CN101829737A - Feeding device and feeding method thereof - Google Patents

Feeding device and feeding method thereof Download PDF

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Publication number
CN101829737A
CN101829737A CN 201010177802 CN201010177802A CN101829737A CN 101829737 A CN101829737 A CN 101829737A CN 201010177802 CN201010177802 CN 201010177802 CN 201010177802 A CN201010177802 A CN 201010177802A CN 101829737 A CN101829737 A CN 101829737A
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CN
China
Prior art keywords
feeding
bar
along
driver
control
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CN 201010177802
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Chinese (zh)
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CN101829737B (en
Inventor
赵玉华
李超
张朋
郭伟
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济南二机床集团有限公司
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Publication of CN101829737A publication Critical patent/CN101829737A/en
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Publication of CN101829737B publication Critical patent/CN101829737B/en

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Abstract

The invention provides a feeding device and a feeding method. The feeding device is used for conveying workpieces to allow the workpieces to pass through a multi-station press, and comprises two feeding cross bars arranged along a Y direction, two sets of X direction movement mechanisms which are arranged on the front and rear upright posts of the press respectively and are used for controlling the feeding cross bars to move oppositely or relatively along an X direction, a Y direction movement mechanism which is arranged on one end of the feeding bars and is used for controlling the feeding cross bars to move along the Y direction, and two sets of Z direction movement mechanisms which are arranged on the front and rear upright posts of the press respectively and are used for controlling the feeding cross bars to move along a Z direction. The feeding method is completed by using the feeding device and comprises the following steps: A, clamping a workpiece; B, lifting the workpiece; C, feeding the workpiece; D, lowering the feeding cross bars; E, loosening the workpiece; and F, returning the feeding cross bars. The device and the method have the advantages that: a plurality of workpieces can be moved one step forward by feeding for one time, and at the end of each time of feeding, the sliding block of the press completes punching for one time; and the feeding process is simple, convenient and practical and does not require manual operation.

Description

A kind of pay-off and utilize its feeding method
Technical field
The present invention proposes a kind of be used for each station of large-scale multiple position press automatically simultaneously feeding pay-off and utilize its feeding method, be applicable to that auto industry, household electrical appliances industry etc. need the stamping forming industry of batch plates.
Background technology
Because metallic plate punching is cut out and is processed into that necessary step is forming step or punching step in the part process.Be used at present that the device of conveying work pieces is to be used to mention the single-piece workpiece then workpiece to be sent into forcing press on the punch line, from forcing press, take out again after punching press is finished.Present punching press is got, pay-off mainly contains manipulator, robot, more than device is suitable for the large-scale stamped workpieces of single station, need many forcing presses, many manipulators or robot to form production line and finish a punching parts jointly, middle-size and small-size in batch part adopts with upper type cost height, efficient low.
Summary of the invention
One of the object of the invention provides a kind of pay-off, and conveying workpieces that can be continuous is also adjusted the location of workpiece at three coordinate directions, and then stamping production efficiency is provided as required.
To achieve these goals, the present invention realizes by following measure:
A kind of pay-off is used for conveying workpieces by multiple position press, and comprising: two along the feeding cross bar setting of Y direction and that be provided with terminal-collecting machine and pilot unit; Two groups are provided with being used on the forward and backward column of forcing press respectively and control the feeding cross bar along directions X in opposite directions or the directions X motion of relative motion, and this directions X motion comprises that two clamping driver elements that are separately positioned on the left and right column of forcing press link to each other with the feeding cross bar respectively with two and by clamping driver element control along clamping unit mobile that directions X moves; What be arranged on feeding cross bar one end is used to control the Y direction motion that the feeding cross bar moves along the Y direction, and this Y direction motion comprises sends that driver element links to each other with the feeding cross bar respectively with two to and by sending driver element control to along the Y direction feeding unit mobile that moves; With two groups being used on the forward and backward column of forcing press be set respectively control the Z direction motion that the feeding cross bar moves along the Z direction, this Z direction motion comprises two lifting driver elements that link to each other with clamping unit mobile through gear unit that are separately positioned on the left and right column of forcing press.
