Vapour is completed in punching press
Vehicle part conveyer belt -41；Controller -5；Power supply -51；Manipulator mounting base -6；Turntable -61；Turntable driving motor -62；It is longitudinal
Manipulator base -63；Transverse movement component -64；Pedestal -65；Sliding slot -66；Manipulator mounting base electric linear driver -67；
Sliding block transverse movement driving motor -68；Guide rail -69；Sliding block -610；Mechanical gripper -7；First auto parts suction tray -71；Machine
Tool handgrip column -72；The mechanical gripper articulated shaft -73 being laterally arranged；Mechanical gripper longitudinal electric telescopic mounting -74；It is mechanical
The vertical connecting rod -75 of handgrip；The oblique electric telescopic device -76 of mechanical gripper；The oblique plate -77 of mechanical gripper；Mechanical gripper bottom
Seat -78；Longitudinal cleaning manipulator -8；Clast suction tray -81；Longitudinal cleaning manipulator column -82；The longitudinal cleaning being laterally arranged
Manipulator articulated shaft -83；Longitudinal cleaning manipulator longitudinal electric telescopic mounting -84；Longitudinal cleaning vertical connecting rod-of manipulator
85；Longitudinal cleaning oblique electric telescopic device -86 of manipulator；Longitudinal cleaning oblique plate -87 of manipulator；Longitudinal crawl is mechanical
Hand -9；Second auto parts suction tray -91；Longitudinal catching robot column -92；The longitudinal catching robot being laterally arranged is hinged
Axis -93；Longitudinal catching robot longitudinal electric telescopic mounting -94；Longitudinal vertical connecting rod -95 of catching robot；It grabs longitudinal direction
Take the oblique electric telescopic device -96 of manipulator；Longitudinal oblique plate -97 of catching robot；Disk body -101；Sucker -102；Vacuum
Device -103；Hose -104；Vacuum feed valve -105；Air admission valve -106；Throttling palace gate -107；Vacuum switch -108；Vacuum
Filter -109；Vacuum pump -110；Vacuum generator -111；Shell -112；Air inlet -113；Laval nozzle -114；It receives
Pipe -115；Exhaust outlet -116；Negative pressure cavity -117；Vacuum chamber -118；Iron plate -10 to be punched；Auto parts -11 are completed in punching press；Punching
Auto parts -12 in pressure.
Specific embodiment
In the following, the invention will be further described in conjunction with the accompanying drawings and embodiments.
Embodiment 1.As shown in figures 1-13, a kind of auto parts multistation progressive stamping line, it is characterised in that: punching
Pressure work system, grabbing assembly, clast hold component, conveying assembly, control system.
The press work system includes rack 1, and the lower section of rack 1 is equipped with press work platform 2, press work platform 2
It is above transversely arranged to have several punching production lower dies 21 for adapting to different stamping procedures, each punching production lower die in each rack 1
21 surface is equipped with punching production upper mold 22 corresponding with its punching production process, and each punching production passes through one with upper mold 22
Catenary motion driving device 23 is connected in rack 1.
The grabbing assembly includes a manipulator mounting base 6 that 2 front side or rear side of press work platform is arranged in, manipulator
Mounting base 6 is mounted on a transverse movement component 64；The left and right both ends of the top surface of manipulator mounting base 6 are respectively provided with rotary shaft and hang down
Directly to the turntable of setting 61；Turntable 61 is connected with the turntable driving motor 62 in setting manipulator mounting base 6 immediately below it, and each turn
One mechanical gripper 7 is installed on disk 61；It is transversely arranged between both ends turntable 61 on 6 top surface of manipulator mounting base to have two longitudinal manipulators
Pedestal 63, in two longitudinal manipulator bases 63, longitudinal manipulator base 63 positioned at left is longitudinal to be equipped with longitudinal cleaning manipulator 8
And longitudinal cleaning manipulator 8 is equipped with clast suction tray 81, and in two longitudinal manipulator bases 63, longitudinal machine positioned at right
Tool is at hand longitudinally equipped with longitudinal catching robot 9 on seat 63.Rack 1 includes the identical column of both heights, a crossbeam, crossbeam connection
On the top of two columns, catenary motion driving device 23 is mounted on crossbeam, and punching production upper mold 22 is mounted on catenary motion
The bottom end of driving device 23.
The conveying assembly include be disposed longitudinally on grabbing assembly arranged on left and right sides automobile iron plate conveyer belt 4 to be punched,
Auto parts conveyer belt 41 is completed in punching press.
It includes clast holding box 3 that the clast, which holds component, clast holding box 3 be horizontally installed on press work platform 2 with
Between the manipulator mounting base 6 or separate grabbing assembly side of press work platform 2.
The control device includes several for detecting the sensor of auto parts position, each sensor, mechanical gripper 7,
Longitudinal cleaning manipulator 8, longitudinal catching robot 9 are electrically connected with controller 5, and controller 5 connects control mechanical gripper simultaneously
7, longitudinal cleaning manipulator 8, longitudinal catching robot 9, conveyer belt kinematic driving unit 41, each catenary motion driving device 23
Movement.
