CN105013963A - Short material feeding manipulator system - Google Patents
Short material feeding manipulator system Download PDFInfo
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- CN105013963A CN105013963A CN201510448803.8A CN201510448803A CN105013963A CN 105013963 A CN105013963 A CN 105013963A CN 201510448803 A CN201510448803 A CN 201510448803A CN 105013963 A CN105013963 A CN 105013963A
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- cylinder
- feed mechanism
- numerical
- feeding table
- mechanical hand
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Abstract
The invention discloses a short material feeding manipulator system which comprises a feeding mechanism, a numerical control delivery mechanism, a numerical control receiving mechanism, a waste collection mechanism and a PLC control system. The PLC control system is used for controlling actions of the feeding mechanism, the numerical control delivery mechanism and the numerical control receiving mechanism. The feeding mechanism, the delivery mechanism, the receiving mechanism and the waste collection mechanism are sequentially arranged from left to right in the direction of an assembly line. The short material feeding manipulator system can achieve unmanned operation, and is easy to operate, and high in productivity and material utilization rate.
Description
Technical field
The present invention relates to a kind of feed system, particularly relate to a kind of short chi material feeding mechanical hand system.
Background technology
At present, the present feeding style of punch process of rectangular slab mainly adopts artificial feeding, because artificial feeding is random large, material can be wasted and cause that product is defective, inefficiency etc., punching press simultaneously is originally exactly industrial injury work post occurred frequently, add the noise very large (more than 120 decibels) in man-hour in addition, also very large to the hearing impairment of operating personnel.
Summary of the invention
The object of this invention is to provide a kind of short chi material feeding mechanical hand system, can realize unattended, simple to operate, productivity ratio is high, stock utilization is high.
For achieving the above object, the invention provides a kind of short chi material feeding mechanical hand system, comprise feed mechanism, numerical-control feed mechanism, numerical control receiving mechanism, garbage collection mechanism and feed mechanism described in controlling, numerical-control feed mechanism and the action of numerical control receiving mechanism PLC control system, described feed mechanism, numerical-control feed mechanism, numerical control receiving mechanism and garbage collection mechanism sequentially arrange according to streamline direction from left to right.
As a further improvement on the present invention, described feed mechanism comprises high low trestle and is arranged on storing stand, feeding table and the take out device on high low trestle, described feeding table and numerical-control feed mechanism are set up in parallel, and the left side feed end of logarithm control feed mechanism is rectified in the right side discharging of described feeding table, described storing stand is positioned at the front side of feeding table, and the height of storing stand is lower than the height of feeding table, described take out device is positioned at the top of feeding table.
Further improve as of the present invention, the upper surface of described storing stand is provided with material roller on two centering adjusting devices and three groups along the longitudinal direction, on described three groups, material roller and two centering adjusting devices are spaced, each centering adjusting device is provided with two the vertical spacing bars linked by centering adjusting device, these two vertical spacing bars distribute along the fore-and-aft direction of storing stand, and gap between two vertical spacing bars on each centering adjusting device is corresponding with the gap between the vertical spacing bar of two on another centering adjusting device is communicated with and forms storing region, two ends, left and right, described storing region are respectively equipped with the vertical postive stop baffle arranged.
Further improve as of the present invention, described centering adjusting device comprises elongated positioning seat, double threaded screw, two nuts and handwheel, described elongated positioning seat be recessed to form elongated slot top down, the rear and front end of described elongated positioning seat is positioning end, described double threaded screw is positioned at elongated slot and the rear and front end of double threaded screw is arranged on corresponding positioning end place, two described nuts are arranged on double threaded screw, the lower end of two described vertical spacing bars is installed on corresponding nut, and described handwheel is positioned at the front side of elongated positioning seat and is arranged on the front end of double threaded screw.
Further improve as of the present invention, described feeding table is parallel with storing stand, and the front side of described feeding table is provided with testing agency, is provided with the automatic retreating materials mechanism that can move right on the left of described feeding table.