In the embodiment of the invention, also comprise four groups of balance air cushion structures that are used to offset lifting weight, this balance air cushion structure has accumulator and the cylinder that is connected with accumulator, and this cylinder is fixed on the column, and then strengthens the quick and flexibility of lifting drop movements.
In the embodiment of the invention, described clamping driver element comprises installs frame, clamping servomotor motor and first synchronous drive mechanism, described installation frame is arranged on the left and right column of forcing press along directions X, and frame upper edge directions X is installed is provided with the first guide rail slide block pair, described clamping unit mobile is installed on the described first guide rail slide block pair.
In the embodiment of the invention, the described driver element of sending to comprises mounting bracket, sends the servomotor and second synchronous drive mechanism to, described installation frame links to each other with the left and right column of forcing press, and be provided with the second guide rail slide block pair along the Y direction, described feeding unit mobile is installed on the second guide rail slide block pair.
In the embodiment of the invention, described lifting driver element comprises the lifting servomotor.
In the embodiment of the invention, described first synchronous drive mechanism is synchronous pulley assembly or sprocket chain bar assembly.
In the embodiment of the invention, second synchronous drive mechanism is synchronous pulley assembly or sprocket chain bar assembly.
In the embodiment of the invention, described gear unit is ball screw assembly, or rack-and-pinion.
Consider that feeding is accurate and realize coordination between each reference axis, it also comprises sync control device in the embodiment of the invention, and this sync control device comprises the spindle encoder that is used to collect the current operation angle signal of press, be arranged on the lifting servomotor, promote servomotor and send in the servomotor the motor encoder that is used for setting pressure machine operation angle signal on any one to, the end that is arranged on each motion is used to compare signal and setting signal feedback coder that compares and the isochronous controller that is used to control other servomotors motions that collects.
Two of the object of the invention provides a kind of feeding method simple to operate.
To achieve these goals, the present invention realizes by following measure:
A kind of feeding method, its above-mentioned pay-off is finished, and may further comprise the steps:
A, workpiece clamp: the workpiece that will need to carry is placed on the feeding cross bar, width size according to workpiece, drive the feeding cross bar along the directions X relative motion by clamping driver element control along the clamping unit mobile that directions X moves, and utilize the terminal-collecting machine picking up work piece:
B, workpiece lift: according to the height of press bench face, utilize lifting driver element control feeding cross bar to move along the Z direction, and then the drive workpiece rises to suitable position;
C, workpiece are sent to: move along the Y direction by sending driver element control feeding unit mobile to, thereby drive the workbench top that workpiece moves to forcing press;
Falling of D, feeding cross bar: utilize lifting driver element control feeding cross bar to be directed downwards and move, and then the drive workpiece drops on position suitable on the workbench of forcing press along Z;
E, workpiece unclamp: drive the feeding cross bar along the directions X move toward one another by clamping driver element control along the clamping unit mobile that directions X moves, thereby workpiece is unclamped on the workbench that is placed on forcing press, thereby realize the feeding self-feeding;
Returning of F, feeding cross bar: move along the Y direction by sending driver element control feeding unit mobile to, thereby drive feeding cross bar correcting action, repeat above-mentioned each step, realize the friction feeding process.
Beneficial effect of the present invention:
1, the feeding cross bar cooperates terminal-collecting machine to finish feeding, the feeding of cross bar action by directions X motion, Y direction motion, the control of Z direction motion realized lifting, whereabouts, clamped, unclamped, sent to, return course, and then realized that feeding cross bar and annex fast, accurately shift workpiece, and each action is all finished between the column before and after forcing press, feeding is accurate, action is reliable continuously, a feeding can whenever be finished a feeding press ram and finish a punching press simultaneously with operation of a plurality of workpiece reaches.