The mechanical gripper 7 includes the mechanical gripper articulated shaft being vertically arranged to the mechanical gripper column 72 of setting, laterally
73, the vertical connecting rod 75 of mechanical gripper longitudinal electric telescopic mounting 74, mechanical gripper, the first auto parts suction tray 71, machine
The oblique electric telescopic device 76 of tool handgrip, the oblique plate 77 of mechanical gripper, mechanical gripper pedestal 78, the bottom of mechanical gripper column 72
End is hinged by mechanical gripper articulated shaft 73 and the top of the oblique plate 77 of mechanical gripper, and the bottom end of the oblique plate 77 of mechanical gripper passes through
Mechanical gripper pedestal 78 is connected with the rear end of the top surface of turntable 61, the separate punching press of mechanical gripper longitudinal electric telescopic mounting 74
2 end of workbench is connected to the top of mechanical gripper column 72；The vertical connecting rod 75 of mechanical gripper is connected to mechanical gripper longitudinal direction
The lower section at close 2 end of press work platform of electric telescopic device 74, the first auto parts suction tray 71 are mounted on mechanical gripping
The lower end of the vertical connecting rod 75 of hand；The mechanical gripping of the top surface of the front end and turntable 61 of the oblique electric telescopic device 76 of mechanical gripper
The front of the oblique electric telescopic device 76 of hand is hinged, the rear end of the oblique electric telescopic device of tool handgrip and mechanical gripper column
72 upper end is hinged；The mechanical gripper longitudinal electric telescopic mounting 74, the oblique electric telescopic device 76 of mechanical gripper are
Electric linear driver；The first auto parts suction tray 71 is electromagnetic adsorption dish.
Longitudinal cleaning manipulator 8 is arranged including vertically to longitudinal cleaning manipulator column 82 of setting, laterally longitudinal clear
Manage manipulator articulated shaft 83, longitudinal cleaning manipulator longitudinal electric telescopic mounting 84, longitudinal cleaning vertical connecting rod of manipulator
85, clast suction tray 81, the oblique electric telescopic device 86 of longitudinal cleaning manipulator, longitudinal cleaning oblique plate 87 of manipulator, are indulged
Pass through the longitudinal cleaning manipulator articulated shaft 83 being laterally arranged and longitudinal cleaning manipulator to the bottom end of cleaning manipulator column 82
The top of oblique plate 87 is hinged, and longitudinal bottom end for clearing up the oblique plate 87 of manipulator is connected with the rear end of longitudinal manipulator base 63,
It is vertical that separate 2 end of press work platform of longitudinal cleaning manipulator longitudinal electric telescopic mounting 84 is connected to longitudinal cleaning manipulator
The top of column 82；Longitudinal cleaning vertical connecting rod 85 of manipulator is connected to longitudinal cleaning manipulator longitudinal electric telescopic mounting 84
Close 2 end of press work platform lower section, clast suction tray 81 is mounted under longitudinal cleaning vertical connecting rod 85 of manipulator
End；Longitudinal manipulator on the front end of longitudinal cleaning oblique electric telescopic device 86 of manipulator and the top surface of manipulator mounting base 6
The front of pedestal 63 is hinged, longitudinal rear end for clearing up the oblique electric telescopic device 86 of manipulator and longitudinal cleaning manipulator column
82 upper end is hinged；Longitudinally cleaning manipulator longitudinal electric telescopic mounting 84, longitudinal cleaning manipulator are oblique electronic for the machine
Telescopic mounting 86 is electric linear driver；Clast suction tray 81 is electromagnetic adsorption dish.
The longitudinal direction catching robot 9 is vertical including what is be vertically arranged to longitudinal catching robot column 92 of setting, laterally
To catching robot articulated shaft 93, longitudinal catching robot longitudinal electric telescopic mounting 94, the vertical company of longitudinal catching robot
Extension bar 95, the second auto parts suction tray 91, the oblique electric telescopic device 96 of longitudinal catching robot, longitudinal catching robot
The bottom end of oblique plate 97, longitudinal catching robot column 92 passes through the longitudinal catching robot articulated shaft 93 being laterally arranged and longitudinal direction
The top of the oblique plate 97 of catching robot is hinged, the bottom end of longitudinal oblique plate 97 of catching robot and longitudinal manipulator base 63
Rear end is connected, and separate 2 end of press work platform of longitudinal catching robot longitudinal electric telescopic mounting 94 is connected to longitudinal grab
Take the top of manipulator column 92；Longitudinal vertical connecting rod 95 of catching robot is connected to longitudinal catching robot longitudinal electric can
The lower section at close 2 end of press work platform of telescopic device 94, it is mechanical that the second auto parts suction tray 91 is mounted on longitudinal crawl
The lower end of the vertical connecting rod 95 of hand；The front end of longitudinal oblique electric telescopic device 96 of catching robot and manipulator mounting base 6
Top surface on longitudinal manipulator base 63 front it is hinged, the rear end of longitudinal oblique electric telescopic device 96 of catching robot with
The upper end of longitudinal catching robot column 92 is hinged；The machine longitudinal direction catching robot longitudinal electric telescopic mounting 94, longitudinal direction
The oblique electric telescopic device 96 of catching robot is electric linear driver；Second auto parts suction tray 91 is electromagnetic adsorption
Disk.
As illustrated in figures 14-16, the punching production is with being provided with several punch-pin 24, punching production lower die 21 in upper mold 22
Opposite position is respectively arranged with several cavity plates 25, respectively completes blanking by press work system, punching, stretching, flange, cuts
Several work in side, shaping.
The transverse movement component 64 includes a pedestal 65, is horizontally arranged with sliding slot 66, sliding slot 66 on the top surface of pedestal 65
Left and right side be laterally fixed with manipulator mounting base electric linear driver 67, manipulator mounting base 6 is on sliding slot 66 and both ends
It is connected respectively with the telescopic shaft of manipulator mounting base electric linear driver 67.The catenary motion driving device 23 is electronic straight
Line drive or hydraulic cylinder or hydraulic cylinder.
