CN206997593U - Pressing robot material cage suction piece is anti-to take structure out of - Google Patents

Abstract

Pressing robot material cage suction piece is the utility model is related to prevent taking structure out of, including an at least stamping machine, automatic charging device and computer automatic control system, automatic charging device includes feed mechanism and feeding manipulator device, feed mechanism includes feeding support, motor shell block, motor and rotating shaft, material disc is installed in rotating shaft, material cage is uniformly distributed in material disc top periphery, material cage includes annular base plate and erects the branched railing being fixed in annular base plate, it is processed into inversed taper platform in railing top, inversed taper platform causes material cage top closing in position to narrow, inversed taper platform is used to block by the tablet below suction piece during work, following tablet and the tablet inhaled is avoided to take material cage out of together.The utility model improves the accuracy of feeding, and processing is quick and accurate, and machining accuracy is uniform, improves production efficiency, reduces manpower production cost, and avoids human hand loading and unloading, improves production security.

Description

Pressing robot material cage suction piece is anti-to take structure out of

Technical field

Punch process machinery apparatus field is the utility model is related to, specifically a kind of pressing robot material cage suction piece is anti-to be taken out of Structure.

Background technology

In factory process, for some thin wall metalworks, such as thin-wall stainless steel part, it is necessary to be extruded using punch press machine each The product of kind different structure shape, and existing press machine is generally all to use human hand feeding, feeding and blanking, operating efficiency Not high, manpower expense also account for sizable cost, and moreover, using human hand feeding, feeding and blanking, imprudence is also present The potential safety hazard that hand may be forced into.

The content of the invention

The purpose of this utility model is regarding to the issue above and insufficient, there is provided a kind of operating efficiency for improving feeding, section The pressing robot material cage suction piece for saving labour cost and raising security is prevented taking structure out of.

The purpose of this utility model is achieved through the following technical solutions：

Pressing robot material cage suction piece is anti-to take structure, including an at least stamping machine, automatic charging device and computer out of Automatic control system, the automatic charging device include feed mechanism and feeding manipulator device, and the computer, which automatically controls, is System includes integrated chip, digital-control circuit, display screen and control panel, the stamping machine, feed mechanism and feeding manipulator device Automatic charging and stamping is realized by computer automatic control system；The feed mechanism includes feeding support, is arranged on Motor shell block on feeding support, the motor in motor shell block and the rotating shaft being connected with motor output shaft, pacify in rotating shaft Material disc is filled, is uniformly distributed material cage in material disc top periphery, the material cage includes annular base plate and erect to be fixed on ring Inversed taper platform is processed on branched railing on shape bottom plate, railing top, and inversed taper platform causes material cage top closing in position to narrow, during work Inversed taper platform is used to block by the tablet below suction piece, to avoid following tablet and the tablet inhaled from taking material cage out of together.

Further, the railing bottom is provided with fixed plate, and the railing is fixed on ring-type bottom by key screw fixed plate The material cage for accommodating and stacking shape tablet is surrounded on plate, the railing includes three.

Further, feed mechanism is swivel feeding mechanism, and the swivel feeding mechanism includes feeding support, is arranged on Servo hoisting mechanism, horizontal rotation positioner, the material disc for being arranged on horizontal rotation positioner top and installation on material support Multiple material cages on material disc.

Further, the feeding manipulator device includes the feeder being arranged between swivel feeding mechanism and stamping machine Tool arm device, the feeding mechanical arm device use six axis robot, and the six axis robot includes axle pedestal, first order axle joins Connect arm, first order axle horn, second level axle link arm, second level axle horn, wrist link arm, axle wrist, axle wrist end are set Some suckers, six servomotors, harmonic speed reducer, synchronous pulley, plc or microcontroller.

Further, the stamping machine includes hydraulic drawing press, punching stamping machine and moulding punching machine, the feeding machinery Arm device includes being arranged on feeding mechanical arm device between swivel feeding mechanism and hydraulic drawing press, is arranged on stretching and punching machine The first material transfer robot device between punching stamping machine and be arranged between punching stamping machine and moulding punching machine Two material transfer robot devices, the first material transfer robot device, punching stamping machine are provided between stretching and punching machine and punching stamping machine The second material transfer robot device, feeding mechanical arm device, the first material transfer robot device and are provided between moulding punching machine Two material transfer robot devices use six axis robot, and the six axis robot includes axle pedestal, first order axle link arm, the first order Sucker that axle horn, second level axle link arm, second level axle horn, wrist link arm, axle wrist, axle wrist end are provided with, six Individual servomotor, harmonic speed reducer, synchronous pulley, plc or microcontroller.