2, according to plate size and mould situation, feeding and punching press number of times can freely be adjusted between 5~30 times, compare separate unit forcing press list station stamping production efficiency and significantly improve; Each axis servomotor is adjusted by mechanics and the inertia coupling, and is stable, accurate, at a high speed, satisfies its characteristics that large-scale multiple position press will be aspired for stability, efficiently be transported.
3, feeding process is simple, and does not need manually-operated, and is convenient and practical.
Figure of description
Fig. 1 is the structural representation of the selected embodiment of expression the present invention;
Fig. 2 sends driver element to and sends mobile's structural representation to;
The structural representation of Fig. 3 lift unit;
The structural representation of Fig. 4 clamping unit;
The structural representation of Fig. 5 balance air cushion;
Feeding control cooperates schematic diagram in Fig. 6 embodiment of the invention;
The layout drawing that cooperates of Fig. 7 embodiment of the invention and forcing press;
Fig. 8 is each the curve map that is synchronized with the movement;
Fig. 9 is the sync control device schematic diagram;
Figure 10 feeding cross bar schematic diagram.
1. the lifting driver element 2. presss from both sides driver element, and 3. the feeding cross bar is 4. sent driver element to; 5. feeding unit mobile, 6. clamping unit mobile, 7. balance air cushion; 8. end is fitted device, and 9. mounting bracket 10. promotes servomotor; 11. cylinder, 12. ball screw assembly,s, 13. base plates; 14. the clamping servomotor motor, 15. first synchronous pulleys, 16. first are with synchronously; 17. the installation frame, 18. accumulators, 19. de-stacking devices; 20. feeding cart, 21. transition bench, 22. forcing presses; 23. the outfeed belt machine, 24. spindle encoders, 25. columns; 26. pilot unit, 27. send servomotor to, 28. second synchronous pulleys; 29. the second guide rail slide block pair, 30; the first guide rail slide block pair, 31; second is with synchronously; 32; servo-driver, 33; brake, 34; temperature protector; 35; motor encoder, 36; feedback coder, 37; isochronous controller.
The specific embodiment
Below in conjunction with the drawings and specific embodiments the present invention is done to describe in further detail, following explanation only is exemplary, so that those skilled in the art better understand the present invention.
1 one kinds of pay-offs with reference to the accompanying drawings, comprise feeding cross bar 3, two groups be used to control feeding cross bar 3 along directions X in opposite directions or the directions X motion of relative motion, two groups be used to control Y direction motion that feeding cross bar 3 moves along the Y direction and two groups and be used to control the Z direction motion that feeding cross bar 3 moves along the Z direction, wherein said feeding cross bar 3 is two, and parallel interval is provided with along the Y direction, and is provided with terminal-collecting machine 8 and pilot unit 26; The directions X motion is provided with respectively on the forward and backward column 25 of forcing press, and this directions X motion comprises that two clamping driver elements 2 that are separately positioned on the left and right column of forcing press link to each other with feeding cross bar 3 respectively with two and by clamping driver element 2 controls along clamping unit mobile 6 that directions X moves; Y direction motion is arranged on feeding cross bar 3 one ends, and this Y direction motion comprises sends that driver element 4 links to each other with feeding cross bar 3 respectively with two to and by sending driver element 4 controls to along the Y direction feeding unit mobile 5 that moves; Z direction motion is provided with respectively on the forward and backward column of forcing press, and this Z direction motion comprises two lifting driver elements 1 that link to each other with clamping unit mobile 6 through gear unit that are separately positioned on the left and right column 25 of forcing press.
The 2 described driver elements 4 of sending to comprise mounting bracket 9, send the servomotor 27 and second synchronous drive mechanism to reference to the accompanying drawings, described installation frame 9 links to each other with the left and right column 25 of forcing press, and be provided with the second guide rail slide block pair 29 along the Y direction, described feeding unit mobile 5 is installed on the second guide rail slide block pair 29.