The process for stamping of above-mentioned production line includes the following steps:
Step 1: be put into automobile iron plate to be punched to automobile iron plate conveyer belt 4 to be punched, sensor to controller 5 feed back to
Automobile iron plate to be punched position on punching press automobile iron plate conveyer belt 4.
Step 2: as seen in figs. 5-6, transverse movement component 64 drives manipulator mounting base 6 to be laterally moved on guide rail 69 and leans on
Nearly 4 end of automobile iron plate conveyer belt to be punched；Close to the turntable 61 at 4 end of automobile iron plate conveyer belt to be punched in manipulator mounting base 6
It is defeated close to automobile iron plate to be punched on automobile iron plate to press work platform 2 to be punched that rotation grabs mechanical gripper 7 thereon
Send the punching production at 4 end of band in lower die 21.As shown in fig. 7, then the mechanical gripper 7 removes the punching production lower die
21 top working range.Punching production upper mold 22 right above the punching production lower die 21 move downward and punching press its
On automobile iron plate to be punched complete Sheet Metal Forming Technology and form punching press auto parts；As shown in figure 8, manipulator mounting base 6 is transported
The dynamic cleaning manipulator near auto parts made between its both ends turntable 61 adsorbs the upper clast of automobile iron plate to be punched and puts
Clast holding box 3 is set, cleaning manipulator removes the top of the punching press auto parts..
Step 3: as shown in figs9-12, manipulator mounting base 6 move make between its both ends turntable 61 near automobile zero
Catching robot crawl auto parts on the turntable 61 of part are put into next punching production lower die 21 on press work platform 2
On.Punching production upper mold 22 right above the punching production lower die 21 moves downward and the punching press auto parts of punching press thereon
Complete a Sheet Metal Forming Technology, manipulator mounting base 6 move make between its both ends turntable 61 near the clear of the nearly auto parts
Reason manipulator adsorbs clast on punching press auto parts and is placed into clast holding box 3, and cleaning manipulator removes the punching press automobile
The top of part；
It so repeats, the punching press completion until all punching productions all complete punching press with lower die 21 until auto parts
Auto parts；
Step 4: manipulator mounting base 6 moves on guide rail 69 and completes 41 end of auto parts conveyer belt close to punching press, mechanical
Mechanical gripper 7 of the hand mounting base 6 on the turntable 61 that 41 end of auto parts conveyer belt is completed in punching press grabs the vapour that punching press is completed
Vehicle part is completed to see Figure 13 on auto parts conveyer belt 41 to punching press；It so repeats, multiple auto parts can be carried out entirely certainly
Dynamic punching production.
In the present embodiment, entire stamping procedure can be arranged more, such as blanking, punching, stretching, flange, trimming, shaping,
Multiple processes, cope plate are respectively set corresponding multiple punch-pin, and lower template is arranged that multiple correspondences are recessed to touch and bullet block etc., are correspondingly arranged
Multiple manipulators, the length of telescopic arm, according to the absorption of different workpieces point position difference, but its operation can synchronize.For machinery
Hand mounting base 6 can move, and therefore, the length that mechanical gripper 7, longitudinal cleaning manipulator 8, longitudinal catching robot 9 need is small.
Mechanical gripper 7 can be used for iron plate 10 to be punched, auto parts 11 are completed in punching press, and longitudinal manipulator 8 of clearing up is used for cleared of debris, indulge
It is used to grab the auto parts 12 in punching press to catching robot 9 and completes the auto parts 12 in punching press and vertically move, laterally
Moving parts 64 are used for the transverse movement of auto parts 12, and the operation of several manipulators completes a manipulator and expects punching from down
The transfer and reset in hole, occupy little space.Equipped with sucker, grip is steady, adsorption balance.It is set on press work platform 2 of the present invention
There is work area, can work at the same time, saves the time, improve operating efficiency.The present invention controls multimachine structure coordinative operation reality by PLC
The auto parts feeding of existing multistation, the degree of automation is higher, and working efficiency and homework precision are all further enhanced, can
Greatly save enterprises using the labor cost.
Embodiment 2.As shown in Figure 20,21,17,18, the present embodiment and the difference of embodiment 2 are: the second auto parts
Suction tray 91, clast suction tray 81, the first auto parts suction tray 71 are vacuum type suction tray.The transverse movement component 64 wraps
Two guide rails disposed in parallel 69 being laterally arranged are included, sliding block 610 are installed on two guide rails 69, manipulator mounting base 6 is mounted on cunning
On block 610, the sliding block 610 is connected with sliding block transverse movement driving motor 68.
The vaccum-suction attachement pad includes disk body 101, several suckers 102 on the bottom surface that disk body 101 is arranged in, vacuum plant
103, hose 104；Vacuum plant 103 includes vacuum pump 110, vacuum generator 111, vacuum feed valve 105, air admission valve
106, throttling palace gate 107, vacuum switch 108, vacuum filter 109, vacuum pump 110, vacuum feed valve 105, vacuum generator
111, vacuum filter 109 is sequentially connected in series by pipeline；Vacuum filter 109 is passed through by pipeline respectively at each sucker 102 soft
Pipe 104 is connected；Vacuum pump 110 is connected by pipeline with air admission valve 106, and air admission valve 106 is tended a gate by pipeline and throttling
107 are connected, and throttling palace gate 107 is connected by pipeline with vacuum filter 109；Between vacuum generator 111 and vacuum filter 109
Pipeline be equipped with vacuum switch 108.Using the circuit of this generator assembly, after vacuum feed solenoid valve 105 is powered, pressure
Contracting air is by vacuum generator 111, and since the high-speed motion of air-flow generates vacuum, sucker 102 picks up workpiece, vacuum switch
108 detection vacuum degrees issue signal, when vacuum feed solenoid valve 105 powers off, and vacuum breaking solenoid valve 106 is powered, vacuum hair
Raw device 111 stops working, and vacuum expendable pattern, compressed air enters sucker 102, and workpiece and sucker are blown open.