Further improve as of the present invention, described take out device comprises location-plate, slider waveguide rod mechanism, first cylinder, installing plate, second cylinder and reclaimer robot, described location-plate to be arranged on rear side of high low trestle and to arrange along the longitudinal direction, the slide block of described first cylinder and slider waveguide rod mechanism is fixed on location-plate, the guide rod of described slider waveguide rod mechanism can slide anteroposterior be arranged on slide block, described installing plate to be positioned at above feeding table and to arrange in left-right direction, described installing plate is connected to the front end of the guide rod of slider waveguide rod mechanism and the push rod of the first cylinder, described second cylinder is vertically arranged and is fixed on the upside of installing plate, described reclaimer robot is between feeding table and installing plate, and the push rod of described second cylinder is connected to reclaimer robot through installing plate down.
Further improve as of the present invention, described reclaimer robot comprises principal arm, support arm and vacuum cup, described principal arm arranges in left-right direction and is connected to the push rod of described second cylinder, the upside of described principal arm is provided with two guide rods, two described guide rod upper ends are run through installing plate and are symmetrically distributed in the both sides of the second cylinder, described support arm is arranged along the longitudinal direction and is arranged on the downside of principal arm, and described vacuum cup is arranged on the downside of support arm.
Further improve as of the present invention, described numerical-control feed mechanism and numerical control receiving mechanism are installed in the front openings place of a pressing equipment, and described numerical-control feed mechanism is consistent with the structure of numerical control receiving mechanism and include servomotor, mount pad and to be arranged in mount pad and the conveying roller linked by servomotor.
Further improve as of the present invention, described garbage collection mechanism comprises stand type support, and the front side of described stand type support is hinged with counter-rotating platform, described stand type support is provided with the 3rd cylinder, described 3rd cylinder is obliquely installed, and the push rod of described 3rd cylinder upper end is connected to counter-rotating platform.
Further improve as of the present invention, be extended with Extension support forward bottom the front side of described stand type support, described Extension support is extended with front two rows limited post upward, and described front two rows limited post forms garbage collection space.
Compared with prior art, short chi material feeding mechanical hand system of the present invention adopts feed mechanism, numerical-control feed mechanism, numerical control receiving mechanism, garbage collection mechanism and PLC control system, unmanned automatic operation can be realized, have the advantages that productivity ratio is high, stock utilization is high, simple to operate; The centering adjusting device of feed mechanism, testing agency and automatic retreating materials mechanism all can be enhanced productivity, and centering adjusting device can realize accurate location; The reclaimer robot of feed mechanism and the counter-rotating platform of garbage collection mechanism are all by air cylinder driven, thus function easily realizes, and cost is low, can ensure production efficiency.
By following description also by reference to the accompanying drawings, the present invention will become more clear, and these accompanying drawings are for explaining embodiments of the invention.
Accompanying drawing explanation
Fig. 1 is the stereogram of the present invention's short chi material feeding mechanical hand system.
Fig. 2 is the front view of Fig. 1;
Fig. 3 is the side view of Fig. 1;
Fig. 4 is the top view of Fig. 1.
Detailed description of the invention
With reference now to accompanying drawing, describe embodiments of the invention, element numbers similar in accompanying drawing represents similar element.
Please refer to Fig. 1-4, described short chi material feeding mechanical hand system comprises feed mechanism 1, numerical-control feed mechanism 2, numerical control receiving mechanism 3, garbage collection mechanism 4 and feed mechanism 1 described in controlling, numerical-control feed mechanism 2 and numerical control receiving mechanism 3 action PLC control system (not shown), described feed mechanism 1, numerical-control feed mechanism 2, numerical control receiving mechanism 3 and garbage collection mechanism 4 sequentially arrange according to streamline direction from left to right.
