CN101987339A - Mechanical hand for stamping and automatic loading and unloading - Google Patents

Mechanical hand for stamping and automatic loading and unloading Download PDF

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Publication number
CN101987339A
CN101987339A CN2009100656306A CN200910065630A CN101987339A CN 101987339 A CN101987339 A CN 101987339A CN 2009100656306 A CN2009100656306 A CN 2009100656306A CN 200910065630 A CN200910065630 A CN 200910065630A CN 101987339 A CN101987339 A CN 101987339A
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CN
China
Prior art keywords
unloading
terminal
servo motor
forcing press
mechanical hand
Prior art date
Application number
CN2009100656306A
Other languages
Chinese (zh)
Inventor
吕国良
Original Assignee
孟津县平乐新兴铸造厂
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 孟津县平乐新兴铸造厂 filed Critical 孟津县平乐新兴铸造厂
Priority to CN2009100656306A priority Critical patent/CN101987339A/en
Publication of CN101987339A publication Critical patent/CN101987339A/en

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Abstract

The invention discloses a mechanical hand for stamping and automatic loading and unloading, which is independently placed beside a press machine and comprises a servo motor (1), a linear guide rail (2), a sliding block (3), an air cylinder (5), end pickers (6) and a stand (8), wherein the servo motor (1) controlled by a controller is installed on the stand (8), and on one side of the stand (8), the servo motor (11) is engaged with a belt pulley of the linear guide rail (2) through a belt pulley of a synchronous belt; the sliding block (3) is fixedly installed on the synchronous belt of the linear guide rail (2), and the lower part of the sliding block (3) is fixedly connected with the air cylinder (5) through a support plate (4); a support seat (7) is located below the air cylinder (5), and the end pickers (6) are arranged on both sides of the support seat (7). Because the end pickers in the invention are removable, the position of a vacuum chuck is adjustable and the controller is in real-time control, the stamping production of different products and different press machines can be met, and the mechanical hand has flexibility.

Description

The manipulator that is used for the punching automation loading and unloading

Technical field

The present invention relates to stress metal processing, specifically a kind of automation punching production that is applicable to especially is applicable to the high-speed secure production of middle-size and small-size gap-framepress and constitutes the punching automation handling equipment that automation stamping line mode is produced.

Background technology

The stress metal process technology is the very important a kind of manufacturing process of industry such as machine-building, household electrical appliance, instrument and meter, but the loading and unloading work of capital equipment one forcing press of present domestic stress metal machine-shaping and the workpiece between the forcing press transmit and are finished by manually-operated mostly, production efficiency is low, operating environment is abominable, and personal injury accident is difficult to avoid; In the existing forcing press automation loading and unloading equipment, the general main shaft power of forcing press that adopts is exported as driving or being driven by independent alternating current generator, utilize mode transmissions such as cam and linkage, realize the reciprocating motion on level and vertical both direction that loading and unloading are required.Its shortcoming is a very flexible, and product is adjusted difficulty, can not satisfy the requirement of many kinds, small batch modern production mode.

Summary of the invention

The purpose of this invention is to provide a kind of punching automation loading and unloading manipulator, it can not only finish the loading and unloading work of forcing press at a high speed, efficiently, operating personnel are freed from dangerous, dull, heavy manual labor, and can be convenient, flexible pass through the punching production that the change program is applicable to the forcing press and the different product of different model.

The object of the present invention is achieved like this: the present invention independently is placed in the forcing press next door along the logistics direction, comprise servomotor, line slideway, slide block, cylinder, terminal-collecting machine, frame, the servomotor that wherein goes out controller control is installed on the frame, side in frame, described servomotor is connected with a joggle by a belt pulley of being with synchronously and the belt pulley of line slideway, described slide block is fixedly mounted on being with synchronously of line slideway, its slide block below is connected by support plate and cylinder, it below the described cylinder bearing, be provided with terminal-collecting machine in the bearing both sides, be used for adsorbing and the release workpiece.

The utlity model has following advantage:

The present invention has the free degree of level and vertical 2 directions, at the rectilinear motion that can realize under the control of control system on level and the vertical direction.Can finish the work of section up and down of forcing press and the punch forming of workpiece automatically, replaced manually-operated: because the terminal-collecting machine that the present invention adopts is detachable, the vacuum cup position is adjustable, the real-time control of controller in addition, can satisfy the punching production of different product and different pressures machine, have flexibility.

The present invention is further described below in conjunction with accompanying drawing.

Description of drawings:

Fig. 1 is a structural front view of the present invention.