4 described clamping driver elements 2 comprise installation frame 17, clamping servomotor motor 14 and first synchronous drive mechanism with reference to the accompanying drawings, described installation frame 17 is arranged on the left and right column of forcing press along directions X, and frame 17 upper edge directions Xs are installed are provided with the first guide rail slide block pair 30, described clamping unit mobile 6 is installed on the described first guide rail slide block pair 30.
3 described lifting driver elements 1 comprise lifting servomotor 14 with reference to the accompanying drawings.Described gear unit is a ball screw assembly, 12, and those skilled in the art are easy to expect that gear unit can replace by rack-and-pinion certainly.
Apparatus of the present invention also comprise four groups of balance air cushion structures that are used to offset lifting weight as shown in Figure 5, lift the quick and flexibility of drop movements with enhancing, this balance air cushion structure has accumulator 18 and the cylinder 11 that is connected with accumulator 18, and this cylinder 11 is fixed on the column.
First synchronous drive mechanism described in the embodiment of the invention comprises that two are installed in first synchronous pulley 15 installed on the frame 17 and are used to be connected first of first synchronous pulley 15 and are with 16 synchronously, described second synchronous drive mechanism comprises that second synchronous pulley 28 and second is with 31 synchronously, and described first synchronous drive mechanism and second synchronous drive mechanism can replace by the sprocket chain bar assembly.
In order to guarantee accurately to locate in the feeding process; it also comprises the programmable synchronous controller as shown in figure 10; and some groups of coded systems that link to each other with the programmable synchronous controller; described coded system comprises servo-driver, brake, temperature protector, motor encoder and main encoder; described main encoder is installed on the principal axis of pressing machine, and described servo-driver, brake, temperature protector, motor encoder are installed on each driver element.
In the actual production process, described installation frame 17 is fixed on the column 25 by base plate 13, and described lifting driver element 1 and balance air cushion structure are installed in to be installed on the frame 17.
Each reference axis parts course of work is as follows:
The directions X motion: drive first synchronous pulley 15 and first by servomotor 14 and be with 16 synchronously, drive clamping unit mobile 6 and finish clamping, unclamp action, two feeding cross bars 3 are realized the clamping and release action along secondary 30 reverse movements of the first guide rail slide block.Wherein adopt principal and subordinate's mode that links between each motor, coordinate cooperation each other.By being installed in the spindle encoder 24 on the forcing press, realization clamps, unclamps with the press ram interlock chain, and anti-limited slip block and cross bar are collided.
Y direction motion: be with 31 synchronously by sending drive motors 27 driving second synchronous pulleys 28 and second to, driving feeding unit mobile 5 comes and goes mobile along the second guide rail slide block secondary 29, drive feeding unit mobile 5 and follow the clamping unit mobile 6 that clamps action movement, drive feeding cross bar 3 and realize sending to, returning function.The second guide rail slide block secondary 29 is connected with clamping unit mobile 6.Send to, backstroke can set and send, return soft spacing and hard spacing prevent collision and damage to according to plate size and mold interval by programmed settings.
Z. direction motion: drive frame 17 and 3 liftings of feeding cross bar by promoting drive motors 10 by ball screw assembly, 12, be installed in forcing press column side by base plate 13 is installed with top.The balance air cushion is offset institute's lifting weight by cylinder 11 and accumulator 18, strengthens the quick and flexibility of lifting drop movements.
Interlock between three each parts of change in coordinate axis direction:
Three reference axis actions adapt to plate change in size, tool change and speeds match by programming Control.The moving component of feed system itself and the size of workpiece are big, heavy, require movement velocity height, accurate, the friction in location, the servo-drive system that adopts, be high-power, high-performance servo-control system, in servo controller, adopt the electric cam control technology, pay-off is pressed the curvilinear motion that electric cam produces, and guarantees feed system accurately location, vibrationless requirement in high-speed motion.