Described feed mechanism 1 comprises high low trestle 11 and is arranged on storing stand 12, feeding table 13 and the take out device 14 on high low trestle 11.Described high low trestle 11 is low early and high after, is three layers of staircase structural model.Described storing stand 12 left and right directions is arranged, the upper surface of described storing stand 12 is provided with material roller 12b on two centering adjusting device 12a and three groups along the longitudinal direction, and on described three groups, material roller 12b and two centering adjusting device 12a is spaced.Each centering adjusting device 12a is provided with two the vertical spacing bar 12c linked by centering adjusting device 12a, these two vertical spacing bar 12c distribute along the fore-and-aft direction of storing stand, and gap between two vertical spacing bar 12c on each centering adjusting device 12a and the gap between two vertical spacing bar 12c on another centering adjusting device 12a is corresponding is communicated with and forms storing region, for stacking rectangular slab.Two ends, left and right, described storing region are respectively equipped with the vertical postive stop baffle 12d arranged, thus can carry out spacing to rectangular slab at the two ends, left and right of rectangular slab.On three groups, material roller 12b can ensure that the bottom surface of rectangular slab is not scratched.
Described centering adjusting device 12a comprises elongated positioning seat 121a, double threaded screw 122a, two nut 123a and handwheel 124a, described elongated positioning seat 121a is recessed to form elongated slot top down, the rear and front end of described elongated positioning seat 121a is positioning end, described double threaded screw 122a is positioned at elongated slot and the rear and front end of double threaded screw 122a is arranged on corresponding positioning end place, two described nut 123a are arranged on double threaded screw 122a, the lower end of two described vertical spacing bar 12c is installed on corresponding nut 123a, described handwheel 124a is positioned at the front side of elongated positioning seat 121a and is arranged on the front end of double threaded screw 122a, thus manually rotation hand wheel 124a, double threaded screw 122a can be made to rotate, thus two nut 123a are moved along double threaded screw 122a, thus the position of adjustment two vertical spacing bar 12c, to make rectangular slab can centering, facilitate take out device 14 feeding.
Described feeding table 13 is positioned at the rear side of storing stand 12, described feeding table 13 is parallel with storing stand 12 and higher than storing stand 12, described feeding table 13 is set up in parallel with numerical-control feed mechanism 2, and the left side feed end of logarithm control feed mechanism 2 is rectified in the right side discharging of described feeding table 13.The front side of described feeding table 13 is provided with testing agency 13a, can detect the quantity being taken to the rectangular slab on feeding table 13 by take out device 14.Be provided with the automatic retreating materials mechanism 13b that can move right on the left of described feeding table 13, can conveniently rectangular slab be pushed in numerical-control feed mechanism 2.
Described take out device 14 is positioned at the top of feeding table 13.Described take out device 14 comprises location-plate 14a, slider waveguide rod mechanism 14b, the first cylinder 14c, installing plate 14d, the second cylinder 14e and reclaimer robot 14f.Described location-plate 14a to be arranged on rear side of high low trestle 11 and to arrange along the longitudinal direction, and described location-plate 14a is higher than described feeding table 13.The guide rod 142b of described slider waveguide rod mechanism 14b has two, these two guide rod 142b and the first cylinder 14c arrange and the symmetrical both sides being positioned at the first cylinder 14c of these two guide rod 142b along the longitudinal direction, each guide rod 142b is provided with two slide block 141b, and each guide rod 142b can opposing slider 141b slide anteroposterior, two slide block 141b on each guide rod 142b and the first cylinder 14c are fixed on location-plate 14a.Described installing plate 14d to be positioned at above feeding table 13 and to arrange in left-right direction, and described installing plate 14d is connected to the front end of the guide rod 142b of slider waveguide rod mechanism 14b and the push rod of the first cylinder 14c, thus can realize moving forward and backward.Described second cylinder 14e vertically arranges and is fixed on the upside of installing plate 14d.Described reclaimer robot 14f is between feeding table 13 and installing plate 14d, and the push rod of described second cylinder 14e is connected to reclaimer robot 14f through installing plate 14d down, thus can realize moving up and down of reclaimer robot 14f.
Described reclaimer robot 14f comprises principal arm 141f, support arm 142f and vacuum cup 143f.Described principal arm 141f arranges in left-right direction and is connected to the push rod of described second cylinder 14e, and the upside of described principal arm 141f is provided with two guide rod 144f, and two described guide rod 144f upper ends are run through installing plate 14d and are symmetrically distributed in the both sides of the second cylinder 14e.Described support arm 142f arranges along the longitudinal direction and is arranged on the two ends, downside of principal arm.Described vacuum cup 143f is arranged on the two ends, downside of support arm 142f, for adsorbing rectangular slab.
