CN102652978A - Portal-type four-station automatic feeding manipulator - Google Patents
Portal-type four-station automatic feeding manipulator Download PDFInfo
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- CN102652978A CN102652978A CN2012101806232A CN201210180623A CN102652978A CN 102652978 A CN102652978 A CN 102652978A CN 2012101806232 A CN2012101806232 A CN 2012101806232A CN 201210180623 A CN201210180623 A CN 201210180623A CN 102652978 A CN102652978 A CN 102652978A
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Abstract
The invention relates to the field of automatic feeding devices, and particularly relates to a portal-type four-station automatic feeding manipulator. The portal-type four-station automatic feeding manipulator comprises a portal frame serving as a framework, an electrical control system, a feeding station, a weighing and straightening station, a machining station, a discharging station, lifting trolleys, a vacuum catcher, a manipulator, a weighing dual-tension detection device, and an automatic straightening device, wherein the feeding station, the weighing and straightening station, the machining station and the discharging station are arranged according to a moving direction of a workpiece, the lifting trolleys are arranged on the feeding station and the discharging station and control workpieces to move up and down, the vacuum catcher is used for catching the workpieces, the manipulator is used for enabling the workpieces to move freely, the weighing dual-tension detection device is arranged on the weighing and straightening station and is used for detecting the weight of each workpiece and sounding a failure alarm, the automatic straightening device is arranged on the weighing and straightening station and is used for positioning each workpiece at a precision position. The automatic manipulator can automatically feed and discharge materials through connection between a programmable logic control (PLC) system and machining equipment, so that the full-automatic production is realized; the automatic feeding manipulator is easy to operate; the production efficiency is greatly improved; the production cost is reduced; and the quality of a product is guaranteed.
Description
Technical field
The present invention relates to automation feeding device field, be specifically related to a kind of planer-type four station automatic chargings machinery hand, be mainly used in the automatic charging of stamping parts raw material.
Background technology
In the preparation process of stamping parts, the conventional artificial feeding style is low and superseded because of efficient, and main at present employing automatic charging machine carries out feeding.Traditional autoloader mainly is made up of material loading station and blanking station, and manipulator is accomplished the delivery of material, and is simple in structure; But when manipulator grasps often simultaneously with the upper and lower together material of a plurality of raw material plates; Be unfavorable for the separation of single material plate, also can't in time feed back after the extracting mistake that manipulator comprises material loading hand and blanking hand again; Both might bump and damage and upset upper and lower material operation, and system lacks material and falls material midway and also is difficult to the automation feedback and needs manual coordination control.To sum up, traditional feeder does not constitute reliable and stable feeding system.
Summary of the invention
Technical purpose of the present invention is to overcome the problems of the prior art, provides a kind of and guarantees to say good-bye workpiece conveying, operation of feeding and discharging are stable, error feedback planer-type four station automatic chargings machinery hand promptly and accurately.
For realizing the object of the invention, the technical scheme that the present invention adopts is: planer-type four station automatic chargings machinery hand, it is characterized in that, and comprise like lower component: as the portal frame of framework; Electric control system; Material loading station, the normotopia of weighing station, processing stations and blanking station according to the arrangement of workpiece movement direction; Be located at the lift truck that the control workpiece of material loading station and blanking station moves up and down, the vacuum material grasping device of grabbing workpiece, the manipulator that workpiece is moved freely; Be located at the normotopia station of weighing, be used to detect workpiece weight and carry out the two checkout gears of opening of weighing of false alarm; Be located at the normotopia station of weighing, make the workpiece be positioned at the automatic righting device of exact position.
Aforesaid planer-type four station automatic chargings machinery hand, described material loading station and blanking station are respectively equipped with and detect the light sensation detector that lacks material and fall material.
Aforesaid planer-type four station automatic chargings machinery hand, described two checkout gears of opening of weighing comprise weighing platform, LOAD CELLS and warning system, LOAD CELLS all is connected with electric control system with warning system.
Aforesaid planer-type four station automatic chargings machinery hand, described automatic righting device comprise locating platform that is used for place work piece and the backstay that under the control of control system, moves.
Aforesaid planer-type four station automatic chargings machinery hand, described material loading station is provided with the branch prop that is used to separate many Zhang Gongs part, divides prop to be integrated with electromagnetic field and gas hole, divides prop to be connected with cylinder.
Aforesaid planer-type four station automatic chargings machinery hand, prop was 2 in described minute, was divided into the both sides of workpiece.
Aforesaid planer-type four station automatic chargings machinery hand, described feeder also is provided with the automatic collision device of the manipulator collision that prevents material loading station and blanking station.