Vacuum generator 111 includes shell 112 and the air inlet 113, the Laval nozzle that are successively set on shell 112
114, reception pipe 115, exhaust outlet 116, the upper end at the middle part of reception pipe 115 is connected with negative pressure cavity 117, shell 112 on shell 112
The lower end at the middle part of upper reception pipe 115 is connected with vacuum chamber 118；Vacuum chamber 118 is connected by pipeline with vacuum filter 109.
Vacuum generator is for generating vacuum, and structure is simple, small in size, no moving machinery component, is installed and using very
It is convenient, therefore application is very extensive, the vacuum degree that vacuum generator generates is up to 88kPa.Vacuum generator is expanded afterwards by first shrinking
The composition such as Laval nozzle, negative pressure cavity and reception pipe, have air supply opening, exhaust outlet and vacuum port, when the supply gas pressure of air supply opening
After certain value, the supersonic jet of jet pipe injection.Due to the viscosity of gas, high-speed jet volume siphons away the gas in negative pressure cavity
Body makes the chamber form very low vacuum degree, connects sucker 102 in vacuum chamber lower end.Object is drawn by vacuum pressure and sucker.
The sorption corresponding time, which refers to, reaches vacuum degree necessary to sorption to the vacuum degree in sucker after supply valve events
Time be known as the sorption corresponding time.The selection ZFB-200-06 type of vacuum filter, flow is 30L/min, is greater than vacuum and sends out
The maximum stream flow 24L/min of raw device, meet demand, vacuum throttle valve select KLA series one-way throttle valve KLA-L6, inside nominal diameter
It is 6mm, effective cross-section is greater than 5mm2, and leakage rate is less than 50cm3/min, unidirectional valve opening pressure 0.05MPa.Supply valve setting exists
In pressure piping, general reversal valve AB31, AB41 series multi-fluid bi-bit bi-pass direct acting cut-off type solenoid directional control valve, type are selected
Number: AB310-1-6, inside nominal diameter 5mm, AB adapter tube screw thread ZG1/8, effective cross-sectional area 15.3mm2, effective cross-sectional area are greater than
4 times of vacuum generator nozzle geometric area, the connection bore of air supply opening are greater than 4 times of nozzle diameter, reduce supply circuit
The pressure loss.Vacuum reversal valve is arranged in vacuum loop, it is necessary to which selection can be changed with reversal valve under vacuum conditions, vacuum
It requires not leak to valve, therefore selects, selection 09270,09550 series a variety of streams more satisfactory with cut-off type and guided membrane slice structure
Body two-position two-way pilot membrane type solenoid valve, model: 0927000, adapter tube screw thread 1/4in, latus rectum 8mm, commutating frequency are greater than
0.5Hz。
Control system is equipped with the control for controlling each mechanical gripper 7, longitudinal cleaning manipulator 8, longitudinal catching robot 9
After system, computer becomes core, realizes control algolithm by computer, receives and handle various signals, is formed and is issued and refers to
It enabling, it is contemplated that computer needs to complete a large amount of operation as manipulator controller, and a microcomputer is difficult to realize,
So it is upper general by the way of hierarchical control in control, two layers of microcomputer control system is usually taken, level-one is as master
Microcomputer is controlled, mainly receive an assignment job instruction, coordinates joint motions, controls motion profile, fulfil assignment requirement.Separately
Level-one microcomputer forms one group of miniature servo-system, and there is oneself independent microprocessor in each joint, they are received respectively
The command signal that main control microcomputer is issued to each joint, to each joint operation of real-time control operation machine.
1 servo-driver is made of servomotor, position sensor, velocity sensor and brake, and output shaft is straight
It connects and is connected with operation organ's nodal axisn, to complete the speed in joint and the detection of position.2 sensors.Position used in manipulator
Setting sensor has potentiometer, differential transformer, rotary transformer and optical code disk etc..
3 brakes.It is formed using electromagnet, frictional disk etc., electromagnet coil power, frictional disk disengages, and joint shaft can be certainly
Turn is dynamic, and when power loss, under the action of the spring, frictional disk is compressed, and generates frictional force and brakes.There are many structure type, usually will system
Dynamic device and servo mechanism are made of one.4 power amplifiers.It is by the control signal amplification of controller output that it, which is acted on, and driving is watched
Take mechanism kinematic.
4.2 master control system
Its major function is the information channel established between operation machine and manipulator, transmits job instruction and parameter, feedback
Working condition, fulfil assignment required various calculating, establishes the interface between SERVO CONTROL grade.
1 control machine.It is main to complete to complete from job task, movement instruction to whole operations joint motions requirement
Operation between machine all devices is coordinated, and the major requirement to main control computer hardware aspect is arithmetic speed and precision, is deposited
Store up capacity and interrupt handling capacity.
2 external equipments.In addition to general external equipment such as display, control keyboard, soft or hard disk drive, printer, also
Teaching control box.It can be realized using teaching control box and control is achieved the purpose that each joint.
3 main control softwares.Control programming software is the important component of control system, and function is mainly point instructed
Analysis explains that the planning of movement marks the kinematic parameter along track according to motion profile, interpolation calculation function, by straight line, circular arc or
Polynomial interopolation acquires the intermediate point of suitable density, coordinate transform function.