Fig. 2 is a structure side view of the present invention.

The specific embodiment

Below in conjunction with accompanying drawing structure of the present invention and principle are described in further detail.

As shown in Figure 1, 2, independently be placed in by the forcing press, comprise AC servo motor 1, line slideway 2, slide block 3, cylinder 5. terminal-collecting machines 6, frame 8, wherein the AC servo motor 1 by controller control is installed on the frame 8, side in frame 8, described AC servo motor 1 is connected with a joggle by a belt pulley of being with synchronously and the belt pulley of line slideway 2, described slide block 3 is fixedly mounted on being with synchronously of line slideway 2, its slide block 3 belows are connected by support plate 4 and cylinder 5, for a Zhu 7, be provided with detachable terminal-collecting machine 6 in bearing 7 both sides below the described cylinder 5; Described terminal-collecting machine 6 is provided with the vacuum cup 61. of mobile Wuan dress

The described controller that links to each other with AC servo motor 1 partly is made of programmable controller, positioner, AC servo, wherein the AC servo motor 1 of AC servo part is connected with programmable controller by positioner, between its controller and the forcing press controller interface circuit is arranged; The cam controller of controller by forcing press and the position of the code-disc detected pressures machine slide block that is connected with press crankshaft are by the interlocking and the interlock of control program realization and forcing press.

Operation principle of the present invention is as follows:

The present invention is under the control system programme-control, the high speed that manipulator is made level and vertical 2 directions by the track of planning moves back and forth, the absorption, the release movement that cooperate vacuum cup 61, realization is put into workpiece or the workpiece that punching press finishes is taken out from the forcing press mould in the forcing press mould, send startup and halt instruction to forcing press simultaneously, the controlled pressure machine is finished the punching press action.Wherein drive slide block 3 and on integrated line slideway 2, move back and forth the flat motion of realization ice by AC servo motor 1, the length of line slideway 2 can be selected by loading and unloading stroke as required: the bearing 7 that is driven terminal-collecting machine 6 by cylinder 5, the drive end is lifted device 6 and is moved both vertically up and down, and its stroke is selected according to parameters such as forcing press moulds; The present invention grasps and the action of unclamping workpiece absorption and the release movement by vacuum cup 61 realizes.Present embodiment is to be independent of each one of forcing press configuration the present invention at forcing press forward and backward, and as feeding manipulator and blanking manipulator, it is interior and the workpiece that punching press finishes taken out in forcing press respectively workpiece to be punched to be sent into the forcing press mould.

Bearing 7 of the present invention also can a side be provided with dismounting terminal-collecting machine 6; The absorption of described vacuum cup 61 and the realization of release movement also can really be inhaled to put with electromagnet and be finished.

The control circuit of controller of the present invention partly is a prior art.

Claims (3)

1. the manipulator of punching automation loading and unloading, it is characterized in that: independently be placed in by the forcing press, comprise servomotor (1), line slideway (2), slide block (3), cylinder (5), terminal-collecting machine (6), frame (8), wherein the servomotor (1) by controller control is installed on the frame (8), side in frame (8), described servomotor (11) is connected with a joggle by a belt pulley of being with synchronously and the belt pulley of line slideway (2), described slide block (3) is fixedly mounted on being with synchronously of line slideway (2), its slide block (3) below is connected by support plate (4) and cylinder (5), below the described cylinder (5) is bearing (7), is provided with terminal-collecting machine (6) in bearing (7) both sides.
2. according to the described punching automation loading and unloading manipulator of claim 1, it is characterized in that: described bearing (7) one sides are provided with terminal-collecting machine (6).
3. according to claim 1,2 described punching automation loading and unloading stool tool hands, it is characterized in that: described terminal-collecting machine (6) is provided with vacuum cup (61) or electromagnet.
CN2009100656306A 2009-08-03 2009-08-03 Mechanical hand for stamping and automatic loading and unloading CN101987339A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2009100656306A CN101987339A (en) 2009-08-03 2009-08-03 Mechanical hand for stamping and automatic loading and unloading

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2009100656306A CN101987339A (en) 2009-08-03 2009-08-03 Mechanical hand for stamping and automatic loading and unloading

Publications (1)

Publication Number Publication Date
CN101987339A true CN101987339A (en) 2011-03-23

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN2009100656306A CN101987339A (en) 2009-08-03 2009-08-03 Mechanical hand for stamping and automatic loading and unloading

Country Status (1)

Country Link
CN (1) CN101987339A (en)