Further, the swivel feeding mechanism include feeding support, be arranged on feeding support servo hoisting mechanism, Rotate horizontally positioner, be arranged on the material disc for rotating horizontally positioner top and multiple material cages on material disc, It is described horizontal rotation positioner include be arranged on the motor shell block on feeding support, the motor in motor shell block and with electricity Machine exports the rotating shaft of axis connection, and material disc is arranged in rotating shaft, and material cage is evenly distributed on material disc top periphery.

Further, the servo hoisting mechanism includes being arranged on feeding support perpendicular support, install in perpendicular support Guide rail, the servomotor for being arranged on perpendicular support top, the screw mandrel being connected with servomotor output end, the liter being connected with screw mandrel bottom Drop platform and it is arranged on lifting platform outer end and parallel to the lifting pin of perpendicular support, the lifting platform is provided with nut, is set on lifting platform There is nut to coordinate with screw mandrel, lifting platform is arranged on guide rail, and lifting platform glides in the presence of servomotor and along on guide rail Dynamic, the bottom of material cage and corresponding material disc position are provided with perforation, the top alignment material disc of lifting pin and material cage The perforation that bottom is provided with, when tablet insufficient height sucker working depth, the top of lifting pin is passed through and the bottom of material cage is set Some perforation simultaneously withstand the tablet bottom in material cage, and in the presence of servomotor, lifting pin rises the upward jacking of tablet The height and position required to regulation.

Further, the automatic blanking device includes blanking support and three axle blankings being arranged on blanking support dress Put, the three axles blanking device includes the horizontal concrete chute being located on blanking support, and cross lead screw is provided with the horizontal concrete chute, horizontal Cross motor is provided with to chute one end, the cross motor output end is connected with the cross lead screw, set on the horizontal concrete chute There is the horizontal dolly that transversely chute moves left and right, the horizontal dolly bottom is provided with the transverse shifting spiral shell coordinated with cross lead screw Cap, the cross motor drive cross lead screw to rotate under the control of automatic control system, and cross lead screw promotes transverse shifting spiral shell Cap move laterally so that horizontal dolly transversely chute moves left and right；

Lifting chute is installed on the horizontal dolly, lifting motor is provided with the top of lifting chute, lifts and be provided with chute Elevating screw, the output end of the lifting motor are connected with the elevating screw, and the lifting chute, which is provided with along lifting, to be slided Longitudinal dolly that groove moves up and down, longitudinal dolly are provided with the lifting moving nut coordinated with lifting chute, the lifting electricity Machine drives elevating screw to rotate under the control of automatic control system, and elevating screw promotes lifting moving nut to move up and down, So that longitudinal dolly moves up and down along lifting chute；

Longitudinal dolly is provided with longitudinal chute, and longitudinal chute rear end is provided with motor, screw mandrel, institute are provided with longitudinal chute State motor output end to be connected with screw mandrel, longitudinal chute is provided with the mechanical arm longitudinally moved back and forth along longitudinal chute, the machine Tool arm rear end is provided with vertically moves nut with what longitudinal chute coordinated, and the motor is under the control of automatic control system, band Dynamic screw mandrel rotates, and screw mandrel promotion vertically moves nut and vertically moved, so that mechanical arm moves forward and backward along longitudinal chute, institute State mechanical arm end and be provided with sucker.

Further, the lifting chute also includes longitudinal chute stabilising arrangement, and the longitudinal chute stabilising arrangement includes Two vertical arrays and the spring being parallel to each other, the lower end of the spring are connected with lifting chute left lower, the upper end of spring It is connected with chain, the chain that the chain is provided with from the left side of lifting chute across the top of lifting chute and with lifting chute top Wheel coordinates, further around to being connected on the right side of lifting chute and with longitudinal chute.

The utility model material basket structure is simple and practical, and the annular base plates of conveniently replaced different bores is to meet to put Put the tablet of different-diameter.Inversed taper platform is processed on railing top, and inversed taper platform causes material cage top closing in position to narrow, avoided following Tablet and the tablet inhaled take material cage out of together, improve the accuracy of feeding.