Programming Control adopts the programmable synchronous controller to do the control core; servo-driver is as driving element; use and promote servomotor 10; promote servomotor 14; send servomotor 27 to and realize motion control as executive component; forcing press 22 needs and programmable synchronous controller as main shaft carry out real-time communication; make the programmable synchronous controller can collect press current location (operation angle) signal; this signal derives from the spindle encoder 24 that is installed on the press; the electric installation site of this spindle encoder 24 can select any one servo-driver to be linked into the X4 interface; from left to right be respectively each servo-driver 32 as shown in Figure 9; brake 33; temperature protector 34 and motor encoder 3 (more than be contained on the motor body), the spindle encoder communication cable by customization is connected on the X4 interface of servo-driver (X4 is second encoder interfaces).This encoder is just as main shaft in whole Synchronization Control, and other follows the synchronous curvilinear motion of this main shaft according to editor from axle.
Be illustrated in figure 4 as detailed principal and subordinate's axle relation, RM represents the press main shaft, is a real axis.VM is virtual main shaft, when with press synchronous operation, and RM and VM coupling; When the feed mechanism isolated operation, RM and VM separate coupling.VX, VY, the sending to of representative feeding servo control mechanisms such as VZ, the imaginary axis of the directions of motion such as lifting, when automatic or single cycle operation, VX and VM be according to the cam curve synchronous operation of prior establishment, the continuous motion of realization feed mechanism; When manual mode was adjusted each of feed mechanism, VX etc. and VM separated coupling.X1, X2 etc. and VX remain linear synchronous, guarantee the synchronism of a plurality of motors on the same direction of motion.The position of clamping/inclination is free fully able to programme in curve movement according to the angle of forcing press electric cam.
Figure 8 shows that the curve movement by software development, the abscissa in the curve is the main shaft angle, and ordinate is from shaft position, has realized the programmable movements control of each direction of motion of feed mechanism and forcing press by different synchronous curves.Do not follow motion of main shaft from axle, follow main shaft from axle and do the five power curve movements that slow down at the uniform velocity again after the acceleration earlier, realized complete being synchronized with the movement.This curve is exactly VX, and the needed curve that is synchronized with the movement between VY etc. and the VM is VX, VY, the synchronous curve that VZ, VA, VB work out respectively.
A kind of method of utilizing described pay-off to finish feeding may further comprise the steps:
A, workpiece clamp: the workpiece that will need to carry is placed on the feeding cross bar 3, width size according to workpiece, drive feeding cross bar 3 along the directions X relative motion by clamping driver element 2 controls along the clamping unit mobile 6 that directions X moves, and utilize terminal-collecting machine 25 picking up work piece:
B, workpiece lift: according to the height of forcing press 22 work tops, utilize to promote driver element 1 control feeding cross bar 3 and move along the Z direction, and then drive workpiece and rise to suitable position;
C, workpiece are sent to: move along the Y direction by sending driver element 4 control feeding unit mobile 5 to, thereby drive the workbench top that workpiece moves to forcing press 22;
Falling of D, feeding cross bar: utilize to promote driver element 1 control feeding cross bar 3 and be directed downwards along Z and move, and then drive workpiece and drop on position suitable on the workbench of forcing press 22;
E, workpiece unclamp: drive feeding cross bar 3 along the directions X move toward one another by clamping driver element 2 controls along the clamping unit mobile 6 that directions X moves, thereby workpiece is unclamped on the workbench that is placed on forcing press 22, thereby realize the feeding self-feeding;
Returning of F, feeding cross bar: move along the Y direction by sending driver element 4 control feeding unit mobile 5 to, thereby drive feeding cross bar correcting action, repeat above-mentioned each step, realize the friction feeding process.
With reference to the accompanying drawings 7, apparatus of the present invention and de-stacking device 19 and forcing press 22 have been realized the main functionality of large-scale multiple position press jointly, after placing the buttress material on the buttress trolley 20, manipulator in the de-stacking device 19 grasps plate from the buttress material, and be placed on the transition bench 21, then part is delivered to outfeed belt machine 23, after check, finish the process that part is produced through forcing press 22 and pay-off.