Controlled by the PLC of controller: 1, transverse movement component 64 moves；2,6 position of manipulator mounting base；3, each sensing
Device, the sensor include video sensor, position sensor；4, each control switch；5, programmable device, display, control key；6,
Turntable rotation；7, mechanical gripper 7, longitudinal cleaning manipulator 8, longitudinal catching robot 9 grab；8, vacuum suction or electromagnetic adsorption
Deng.
On the rack, multiple photoelectric protectors are respectively provided with, once there is the collimation error, Photoelectrical detector is detected effectively
When having abnormal conditions in region, machine is automatically stopped work, solves vision dead zone, it can be ensured that security performance.In the present embodiment,
In order to realize the continuous and automatic of punching press, guarantee stamping parts it is accurate in place, pass through the visual identifying system of sensor, controller
PLC control component work, cooperation is used for the conveyer belt 4 of feeding and lower part, it is raw to form the Ministry of worker such as efficient crawl, displacement
Producing line designs one group of novel Pneumatic manipulator work compound, completes using pneumatic type vacuum adsorption type arm-and-hand system corresponding
Work it is more synchronous, efficient.Mechanical gripper 7, longitudinal cleaning manipulator 8,9 structure of longitudinal catching robot are identical.Wherein vacuum
Formula sucker is the Important Components of workpiece grabbing, and adsorbing mechanism is in rectangle or triangular layout, to plate by multiple sucker group prestige
Workpiece forms balanced adsorption capacity, and mechanical structure type is four-degree-of-freedom manipulator.Utilize straight sky made of vacuum pump technology
Absorption type manipulator is that a kind of high efficiency, pollution-free, positioning accuracy is high and the assembly tool of economic and reliable.
The setting intelligent mobiles such as position, the die size that manipulator mounting base 6 can be put according to the size of workpiece, absorption.It arrives
Up to presetting position.Mechanical gripper 7, longitudinal cleaning manipulator 8, longitudinal 9 synchronous extension of catching robot work, according to beat,
The workpiece of different station is adsorbed, the lower end of manipulator telescopic arm is also provided with telescopic device and visual sensor, and sensor will identify
Signal is sent to PLC controller, by comparing, calculate, sends the signal whether adsorbed, in the case where no part, does not adsorb.It is each
Vacuum generator controls respectively, work compound.When the mechanical gripper 7 of right end is by material to be punched, in the auxiliary of position sensor
Under, it is put into predetermined position；Each manipulator under the compound action of two manipulator mounting base electric linear drivers 67, steadily
To the first from left Ministry of worker position, absorption is closed, and mechanical gripper 7 retracts original position, starts first time stamping procedure, longitudinal to clear up manipulator 8
Cleared of debris.So repeat.In the state of line normal continuous punching, the mechanical gripper 7 of the leftmost side is blanking mechanical hand,
Under PLC instruction control, adsorbs, moves, putting part, return state.Entire stamping procedure can be arranged more, such as blanking, punching, drawing
It stretches, flange, trimming, shaping etc., multiple processes, corresponding multiple punch-pin are respectively set in cope plate, and it is recessed that multiple correspondences are arranged in lower template
It touches and bullet block etc., is correspondingly arranged two mechanical grippers 7, multiple longitudinal cleaning manipulators 8, longitudinal catching robot 9, mechanical gripper 7,
The length of the longitudinal extension of longitudinal cleaning manipulator 8, longitudinal catching robot 9, it is different according to the absorption of different workpieces point position,
But its operation can synchronize.Two mechanical grippers 7, the operations of multiple longitudinal cleaning manipulators 8, longitudinal catching robot 9 complete from
Under expect processes such as transfer and the reset of punching and so on.After completing lower part movement, in two manipulator mounting base electric linears
Under the compound action of driver 67, one Ministry of worker position of the rollback of manipulator mounting base 6 resets.Loading and unloading share a conveying
Band 4 calculates module position, and space appropriate is arranged, and just in the position placing member of supreme materials and parts, has saved transmission space, is easy
Line.
Embodiment 3.As shown in figure 19, the present embodiment and the difference of embodiment 1 are: it includes broken that the clast, which holds component,
Consider holding box 3 to be worth doing, clast holding box 3 is horizontally installed between press work platform 2 and manipulator mounting base 6.
Embodiment 4.As shown in figure 22, the present embodiment and the difference of embodiment 1 are: multiple auto parts multistation connect
Continuous stamping line shared one automobile iron plate conveyer belt 4 to be punched, a punching press complete auto parts conveyer belt 41 and realize series connection.When
The step-feeding automatic press part used in preceding industry, can only meet horizontal plate, be not suitable with shaped piece, the part for having stretching, punching press
Deformable member is unable to complete push because bottom surface is uneven, and the automatic press of this research can satisfy the continuous punching of each like members,
And conveyer belt, material, part are mixed, realize lean production.The optional small tensioning member of the present embodiment, also complexity such as optional oil sump
Part.