The utility model uses swivel feeding mechanism, facilitates friction feeding, improves feeding efficiency.

Tablet to the defined suction piece that the utility model servo hoisting mechanism can jack in material cage in time works high Degree, the first material transfer robot device of supply complete feeding piece process, save the time, improve feeding efficiency.

The utility model automatic blanking device uses three axle blanking devices, quickly and accurately to complete stretching, punching press and into The workpiece blanking of type process, improves production efficiency.

The utility model using feeding mechanical arm device, first and second material transfer robot device so that stretching, punching press and into Type process full automation, it is not necessary to which human hand is operated, and both improves production efficiency, also avoids what human hand operation may occur It is dangerous.

The utility model to the running parameter of computer automatic control system in use, by setting, and to feeding machinery The running parameter of arm device is set, and feeding manipulator device can be caused to complete feeding, feeding, material transfer, each process of blanking, together When stamping machine also complete corresponding press work, self-feeding, automatic blanking are also each operated automatically by program.

To sum up, the utility model improves feeding efficiency as a result of said structure form, and processing is quick and accurate, Machining accuracy is uniform, improves production efficiency, reduces manpower production cost, and avoids human hand loading and unloading, improves production peace Quan Xing.

The utility model is further described below in conjunction with the accompanying drawings.

Brief description of the drawings

Fig. 1 is the structural representation of the utility model pressing robot automatic loading and unloading system；

Fig. 2 is the structural representation of the utility model six axis robot；

Fig. 3 is the structural representation at a visual angle of the present utility model；

Fig. 4 is the structural representation of the utility model swivel feeding mechanism；

Fig. 5 is the vertical view partial structural diagram of the utility model material disc, annular base plate and fixed plate；

Fig. 6 is the structural representation of the utility model automatic blanking device.

Embodiment

As shown in figures 1 to 6, the utility model is that pressing robot material cage suction piece is prevented taking structure, including an at least punching press out of Machine, automatic charging device 2, automatic blanking device 3 and computer automatic control system, automatic charging device 2 include swivel feeding Mechanism and feeding manipulator device, the computer automatic control system include integrated chip, digital-control circuit, display screen and chain of command Plate, the stamping machine, swivel feeding mechanism, feeding manipulator device and automatic blanking device 3 pass through computer automatic control system Realize automatic charging, stamping and automatic blanking.

As shown in Figure 1, 2, stamping machine includes hydraulic drawing press 11, punching stamping machine 12 and moulding punching machine 13, feeder Tool arm device includes being arranged on feeding mechanical arm device 40 between swivel feeding mechanism and hydraulic drawing press 11, is arranged on stretching The first material transfer robot device 41 between stamping machine 11 and punching stamping machine 12 and it is arranged on punching stamping machine 12 and shaping The second material transfer robot device 42 between stamping machine 13, feeding mechanical arm device 40, the first material transfer robot device 41 and Two material transfer robot devices 42 use six axis robot, and six axis robot includes axle pedestal 61, first order axle link arm 62, first Level axle horn 63, second level axle link arm 64, second level axle horn 65, wrist link arm 66, axle wrist 67, the end of axle wrist 67 The sucker being provided with 68, six servomotors, harmonic speed reducer, synchronous pulley, plc or microcontrollers.