Claims (10)

1. a pay-off is used for conveying workpieces by multiple position press, it is characterized in that: comprise two along feeding cross bar (3) setting of Y direction and that be provided with terminal-collecting machine (8) and pilot unit;
Two groups are provided with being used on the forward and backward column of forcing press respectively and control feeding cross bar (3) along directions X in opposite directions or the directions X motion of relative motion, and this directions X motion comprises that two clamping driver elements (2) that are separately positioned on the left and right column of forcing press link to each other with feeding cross bar (3) respectively with two and by clamping driver element (2) control along clamping unit mobile (6) that directions X moves;
What be arranged on feeding cross bar (3) one ends is used to control the Y direction motion that feeding cross bar (3) moves along the Y direction, and this Y direction motion comprises sends that driver element (4) links to each other with feeding cross bar (3) respectively with two to and by sending driver element (4) control to along the Y direction feeding unit mobile (5) that moves; With
Two groups are provided with being used on the forward and backward column of forcing press respectively and control the Z direction motion that feeding cross bar (3) moves along the Z direction, and this Z direction motion comprises two lifting driver elements (1) that link to each other with clamping unit mobile (6) through gear unit that are separately positioned on the left and right column of forcing press.
2. according to the described pay-off of claim 1, it is characterized in that: it also comprises four groups of balance air cushion structures that are used to offset lifting weight, this balance air cushion structure has accumulator (18) and the cylinder (11) that is connected with accumulator (18), and this cylinder (11) is fixed on the column.
3. according to the described pay-off of claim 1, it is characterized in that: described clamping driver element (2) comprises installs frame (17), clamping servomotor motor (14) and first synchronous drive mechanism, described installation frame (17) is arranged on the left and right column of forcing press along directions X, and frame (17) upper edge directions X is installed is provided with the first guide rail slide block pair, described clamping unit mobile (6) is installed on the described first guide rail slide block pair.
4. according to the described pay-off of claim 1, it is characterized in that: the described driver element (4) of sending to comprises mounting bracket (9), sends the servomotor (27) and second synchronous drive mechanism to, described installation frame (9) links to each other with the left and right column of forcing press, and be provided with the second guide rail slide block pair along the Y direction, described feeding unit mobile (5) is installed on the second guide rail slide block pair.
5. according to the described pay-off of claim 1, it is characterized in that: described lifting driver element (1) comprises lifting servomotor (14).
6. according to the described pay-off of claim 3, it is characterized in that: described first synchronous drive mechanism is synchronous pulley assembly or sprocket chain bar assembly.
7. according to the described pay-off of claim 4, it is characterized in that: second synchronous drive mechanism is synchronous pulley assembly or sprocket chain bar assembly.
8. according to the described pay-off of claim 5, it is characterized in that: described gear unit is ball screw assembly, or rack-and-pinion.
9. according to any described pay-off of claim 1 to 8, it is characterized in that: it also comprises sync control device, and this sync control device comprises the spindle encoder (24) that is used to collect the current operation angle signal of press, be arranged on and promote servomotor (10), promote servomotor (14) and send in the servomotor (27) the motor encoder (35) that is used for setting pressure machine operation angle signal on any one to, the end that is arranged on each motion is used to compare feedback coder (36) that the signal that collects and setting signal compare and the isochronous controller (37) that is used to control other servomotors motions.