The present invention realizes the automatic manipulator loading and unloading through PLC control system with being connected of process equipment; Unique gantry frame type structure has guaranteed the stationarity of system under situation about running up; Divide prop and two checkout gears of opening of weighing through electromagnetism, guarantee that workpiece is that individual gets into machining center; Guarantee that through the automatic collision device material loading hand can not bump with the blanking hand; Lack material and prevent to fall material midway through light sensation detector detection system, guarantee the stability of system; Realize the free pick-and-place of workpiece through vacuum material grasping device; To sum up the present invention realizes full-automatic production, and is simple to operate, improved production efficiency greatly, reduced production cost, guaranteed the quality of product.
Description of drawings
Fig. 1 is a reset condition vertical view of the present invention;
Fig. 2 is a feeding state vertical view of the present invention;
Fig. 3 is a blanking state vertical view of the present invention;
Fig. 4 is a control logic vertical view of the present invention;
Wherein, stamp car before 1,2 fens props are stamped hand before 3,4 vacuum material grasping devices, and 5 light sensation detectors, 6 portal frames, 7 weighing platforms, 8 material loading hands, 9 processing stations, 10 blanking hands are stamped car after 11.
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The specific embodiment
For technical scheme, technical characterictic that the present invention is realized, reach purpose and effect and be easy to understand and understand, below in conjunction with the specific embodiment, further set forth the present invention.
Fig. 1 is a reset condition vertical view of the present invention, and planer-type four station automatic chargings machinery hand is characterized in that, comprises like lower component: as the portal frame 6 of framework; Electric control system; Material loading station, the normotopia of weighing station, processing stations 9 and blanking station according to the arrangement of workpiece movement direction; Be located at the lift truck that the control workpiece of material loading station and blanking station moves up and down and (before the material loading station shows as, stamp car 1; After the blankers position shows as, stamp car 11), the vacuum material grasping device 4 of grabbing workpiece, the manipulator that workpiece is moved freely (show as material loading hand 8 at the material loading station; Show as blanking hand 10 in the blankers position); Every manipulator is equipped with the height stopping means, realizes the action of rise and fall through cylinder, source of the gas, magnetic valve etc.; Be located at the normotopia station of weighing, be used to detect workpiece weight and carry out the two checkout gears of opening of weighing of false alarm; Be located at the normotopia station of weighing, make the workpiece be positioned at the automatic righting device of exact position.Material loading station and blanking station are respectively equipped with the light sensation detector 5 that detect to lack material and fall material, stamp before light sensation detector 5 is arranged on the car 1 before stamp on the hand 3.Two checkout gears of opening of weighing comprise weighing platform 7, LOAD CELLS and warning system, and LOAD CELLS all is connected with electric control system with warning system.The automatic righting device comprises locating platform that is used for place work piece and the backstay that under the control of control system, moves.The material loading station is provided with the branch prop 2 that is used to separate many Zhang Gongs part, divides prop 2 to be integrated with electromagnetic field and gas hole, divides prop 2 to be connected with cylinder.Dividing prop 2 is 2, is divided into the both sides of workpiece.Feeder also is provided with the automatic collision device of the manipulator collision that prevents material loading station and blanking station.
According to Fig. 1-Fig. 4 material loading of the present invention, blanking process are described below.
The material loading process: the preceding car 1 of stamping is through control system, magnetic valve, oil cylinder free lifting (Fig. 4), and the preceding car 1 of stamping is equipped with the high and low limit device; Stamp on the car 1 before will needing material processed to be placed on, stamp car 1 before making and rise to upper level position, electromagnetism divides prop 2 to start fastening material; Magnetic conduction, air blowing, rising then, the realization material is said good-bye, and divides prop 2 through control system conducting magnetic; Move to correct position and clamp material toward rising; Gas hole is blown simultaneously, and the dual force of magnetic field and air pressure has guaranteed the separation fully of material like this; Before stamp hand 3 and drop to the low order position; Vacuum material grasping device 4 starts; Catch material, material grasping finishes the back and detects whether catch material, detects the two checkout gears of opening of weighing that are made up of weighing platform 7, LOAD CELLS and warning system and accomplishes; If weight is undesired, material possibly not be individual then system halt, warning; Before stamp hand 3 and rise to upper level position, divide that prop 2 descends, disconnected magnetic, stop the supple of gas or steam, return original position, wait to remove the operation of fault continued.