Claims (10)
1. a kind of auto parts multistation progressive stamping line, it is characterised in that: press work system, grabbing assembly, broken
Bits hold component, conveying assembly, control system；
The press work system includes rack (1), and the lower section of rack (1) is equipped with press work platform (2), press work platform
(2) transversely arranged on to have several punching productions for adapting to different stamping procedures with lower die (21), each punching production on each rack (1)
It is equipped with punching production upper mold (22) corresponding with its punching production process with the surface of lower die (21), each punching production is used
Mould (22) is connected on rack (1) by a catenary motion driving device (23)；
The grabbing assembly includes manipulator mounting base (6) of the setting in press work platform (2) front side or rear side, manipulator
Mounting base (6) is mounted on a transverse movement component (64)；The left and right both ends of the top surface of manipulator mounting base (6) are respectively provided with rotation
Shaft is vertically to the turntable of setting (61)；Turntable in turntable (61) and setting manipulator mounting base (6) immediately below it drives electricity
Machine (62) is connected, and is equipped with a mechanical gripper (7) on each turntable (61)；Both ends turntable (61) on manipulator mounting base (6) top surface
Between it is transversely arranged have several longitudinal manipulator bases (63), it is mechanical that the longitudinal manipulator base (63) in part is longitudinally equipped with longitudinal cleaning
Hand (8) and the longitudinal direction clear up manipulator (8) and are equipped with clast suction tray (81), longitudinal direction on the longitudinal manipulator base (63) in part
Equipped with longitudinal catching robot (9)；
The conveying assembly include be disposed longitudinally on grabbing assembly arranged on left and right sides automobile iron plate conveyer belt (4) to be punched, punching
Pressure completes auto parts conveyer belt (41)；
It includes clast holding box (3) that the clast, which holds component, and clast holding box (3) is horizontally installed on press work platform (2)
Between manipulator mounting base (6) or the separate grabbing assembly side of press work platform (2)；
The control device includes several for detecting the sensor of auto parts position, and each sensor, is indulged mechanical gripper (7)
It is electrically connected to cleaning manipulator (8), longitudinal catching robot (9) with controller (5), and controller (5) connects control machine simultaneously
Tool handgrip (7), longitudinal cleaning manipulator (8), longitudinal catching robot (9), conveyer belt kinematic driving unit (41), each vertical fortune
The movement of dynamic driving device (23).
2. a kind of auto parts multistation progressive stamping line as described in claim 1, it is characterised in that: the machinery
Handgrip (7) includes mechanical gripper articulated shaft (73), the mechanical gripper being vertically arranged to the mechanical gripper column (72) of setting, laterally
Longitudinal electric telescopic mounting (74), the vertical connecting rod of mechanical gripper (75), the first auto parts suction tray (71), mechanical gripper
Oblique electric telescopic device (76), the oblique plate of mechanical gripper (77), mechanical gripper pedestal (78), mechanical gripper column (72)
Bottom end is hinged by mechanical gripper articulated shaft (73) and the top of the oblique plate of mechanical gripper (77), the oblique plate of mechanical gripper (77)
Bottom end is connected by mechanical gripper pedestal (78) with the rear end of the top surface of turntable (61), mechanical gripper longitudinal electric telescopic mounting
(74) separate press work platform (2) end is connected to the top of mechanical gripper column (72)；The vertical connecting rod of mechanical gripper
(75) lower section at close press work platform (2) end of mechanical gripper longitudinal electric telescopic mounting (74), the first vapour are connected to
Vehicle part suction tray (71) is mounted on the lower end of the vertical connecting rod of mechanical gripper (75)；The oblique electric telescopic device of mechanical gripper
(76) front end and the front of the oblique electric telescopic device (76) of mechanical gripper of the top surface of turntable (61) are hinged, and tool handgrip is oblique
It is hinged to the rear end of electric telescopic device and the upper end of mechanical gripper column (72)；The mechanical gripper longitudinal electric is scalable
The oblique electric telescopic device (76) of device (74), mechanical gripper is electric linear driver；The first auto parts absorption
Disk (71) is electromagnetic adsorption dish or vaccum-suction attachement pad.
3. a kind of auto parts multistation progressive stamping line as described in claim 1, it is characterised in that: longitudinal cleaning
Manipulator (8) includes that longitudinal cleaning manipulator for being vertically arranged to longitudinal cleaning manipulator column (82) of setting, laterally is hinged
Axis (83), longitudinal cleaning manipulator longitudinal electric telescopic mounting (84), longitudinal the cleaning vertical connecting rod of manipulator (85), clast
Suction tray (81), the oblique electric telescopic device (86) of longitudinal cleaning manipulator, the longitudinal cleaning oblique plate of manipulator (87), it is longitudinal
The bottom end of cleaning manipulator column (82) passes through longitudinal cleaning manipulator articulated shaft (83) being laterally arranged and longitudinal cleaning is mechanical
The top of the oblique plate of hand (87) is hinged, behind longitudinal bottom end for clearing up the oblique plate of manipulator (87) and longitudinal manipulator base (63)
End is connected, and longitudinal separate press work platform (2) end for clearing up manipulator longitudinal electric telescopic mounting (84) is connected to longitudinal direction
Clear up the top of manipulator column (82)；It is longitudinal that the longitudinal cleaning vertical connecting rod of manipulator (85) is connected to longitudinal cleaning manipulator
The lower section at close press work platform (2) end of electric telescopic device (84), clast suction tray (81) are mounted on longitudinal cleaning
The lower end of the vertical connecting rod of manipulator (85)；The front end of longitudinal cleaning oblique electric telescopic device (86) of manipulator and manipulator
The front of longitudinal manipulator base (63) is hinged on the top surface of mounting base (6), longitudinal to clear up the oblique electric telescopic dress of manipulator
The rear end for setting (86) and the upper end of longitudinal cleaning manipulator column (82) are hinged；Longitudinally cleaning manipulator longitudinal electric can for the machine
Telescopic device (84), longitudinal cleaning oblique electric telescopic device (86) of manipulator are electric linear driver；Clast suction tray
It (81) is electromagnetic adsorption dish or vaccum-suction attachement pad.