Cited By (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102180366A (en) * 2011-03-28 2011-09-14 吴丽威 Automatic material loading, feeding and unloading equipment for bar stock blanking and method thereof
CN102179808A (en) * 2011-04-11 2011-09-14 李亮 Flexible plate punching machine manipulator
CN102295145A (en) * 2011-06-02 2011-12-28 济南奥图自动化工程有限公司 Linear servo conveying system
CN102358065A (en) * 2011-08-12 2012-02-22 广州广富机电工程有限公司 Automatic conveying device for stamping loading and unloading
CN102527866A (en) * 2012-01-10 2012-07-04 昆山艾博机器人系统工程有限公司 Loading and unloading clamping fixture for punching machine
CN102528799A (en) * 2012-01-17 2012-07-04 柳州高华机械有限公司 Manipulator for automatic stamping production
CN102601255A (en) * 2012-02-24 2012-07-25 丰顺县培英电声有限公司 Car audio hardware stamping automatic feeding and unloading manipulator
CN102886451A (en) * 2012-09-29 2013-01-23 华中科技大学 Automatic charging and discharging mechanical arm
CN102950590A (en) * 2012-10-18 2013-03-06 江苏省(扬州)数控机床研究院 Two-axis manipulator for press line and working process of two-axis manipulator
CN102975390A (en) * 2012-12-14 2013-03-20 成都海科机械设备制造有限公司 Fully-automatic continuous pressing machine
CN103028648A (en) * 2013-01-07 2013-04-10 李金山 Punching machine and method for automatically taking and conveying punched workpiece
CN103144348A (en) * 2011-12-06 2013-06-12 东莞市天翔自动化设备有限公司 Full automatic loading and unloading machine for punching machine
CN103381528A (en) * 2013-07-24 2013-11-06 苏州凯尔博精密机械有限公司 Grasping and feeding device for welding machine for biological bacterium culturing films
CN103433389A (en) * 2013-09-10 2013-12-11 聊城市金帝保持器厂 Groove pressing process production line of bearing retainer
CN103600355A (en) * 2013-04-28 2014-02-26 宝山钢铁股份有限公司 Method and device for adsorption and separation of sheet material and available cutting waste material
CN103658434A (en) * 2013-11-29 2014-03-26 唐山学院 Automatic feeding and discharging manipulator system for shovel sheets of peach-shaped point shovels
CN103736861A (en) * 2014-01-15 2014-04-23 晟扬精密模具(昆山)有限公司 Stamping die capable of automatically transferring products
CN103862715A (en) * 2014-03-12 2014-06-18 黟县越驰科技电子有限公司 Feeding device for magnetic body forming equipment
CN103962736A (en) * 2014-05-22 2014-08-06 江苏金方圆数控机床有限公司 Laser cutting plate waste material separation part sorting system
CN104492876A (en) * 2014-12-16 2015-04-08 扬州恒佳机械有限公司 Bending robot tooling
CN104525665A (en) * 2014-12-31 2015-04-22 广州市金峰机械科技有限公司 Automatic stamping method and production line thereof
CN104924295A (en) * 2015-06-29 2015-09-23 吴中区横泾博尔机械厂 Triaxial mechanical hand of automatic screen assembling machine
CN105459387A (en) * 2015-12-23 2016-04-06 东莞市新图注塑机械有限公司 Semi-automatic multi-head setting machine
CN104400779B (en) * 2014-09-25 2016-05-25 上海交通大学 A kind of closed slide formula series-parallel configuration loading and unloading manipulator
CN108356841A (en) * 2018-02-01 2018-08-03 安徽东旭康图太阳能科技有限公司 Utilize the method for Manipulator Transportation photovoltaic module