Two checkout gears of opening of weighing: the preceding hand 3 of stamping is by same servo-driver control with material loading hand 8; The material grasping of material loading hand 8 with before stamp hand 3 material graspings and carry out synchronously; Current car 1 upper level position of stamping does not detect material; Before stamp car 1 and rise, up to having detected material, the climb procedure of wherein before stamping car 1 must carry out under the situation that minute prop 2 not have to move; When material is caught away processing by material loading hand 8, the preceding car 1 of stamping repeats the action of rising always, stamps car 1 before the current light sensation detector 5 of stamping car 1 detects and lacks material; System halt, the preceding car 1 of stamping drops to the low order position, treat that the staff is reentered into virgin material to be processed after; Resetting system continues operation.The detection principle is following: weigh up the weight of measured workpiece by LOAD CELLS, and give the control system with signal feedback, the control system is provided with the weight of normal workpiece; And the scope of setting allowable error; If feedback signal exceeds the error range that normal workpiece allows, distinguish of system is two opening, and warning system is reported to the police; Pending fault is removed, and reruns.
The automatic righting device: system can manually put material well in presetting bit and processing stations before starting in advance; Before material loading hand 8 material graspings; The startup of automatic righting device positions the presetting bit material, and positioning process is accomplished by control system, cylinder, source of the gas, backstay), the material of needs location is placed on the locating platform; Through the correct running fix bar of control system, realize the accurate location of workpiece; Two checkout gears of opening of weighing simultaneously detect the presetting bit material; If undesired then system halt, warning; Wait to remove fault continued operation, if normally then material loading hand 8 drop to low order position, material grasping, material grasping finishes the back and detects whether catch material; If undesired then system halt, warning wait to remove the operation of fault continued.
Be conveyed into the processing stations process: material loading hand 8 rises to upper level position, stamps hand 3 before confirming, material loading hand 8 all does a good job of it material and in upper level position, material loading hand 8 moves into processing stations 9.After material loading hand 8 moved to assigned address, 8 declines of material loading hand, blowing, rising detected simultaneously whether material is arranged, and confirm to expect to have put into processing stations 9 (Fig. 2); The material that 9 pairs of material loading hands 8 of processing stations are put into is processed, and simultaneously material loading hand 8 grasps the presetting bit materials, divides prop 2 to restart, and the preceding hand 3 of stamping continues to grab next material, material loading hand 8 with before stamp hand 3 and all catch material and be parked in upper level position and wait for and continue blowing next time; Before to stamp the program and the material loading hand 8 of hand 3 blowings synchronous; Before stamp hand 3 all blowing rise to upper level position with material loading hand 8 after; Material loading hand 8 returns initial point, and simultaneously the automatic righting device carries out normotopia, detection to preceding stamping hand 3 like the material of set, and definite material loading hand 8 has returned initial point (Fig. 1).
Automatic collision device: include and to produce 2 of interference and only reach above manipulator, photosensitive distance detector; Manipulator movement locus realize through the control system; The feedback signal access control system of photosensitive distance detector is in the automated production process, in case the control system receives the feedback signal from photosensitive detector; The control system makes judgement, sends relative fill order or brake hard.
The blanking process: when processing stations 9 process finishing, and allow blanking, blanking hand 10 moves to assigned address (Fig. 3), and blanking hand 10 descends, and material grasping rises to upper level position, and test material (step is with material loading hand 8) is return initial point.After stamp car 11 and rise to upper level position, blanking hand 10 blowings are when light sensation detector 5 detects material; After stamp car 11 and descend up to light sensation detector 5 attonitys, when the material that processes is piled to a certain degree, after when stamping car 11 and dropping to the low order position light sensation detector 5 also detect material; Illustrative material is completely stamped, and system halt is also reported to the police, and reminds the staff can get material; After treating that completely stamping material takes away, reset and continue operation.According to the difference of various workpiece packing quantity, the quantity of the material that processes can freely be set, reach the quantity of setting when material after distinguish of system for completely stamping, processing mode is the same.
More than show and described basic principle of the present invention, principal character and advantage of the present invention.The technical staff of the industry should understand; The present invention is not restricted to the described embodiments; That describes in the foregoing description and the specification just explains principle of the present invention; Under the prerequisite that does not break away from spirit and scope of the invention, the present invention also has various changes and modifications, and these variations and improvement all fall in the scope of the invention that requires protection.The present invention requires protection domain to be defined by appending claims and equivalent thereof.
Claims (7)
1. planer-type four station automatic chargings machinery hand is characterized in that, comprises like lower component: as the portal frame of framework; Electric control system; Material loading station, the normotopia of weighing station, processing stations and blanking station according to the arrangement of workpiece movement direction; Be located at the lift truck that the control workpiece of material loading station and blanking station moves up and down, the vacuum material grasping device of grabbing workpiece, the manipulator that workpiece is moved freely; Be located at the normotopia station of weighing, be used to detect workpiece weight and carry out the two checkout gears of opening of weighing of false alarm; Be located at the normotopia station of weighing, make the workpiece be positioned at the automatic righting device of exact position.