4. a kind of auto parts multistation progressive stamping line as described in claim 1, it is characterised in that: the longitudinal direction
Catching robot (9) includes the longitudinal catching robot being vertically arranged to longitudinal catching robot column (92) of setting, laterally
Articulated shaft (93), longitudinal catching robot longitudinal electric telescopic mounting (94), longitudinal vertical connecting rod of catching robot (95),
Second auto parts suction tray (91), the oblique electric telescopic device (96) of longitudinal catching robot, longitudinal catching robot are oblique
To plate (97), the bottom end of longitudinal catching robot column (92) pass through longitudinal catching robot articulated shaft (93) for being laterally arranged with
The top of longitudinal oblique plate of catching robot (97) is hinged, the bottom end of longitudinal oblique plate of catching robot (97) and longitudinal manipulator
The rear end of pedestal (63) is connected, the separate press work platform (2) of longitudinal catching robot longitudinal electric telescopic mounting (94)
End is connected to the top of longitudinal catching robot column (92)；Longitudinal vertical connecting rod of catching robot (95) is connected to longitudinal grab
The lower section for taking the close press work platform (2) of manipulator longitudinal electric telescopic mounting (94) to hold, the absorption of the second auto parts
Disk (91) is mounted on the lower end of the vertical connecting rod of longitudinal catching robot (95)；Longitudinal oblique electric telescopic dress of catching robot
The front for setting longitudinal manipulator base (63) on the front end of (96) and the top surface of manipulator mounting base (6) is hinged, longitudinal gripper
The rear end of the oblique electric telescopic device (96) of tool hand and the upper end of longitudinal catching robot column (92) are hinged；The machine is longitudinal
Catching robot longitudinal electric telescopic mounting (94), longitudinal oblique electric telescopic device (96) of catching robot are electronic straight
Line drive；Second auto parts suction tray (91) is electromagnetic adsorption dish or vaccum-suction attachement pad.
5. a kind of auto parts multistation progressive stamping line as described in any one claim of claim 2-4,
Be characterized in that: the vaccum-suction attachement pad include disk body (101), be arranged several suckers (102) on the bottom surface of disk body (101),
Vacuum plant (103), hose (104)；Vacuum plant (103) includes vacuum pump (110), vacuum generator (111), vacuum feed
Valve (105), air admission valve (106), throttling palace gate (107), vacuum switch (108), vacuum filter (109), vacuum pump
(110), vacuum feed valve (105), vacuum generator (111), vacuum filter (109) are sequentially connected in series by pipeline；Vacuum mistake
Filter (109) is connected respectively at each sucker (102) by hose (104) by pipeline；Vacuum pump (110) passes through pipeline and vacuum
Destructive valve (106) is connected, and air admission valve (106) is connected by pipeline with throttling palace gate (107), and throttling palace gate (107) passes through pipeline
It is connected with vacuum filter (109)；Pipeline between vacuum generator (111) and vacuum filter (109) is opened equipped with vacuum
It closes (108).
6. a kind of auto parts multistation progressive stamping line as claimed in claim 5, it is characterised in that: vacuum occurs
Device (111) includes shell (112) and the air inlet (113) being successively set on shell (112), Laval nozzle (114), receives
(115), exhaust outlet (116) are managed, the upper end at the middle part of reception pipe (115) is connected with negative pressure cavity (117), shell on shell (112)
(112) lower end at the middle part of reception pipe (115) is connected with vacuum chamber (118) on；Vacuum chamber (118) passes through pipeline and vacuum filter
Device (109) is connected.
7. a kind of auto parts multistation progressive stamping line as described in claim 1, it is characterised in that: the punching press
Production is several with being provided with several punch-pin (24), punching production on upper mold (22) with lower die (21) opposite position and being respectively arranged with
Cavity plate (25) respectively completes blanking, punching, stretching, flange, trimming, several work in shaping by press work system.
8. a kind of auto parts multistation progressive stamping line as described in claim 1, it is characterised in that: the transverse direction
Moving parts (64) include a pedestal (65), are horizontally arranged with sliding slot (66) on the top surface of pedestal (65), sliding slot (66) it is left and right
Side is laterally fixed with manipulator mounting base electric linear driver (67), and manipulator mounting base (6) is on sliding slot (66) and both ends
It is connected respectively with the telescopic shaft of manipulator mounting base electric linear driver (67).
9. a kind of auto parts multistation progressive stamping line as described in claim 1, it is characterised in that: the transverse direction
Moving parts (64) include two guide rails disposed in parallel (69) being laterally arranged, and are equipped with sliding block (610), machine on two guide rails (69)
Tool hand mounting base (6) is mounted on sliding block (610), and the sliding block (610) is connected with sliding block transverse movement driving motor (68).