As shown in Fig. 1,3,4,5, swivel feeding mechanism includes feeding support 21, the servo being arranged on feeding support 21 carries Mechanism is risen, positioner is rotated horizontally, is arranged on the material disc 22 on horizontal rotation positioner top and on material disc 22 Multiple material cages 23, rotating horizontally positioner includes being arranged on motor shell block 20 on feeding support 21, installed in motor shell block Motor in 20 and the rotating shaft being connected with motor output shaft, material disc 22 are arranged in rotating shaft, and material cage 23 is evenly distributed on thing The top periphery of charging tray 22.Perpendicular support 24 that servo hoisting mechanism includes being arranged on feeding support 21, install in perpendicular support 24 Guide rail 25, the servomotor 26 for being arranged on the top of perpendicular support 24, the screw mandrel 29 being connected with the output end of servomotor 26 and screw mandrel 29 The lifting platform 27 of bottom connection and it is arranged on the outer end of lifting platform 27 and parallel to the lifting pin 28 of perpendicular support 24, is set on lifting platform 27 There is nut, lifting platform 27 coordinates provided with nut with screw mandrel 29, and lifting platform 27 is arranged on guide rail 25, and lifting platform 27 is in servo electricity Slided up and down in the presence of machine 26 and along guide rail 25, the bottom of material cage 23 and the position of corresponding material disc 22 are provided with and worn The perforation that hole, the top alignment material disc 22 of lifting pin 28 and the bottom of material cage 23 are provided with, when the insufficient height sucker work of tablet 5 When making height, perforation that the bottoms of the top of lifting pin 28 through 22 and material cage 23 is provided with simultaneously withstands the tablet in material cage 23 5 bottoms, in the presence of servomotor 26, lifting pin 28 rises to 5 upward jacking of tablet the height and position of regulation requirement.Thing Material cage 23 includes annular base plate 231 and erects the branched railing 232 being fixed in annular base plate 231, and the bottom of railing 232 is provided with solid Fixed board 233, the railing 232 is fixed in annular base plate 231 by key screw fixed plate 233 stacks shape tablet to surround receiving 5 material cage 23.Railing 232 includes three, and inversed taper platform 234 is processed on the top of railing 232, and inversed taper platform 234 causes material cage 23 Top closing in position narrows, and inversed taper platform 234 is used to block by the tablet 5 below suction piece 5, to avoid the following He of tablet 5 during work The tablet 5 inhaled takes material cage 23 out of together.

As a shown in Figure 6, automatic blanking device 3 includes blanking support 31 and three axle blankings being arranged on blanking support 31 Device, the three axles blanking device include the horizontal concrete chute 32 being located on blanking support 31, horizontal stroke are provided with the horizontal concrete chute 32 To screw mandrel 33, the one end of horizontal concrete chute 32 is provided with cross motor 34, and the output end of cross motor 34 connects with the cross lead screw 33 Connect, the horizontal concrete chute 32 is provided with horizontal dolly that transversely chute 32 moves left and right, the horizontal dolly bottom be provided with The transverse shifting nut that cross lead screw 33 coordinates, the cross motor 34 drive transverse wire under the control of automatic control system Bar 33 rotates, and cross lead screw 33 promotes transverse shifting nut to move laterally so that the transversely shifting of chute 32 or so of horizontal dolly It is dynamic.

As a shown in Figure 6, lifting chute 35 is installed on horizontal dolly, the top of lifting chute 35 is provided with lifting motor 36, Elevating screw is provided with lifting chute 35, the output end of the lifting motor 36 is connected with the elevating screw, and the lifting is slided Groove 35 is provided with the longitudinal dolly moved up and down along lifting chute 35, and longitudinal dolly is provided with what is coordinated with lifting chute 35 Lifting moving nut, the lifting motor 36 drive elevating screw to rotate under the control of automatic control system, and elevating screw pushes away Dynamic lifting moving nut moves up and down, so that longitudinal dolly moves up and down along lifting chute 35.

As a shown in Figure 6, longitudinal dolly is provided with longitudinal chute 37, and the rear end of longitudinal chute 37 is provided with motor, longitudinal chute Screw mandrel is provided with 37, the motor output end is connected with screw mandrel, and longitudinal chute 37 is provided with along the longitudinal direction of longitudinal chute 37 to move back Dynamic mechanical arm 38, the rear end of mechanical arm 38 is provided with vertically moves nut, the motor with what longitudinal chute 37 coordinated Under the control of automatic control system, screw mandrel is driven to rotate, screw mandrel promotion vertically moves nut and vertically moved, so that mechanical Arm is movable along longitudinal chute 37, and the end of mechanical arm 38 is provided with sucker.

As shown in fig. 6, lifting chute 35 also includes longitudinal chute stabilising arrangement, the longitudinal chute stabilising arrangement includes two Bar vertical array and the spring being parallel to each other, the lower end of the spring are connected with the lifting left lower of chute 35, the upper end of spring Chain 39 is connected with, chain 39 is set from the left side of lifting chute 35 across the top of lifting chute 35 and with the top of lifting chute 35 Some sprocket wheels coordinates, further around being connected to the right side of lifting chute 35 and with longitudinal chute 37.