2. planer-type four station automatic chargings machinery hand according to claim 1 is characterized in that: described material loading station and blanking station are respectively equipped with and detect the light sensation detector that lacks material and fall material.
3. planer-type four station automatic chargings machinery hand according to claim 1 is characterized in that: described two checkout gears of opening of weighing comprise weighing platform, LOAD CELLS and warning system, and LOAD CELLS all is connected with electric control system with warning system.
4. planer-type four station automatic chargings machinery hand according to claim 1 is characterized in that: described automatic righting device comprises locating platform that is used for place work piece and the backstay that under the control of control system, moves.
5. planer-type four station automatic chargings machinery hand according to claim 1, it is characterized in that: described material loading station is provided with the branch prop that is used to separate many Zhang Gongs part, divides prop to be integrated with electromagnetic field and gas hole, divides prop to be connected with cylinder.
6. planer-type four station automatic chargings machinery hand according to claim 5, it is characterized in that: prop was 2 in described minute, was divided into the both sides of workpiece.
7. planer-type four station automatic chargings machinery hand according to claim 1 is characterized in that: described feeder also is provided with the automatic collision device of the manipulator collision that prevents material loading station and blanking station.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201210180623.2A CN102652978B (en) | 2012-06-04 | 2012-06-04 | Portal-type four-station automatic feeding manipulator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210180623.2A CN102652978B (en) | 2012-06-04 | 2012-06-04 | Portal-type four-station automatic feeding manipulator |
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| CN102652978A true CN102652978A (en) | 2012-09-05 |
| CN102652978B CN102652978B (en) | 2014-06-18 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102962371A (en) * | 2012-10-18 | 2013-03-13 | 江苏省（扬州）数控机床研究院 | Automatic dual-stack disassembling unit of stamping production line and working process thereof |
| CN103264524A (en) * | 2013-05-08 | 2013-08-28 | 吴江龙硕金属制品有限公司 | Feed vehicle capable of alarming material shortage |
| CN103785791A (en) * | 2014-01-13 | 2014-05-14 | 合肥合锻机床股份有限公司 | Three-station feeding device of hydraulic press for cold-press seal heads |
| CN104148525B (en) * | 2014-05-21 | 2016-06-22 | 厦门银浩自动化设备有限公司 | Numerical control press automatic loading/unloading equipment |
| CN106715001A (en) * | 2014-09-25 | 2017-05-24 | 株式会社放电精密加工研究所 | Press-forming system and press-forming method |
| CN106774141A (en) * | 2017-02-28 | 2017-05-31 | 曼盛包装（上海）有限公司 | A kind of automatic assembling restarting control improvement system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102962371B (en) * | 2012-10-18 | 2016-06-01 | 江苏省（扬州）数控机床研究院 | The automatic de-stacking unit of the extra quality buttress of punching production line and working process thereof |
| CN103264524A (en) * | 2013-05-08 | 2013-08-28 | 吴江龙硕金属制品有限公司 | Feed vehicle capable of alarming material shortage |
| CN103785791A (en) * | 2014-01-13 | 2014-05-14 | 合肥合锻机床股份有限公司 | Three-station feeding device of hydraulic press for cold-press seal heads |
| CN104148525B (en) * | 2014-05-21 | 2016-06-22 | 厦门银浩自动化设备有限公司 | Numerical control press automatic loading/unloading equipment |
| CN106715001A (en) * | 2014-09-25 | 2017-05-24 | 株式会社放电精密加工研究所 | Press-forming system and press-forming method |
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| CN106774141A (en) * | 2017-02-28 | 2017-05-31 | 曼盛包装（上海）有限公司 | A kind of automatic assembling restarting control improvement system |
| CN106774141B (en) * | 2017-02-28 | 2024-01-05 | 曼盛包装（上海）有限公司 | Automatic kludge restart control improves system |
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| CN102652978B (en) | 2014-06-18 |
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Owner name: KUNSHAN SANZHONG AUTOMOBILE PARTS MANUFACTURING CO Free format text: FORMER NAME: KUNSHAN SANZHONG MOULD MACHINERY CO., LTD. |
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Address after: 215310, Jiangsu City, Suzhou province Yushan Town, Kunshan hi tech Industrial Park mold zone Patentee after: KUNSHAN SANZHONG AUTO PARTS CO., LTD. Address before: 215310, Jiangsu City, Suzhou province Yushan Town, Kunshan hi tech Industrial Park mold zone Patentee before: Kunshan Sanzhong Mould Manufacturing Co., Ltd. |