10. feeding method is characterized in that: utilize any described pay-off of claim 1 to 8 to finish, may further comprise the steps:
A, workpiece clamp: the workpiece that will need to carry is placed on the feeding cross bar (3), width size according to workpiece, drive feeding cross bar (3) along the directions X relative motion by clamping driver element (2) control along the clamping unit mobile (6) that directions X moves, and utilize terminal-collecting machine (8) picking up work piece:
B, workpiece lift: according to the height of forcing press (22) work top, utilize lifting driver element (1) control feeding cross bar (3) to move along the Z direction, and then the drive workpiece rises to suitable position;
C, workpiece are sent to: move along the Y direction by sending driver element (4) control feeding unit mobile (5) to, thereby drive the workbench top that workpiece moves to forcing press (22);
Falling of D, feeding cross bar: utilize lifting driver element (1) control feeding cross bar (3) to be directed downwards and move, and then the drive workpiece drops on position suitable on the workbench of forcing press (22) along Z;
E, workpiece unclamp: drive feeding cross bar (3) along the directions X move toward one another by clamping driver element (2) control along the clamping unit mobile (6) that directions X moves, thereby workpiece is unclamped on the workbench that is placed on forcing press (22), thereby realize the feeding self-feeding;
Returning of F, feeding cross bar: move along the Y direction by sending driver element (4) control feeding unit mobile (5) to, thereby drive feeding cross bar correcting action, repeat above-mentioned each step, realize the friction feeding process.
CN2010101778021A 2010-05-20 2010-05-20 Feeding device and feeding method thereof CN101829737B (en)

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Cited By (16)

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CN102081389A (en) * 2010-11-26 2011-06-01 天津市天锻压力机有限公司 Manipulator synchronous control system of railhead precision forging press
CN102114513A (en) * 2010-12-09 2011-07-06 江苏金方圆数控机床有限公司 High-speed feeding mechanism
CN102173097A (en) * 2011-02-12 2011-09-07 中国农业大学 Multi-station automatic feeding method and device
CN102513465A (en) * 2011-11-24 2012-06-27 中达电通股份有限公司 Material conveying control system
CN102581197A (en) * 2012-03-06 2012-07-18 浙江博雷重型机床制造有限公司 Feeding manipulator used for hot forging production line
CN102581121A (en) * 2011-01-07 2012-07-18 会田工程技术有限公司 Tool replacing method of tandem press system and tandem press system
CN102581681A (en) * 2012-01-05 2012-07-18 浙江陀曼精密机械有限公司 Material receiving control method
CN103658854A (en) * 2013-12-12 2014-03-26 苏州鑫叶自动化设备系统有限公司 Feeding device
CN104028663A (en) * 2014-06-17 2014-09-10 盐城工学院 Adjustable type automatic intermittent feed device
CN104438915A (en) * 2014-11-17 2015-03-25 南京埃斯顿自动化股份有限公司 Servo press feeding control method based on virtual angle
CN105757064A (en) * 2016-03-02 2016-07-13 成都飞机工业(集团)有限责任公司 Control method of multi-shaft hydraulic servo coupling movement
CN105928806A (en) * 2016-04-25 2016-09-07 淄博市新材料研究所 Detection apparatus for reliability of welding positions of metal and application method thereof
CN106141014A (en) * 2016-08-15 2016-11-23 苏州青林自动化设备有限公司 A kind of three-D mechanical hand transporting apparatus
CN106424415A (en) * 2016-10-28 2017-02-22 济南奥图自动化股份有限公司 Press online multi-station servo feeding system
CN107931396A (en) * 2017-11-16 2018-04-20 河北省清河汽车及零部件产业服务中心(河北省汽车及零部件产业技术研究院) A kind of automobile chromed ornament bar stamping line
CN109641258A (en) * 2016-11-08 2019-04-16 小松产机株式会社 Work transfer device

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Publication number Priority date Publication date Assignee Title
CN102081389A (en) * 2010-11-26 2011-06-01 天津市天锻压力机有限公司 Manipulator synchronous control system of railhead precision forging press
CN102114513A (en) * 2010-12-09 2011-07-06 江苏金方圆数控机床有限公司 High-speed feeding mechanism
CN102581121B (en) * 2011-01-07 2015-02-11 会田工程技术有限公司 Tool replacing method of tandem press system and tandem press system
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