The mechanical structure of six common axis joint robots, six servomotors directly pass through harmonic speed reducer, timing belt The rotation of six joint shafts of driving such as wheel.Various pipelines are arranged in mechanical arm space, the drives line of such as six motors, encoder Line, brake cable, tracheae, sensor etc..The control system of six axis robot typically uses plc or microcontroller etc..Six axle machines Tool hand has the six axle frees degree, is suitable for the work of substantially any track or angle, can freely program, and completes the work of full-automation Make, improve production efficiency, can control error rate；Functional characteristic, operation is very easy, flexible fast between achievable different workpieces Victory is changed, and work is completed instead of manpower.The utility model feeding manipulator device selects the light-duty multi-joints six of Japanese Kawasaki Axle lathe robot mechanical arm（RS series）, pass through the appropriate end for robotic asssembly arm instrument（For example, handgrip, suction Disk）, product efficiently and accurately can be moved to another position by robot from a position.Kawasaki robot software can be with SERVO CONTROL end for automatic quick change frock and arm frock.Operator is allowed to manage and protect interacting for process with machine, it is such as fixed Man-machine interface processed, and customized operator safety solution.Better simply square frame step program wind can be passed through Lattice, can also be by being more programmed rich in complete Kawasaki AS programming languages used in the solution of logic.For example select RS010L, load 10 kg, the mm of horizontal stretching distance 1925；The mm of vertical stretching distance 3,478；± 0.06 mm of repeatability；Most The big mm/s of speed 13,100.The punch process of finding can be met.

The utility model First hydraulic press is stretched to product, and second 45t punch press is punched out to product, and the 3rd Platform 45t punch presses are molded to product.

Above-described embodiment is the preferable embodiment of the utility model, but embodiment of the present utility model is not by above-mentioned The limitation of embodiment, it is other it is any without departing from Spirit Essence of the present utility model with made under principle change, modify, replace Generation, combination, simplify, should be equivalent substitute mode, be included within the scope of protection of the utility model.

Claims (4)

1. pressing robot material cage suction piece is anti-to take structure out of, it is characterised in that：Including at least stamping machine, an automatic charging device （2）And computer automatic control system, the automatic charging device（2）It is described including feed mechanism and feeding manipulator device Computer automatic control system includes integrated chip, digital-control circuit, display screen and control panel, the stamping machine, feed mechanism and Feeding manipulator device realizes automatic charging and stamping by computer automatic control system；The feed mechanism includes upper Expect support（21）, be arranged on feeding support（21）On motor shell block（20）, installed in motor shell block（20）Interior motor and with The rotating shaft of motor output shaft connection, installs material disc in rotating shaft（22）, in material disc（22）Top periphery is uniformly distributed material cage （23）, the material cage（23）Including annular base plate（231）And erect and be fixed on annular base plate（231）On branched railing （232）, railing（232）It is processed into inversed taper platform in top（234）, inversed taper platform（234）So that material cage（23）Top closing in position narrows, Inversed taper platform during work（234）For blocking by suction piece（5）Following tablet（5）, avoid following tablet（5）With the material inhaled Piece（5）Take material cage out of together（23）.

2. pressing robot material cage suction piece according to claim 1 is anti-to take structure out of, it is characterised in that：The railing （232）Bottom is provided with fixed plate（233）, the railing（232）Pass through key screw fixed plate（233）It is fixed on annular base plate （231）Above surround receiving and stack shape tablet（5）Material cage（23）, the railing（232）Including three.

3. pressing robot material cage suction piece according to claim 1 is anti-to take structure out of, it is characterised in that：Feed mechanism is rotation Turn feed mechanism, the swivel feeding mechanism includes feeding support（21）, be arranged on feeding support（21）On servo elevator Structure, rotate horizontally positioner, be arranged on the material disc for rotating horizontally positioner top（22）And installed in material disc（22）On Multiple material cages（23）.

4. pressing robot material cage suction piece according to claim 1 is anti-to take structure out of, it is characterised in that：The feeding machinery Arm device includes the feeding mechanical arm device being arranged between swivel feeding mechanism and stamping machine（40）, the feeding mechanical hand dress Put（40）Using six axis robot, the six axis robot includes axle pedestal（61）, first order axle link arm（62）, first order axle Horn（63）, second level axle link arm（64）, second level axle horn（65）, wrist link arm（66）, axle wrist（67）, axle wrist （67）The sucker that end is provided with（68）, six servomotor, harmonic speed reducer, synchronous pulley, plc or microcontrollers.