Cited By (36)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102180366B (en) * 2011-03-28 2013-04-10 吴丽威 Automatic material loading, feeding and unloading equipment for bar stock blanking and method thereof
CN102180366A (en) * 2011-03-28 2011-09-14 吴丽威 Automatic material loading, feeding and unloading equipment for bar stock blanking and method thereof
CN102179808A (en) * 2011-04-11 2011-09-14 李亮 Flexible plate punching machine manipulator
CN102295145A (en) * 2011-06-02 2011-12-28 济南奥图自动化工程有限公司 Linear servo conveying system
CN102358065A (en) * 2011-08-12 2012-02-22 广州广富机电工程有限公司 Automatic conveying device for stamping loading and unloading
CN103144348A (en) * 2011-12-06 2013-06-12 东莞市天翔自动化设备有限公司 Full automatic loading and unloading machine for punching machine
CN102527866A (en) * 2012-01-10 2012-07-04 昆山艾博机器人系统工程有限公司 Loading and unloading clamping fixture for punching machine
CN102528799A (en) * 2012-01-17 2012-07-04 柳州高华机械有限公司 Manipulator for automatic stamping production
CN102601255A (en) * 2012-02-24 2012-07-25 丰顺县培英电声有限公司 Car audio hardware stamping automatic feeding and unloading manipulator
CN102601255B (en) * 2012-02-24 2014-08-13 丰顺县培英电声有限公司 Car audio hardware stamping automatic feeding and unloading manipulator
CN102886451A (en) * 2012-09-29 2013-01-23 华中科技大学 Automatic charging and discharging mechanical arm
CN102950590A (en) * 2012-10-18 2013-03-06 江苏省(扬州)数控机床研究院 Two-axis manipulator for press line and working process of two-axis manipulator
CN102975390A (en) * 2012-12-14 2013-03-20 成都海科机械设备制造有限公司 Fully-automatic continuous pressing machine
CN102975390B (en) * 2012-12-14 2015-01-07 成都海科机械设备制造有限公司 Fully-automatic continuous pressing machine
CN103028648B (en) * 2013-01-07 2015-02-18 李金山 Punching machine and method for automatically taking and conveying punched workpiece
CN103028648A (en) * 2013-01-07 2013-04-10 李金山 Punching machine and method for automatically taking and conveying punched workpiece
CN103600355A (en) * 2013-04-28 2014-02-26 宝山钢铁股份有限公司 Method and device for adsorption and separation of sheet material and available cutting waste material
CN103600355B (en) * 2013-04-28 2015-10-28 宝山钢铁股份有限公司 A kind of for sheet stock with can utilize the absorption of cutting waste material and the method be separated and device thereof
CN103381528A (en) * 2013-07-24 2013-11-06 苏州凯尔博精密机械有限公司 Grasping and feeding device for welding machine for biological bacterium culturing films
CN103433389A (en) * 2013-09-10 2013-12-11 聊城市金帝保持器厂 Groove pressing process production line of bearing retainer
CN103658434B (en) * 2013-11-29 2016-01-20 唐山学院 Peach-shaped point spade spade sheet automatic loading and unloading manipulator system
CN103658434A (en) * 2013-11-29 2014-03-26 唐山学院 Automatic feeding and discharging manipulator system for shovel sheets of peach-shaped point shovels
CN103736861A (en) * 2014-01-15 2014-04-23 晟扬精密模具(昆山)有限公司 Stamping die capable of automatically transferring products
CN103862715B (en) * 2014-03-12 2015-12-02 黟县越驰科技电子有限公司 The feeding device of magnet former
CN103862715A (en) * 2014-03-12 2014-06-18 黟县越驰科技电子有限公司 Feeding device for magnetic body forming equipment
CN103962736A (en) * 2014-05-22 2014-08-06 江苏金方圆数控机床有限公司 Laser cutting plate waste material separation part sorting system
CN103962736B (en) * 2014-05-22 2016-02-03 江苏金方圆数控机床有限公司 Laser cutting sheet material waste material is separated and componentselected system
CN104400779B (en) * 2014-09-25 2016-05-25 上海交通大学 A kind of closed slide formula series-parallel configuration loading and unloading manipulator
CN104492876A (en) * 2014-12-16 2015-04-08 扬州恒佳机械有限公司 Bending robot tooling
CN104525665A (en) * 2014-12-31 2015-04-22 广州市金峰机械科技有限公司 Automatic stamping method and production line thereof
CN104525665B (en) * 2014-12-31 2017-03-15 广州市金峰机械科技有限公司 A kind of automatic press method and its production line
CN104924295A (en) * 2015-06-29 2015-09-23 吴中区横泾博尔机械厂 Triaxial mechanical hand of automatic screen assembling machine
CN104924295B (en) * 2015-06-29 2016-04-20 吴中区横泾博尔机械厂 The three axle robert of automatic screen kludge
CN105459387A (en) * 2015-12-23 2016-04-06 东莞市新图注塑机械有限公司 Semi-automatic multi-head setting machine
CN105459387B (en) * 2015-12-23 2019-09-24 东莞市新图注塑机械有限公司 Multi-head semi-automatic forming machine
CN108356841A (en) * 2018-02-01 2018-08-03 安徽东旭康图太阳能科技有限公司 Utilize the method for Manipulator Transportation photovoltaic module

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Application publication date: 20110323

C02 Deemed withdrawal of patent application after publication (patent law 2001)