10. the punching press of the auto parts multistation progressive stamping line as described in any one claim of claim 1-9
Technique, it is characterised in that include the following steps:
Step 1: be put into automobile iron plate to be punched to automobile iron plate conveyer belt (4) to be punched, sensor to controller (5) feed back to
Automobile iron plate to be punched position on punching press automobile iron plate conveyer belt (4)；
Step 2: transverse movement component (64) drives manipulator mounting base (6) to be laterally moved on guide rail (69) close to vapour to be punched
Vehicle iron plate conveyer belt (4) end；Turntable (61) in manipulator mounting base (6) close to automobile iron plate conveyer belt (4) to be punched end turns
The dynamic mechanical gripper (7) made thereon grabs on automobile iron plate to press work platform (2) to be punched close to automobile iron plate to be punched
The punching production at conveyer belt (4) end is on lower die (21), and then the mechanical gripper (7) removes the punching production lower die
(21) top working range, the punching production are moved downward simultaneously with the punching production right above lower die (21) with upper mold (22)
The automobile iron plate to be punched of punching press thereon completes a Sheet Metal Forming Technology and forms punching press auto parts；Manipulator mounting base (6) movement
So that the cleaning manipulator near auto parts between its both ends turntable (61) is adsorbed the upper clast of automobile iron plate to be punched and puts
It sets clast holding box (3), cleaning manipulator removes the top of the punching press auto parts；
Step 3: manipulator mounting base (6) movement makes on the turntable (61) near auto parts between its both ends turntable (61)
Catching robot crawl auto parts be put into the punching on press work platform (2) on next punching production lower die (21)
Pressure production is moved downward with the punching production right above lower die (21) with upper mold (22) and the punching press auto parts of punching press thereon are complete
Cheng Yici Sheet Metal Forming Technology, manipulator mounting base (6) movement make between its both ends turntable (61) near the nearly auto parts
Cleaning manipulator adsorbs clast on punching press auto parts and is placed into clast holding box (3), and cleaning manipulator removes the punching press
The top of auto parts；
It so repeats, until the auto parts vapour that punching press is completed until all punching productions all complete punching press with lower die (21)
Vehicle part；
Step 4: manipulator mounting base (6) moves on guide rail (69) and completes auto parts conveyer belt (41) end, machine close to punching press
Mechanical gripper (7) of the tool hand mounting base (6) on the turntable (61) that auto parts conveyer belt (41) end is completed in punching press grabs punching
The auto parts completed are pressed to complete on auto parts conveyer belt (41) to punching press；So repeat, can to multiple auto parts into
The full-automatic punching production of row.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN109909375A (en) * | 2019-04-21 | 2019-06-21 | 南京筑新建筑工程有限公司 | A kind of metal tile shaping mould group and its moulding process |
| CN112024719A (en) * | 2020-08-28 | 2020-12-04 | 裕钦精密拉深技术(苏州)有限公司 | Shell multi-station die and using method thereof |
| CN112246941A (en) * | 2020-09-27 | 2021-01-22 | 柳州工学院 | Intelligent stamping equipment of auto parts |
| CN112338083A (en) * | 2020-10-15 | 2021-02-09 | 深圳数码模汽车技术有限公司 | Floating type continuous feeding die and method for machining automobile support parts |
| CN112404282A (en) * | 2021-01-22 | 2021-02-26 | 江苏精研科技股份有限公司 | Stamping and shaping device convenient for die repairing |
| CN114309212A (en) * | 2021-12-30 | 2022-04-12 | 南京艾程自动化科技有限公司 | Full-automatic stamping production line |
| CN114713737A (en) * | 2022-03-14 | 2022-07-08 | 扬州华光新材料股份有限公司 | Machining process of metal flow guide nozzle of oil tank |
| CN114798909A (en) * | 2022-04-24 | 2022-07-29 | 盐城世圆汽车配件有限公司 | Automobile stamping equipment and stamping process |
| CN115255095A (en) * | 2022-07-29 | 2022-11-01 | 河南永荣动力科技有限公司 | Multi-station E-shaped mechanical arm feeding method for stamping of motor stator and rotor |
| IT202100025673A1 (en) * | 2021-10-07 | 2023-04-07 | Tiberina Solutions S R L | SYSTEM FOR THE MANUFACTURE OF A SEMI-FINISHED SUSPENSION ARM AND RELATED METHOD OF OPERATION. |
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| CN109909375A (en) * | 2019-04-21 | 2019-06-21 | 南京筑新建筑工程有限公司 | A kind of metal tile shaping mould group and its moulding process |
| CN112024719A (en) * | 2020-08-28 | 2020-12-04 | 裕钦精密拉深技术(苏州)有限公司 | Shell multi-station die and using method thereof |
| CN112246941A (en) * | 2020-09-27 | 2021-01-22 | 柳州工学院 | Intelligent stamping equipment of auto parts |
| CN112338083A (en) * | 2020-10-15 | 2021-02-09 | 深圳数码模汽车技术有限公司 | Floating type continuous feeding die and method for machining automobile support parts |
| CN112338083B (en) * | 2020-10-15 | 2022-04-15 | 深圳数码模汽车技术有限公司 | Floating type continuous feeding die and method for machining automobile support parts |
| CN112404282A (en) * | 2021-01-22 | 2021-02-26 | 江苏精研科技股份有限公司 | Stamping and shaping device convenient for die repairing |
| IT202100025673A1 (en) * | 2021-10-07 | 2023-04-07 | Tiberina Solutions S R L | SYSTEM FOR THE MANUFACTURE OF A SEMI-FINISHED SUSPENSION ARM AND RELATED METHOD OF OPERATION. |
| CN114309212A (en) * | 2021-12-30 | 2022-04-12 | 南京艾程自动化科技有限公司 | Full-automatic stamping production line |
| CN114713737A (en) * | 2022-03-14 | 2022-07-08 | 扬州华光新材料股份有限公司 | Machining process of metal flow guide nozzle of oil tank |
| CN114798909A (en) * | 2022-04-24 | 2022-07-29 | 盐城世圆汽车配件有限公司 | Automobile stamping equipment and stamping process |
| CN115255095A (en) * | 2022-07-29 | 2022-11-01 | 河南永荣动力科技有限公司 | Multi-station E-shaped mechanical arm feeding method for stamping of motor stator and rotor |
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