Described numerical-control feed mechanism 2 and numerical control receiving mechanism 3 are installed in front openings 51 place of a pressing equipment 5, and described numerical-control feed mechanism 2 is consistent with the structure of numerical control receiving mechanism 3 and include servomotor 21, mount pad 22 and to be arranged in mount pad 22 and the conveying roller 23 linked by servomotor 21.
Described garbage collection mechanism 4 comprises stand type support 41, the front side of described stand type support 41 is hinged with counter-rotating platform 42, described stand type support 41 is provided with the 3rd cylinder 43, described 3rd cylinder 43 is obliquely installed, the push rod of described 3rd cylinder 43 upper end is connected to counter-rotating platform 42, thus counter-rotating platform 42 can be made horizontal to accept waste material, and counter-rotating platform 42 can be made in skewed to topple over waste material.Bottom the front side of described stand type support 41, the position at two ends is extended with two symmetrical Extension support 41a forward, and each described Extension support 41a is extended with front two rows limited post 41b upward, and described front two rows limited post 41b forms garbage collection space 41c.
Operation principle: rectangular slab raw material are first deposited in storing region by punching operation person on request, after the sensor (not shown) at storing region place recognizes product, by start button, first cylinder 14c of take out device 14 and the second cylinder 14e action, reclaimer robot 14f is moved forward and drops to above rectangular slab raw material, after utilizing vacuum cup 143f to be drawn to rectangular slab raw material, rise, with the feeding table 13 that rectangular slab raw material are drawn to, then unclamp the material of absorption and return repetition aforementioned activities; Feeding table 13 carries out biplate detection through testing agency 13a, after being confirmed to be monolithic rectangular slab raw material, PLC control system controls automatic retreating materials mechanism 13b action, and the rectangular slab raw material promoted on feeding table 13 to be delivered in numerical-control feed mechanism 2 and completed location; Numerical-control feed mechanism 2 controls step pitch feeding automatically by the parameter distance that PLC control system sets, and when the punching press of rectangular slab raw material exceedes half time, automatically switches on numerical control receiving mechanism 3 and controls, by the distance step pitch rewinding that PLC control system sets; After punching press completes, waste material is automatically collected by counter-rotating platform 42 and is collected in the 41c of garbage collection space.
When carrying out biplate detection through testing agency 13a, be confirmed to be biplate rectangular slab raw material, then shutdown of reporting to the police if detected.
In sum, adopt reclaimer robot 14f, its each step performed has corresponding detection, thus guarantees that the action of each is effectively with accurate; Numerical-control feed mechanism 2 and numerical control receiving mechanism 3 control by the servomotor 21 of precision, effectively can ensure the uniformity of feeding, by speed and the length of simple setup control feeding, rewinding; Whole system adopts PLC control system centralized Control, thus can ensure precision, speed and stability.
More than in conjunction with most preferred embodiment, invention has been described, but the present invention is not limited to the embodiment of above announcement, and should contain various carry out according to essence of the present invention amendment, equivalent combinations.
Claims (10)
1. one kind short chi material feeding mechanical hand system, it is characterized in that, comprise: the PLC control system of feed mechanism, numerical-control feed mechanism, numerical control receiving mechanism, garbage collection mechanism and the feed mechanism described in controlling, numerical-control feed mechanism and the action of numerical control receiving mechanism, described feed mechanism, numerical-control feed mechanism, numerical control receiving mechanism and garbage collection mechanism sequentially arrange according to streamline direction from left to right.
2. short chi material feeding mechanical hand system as claimed in claim 1, it is characterized in that: described feed mechanism comprises high low trestle and is arranged on storing stand, feeding table and the take out device on high low trestle, described feeding table and numerical-control feed mechanism are set up in parallel, and the left side feed end of logarithm control feed mechanism is rectified in the right side discharging of described feeding table, described storing stand is positioned at the front side of feeding table, and the height of storing stand is lower than the height of feeding table, described take out device is positioned at the top of feeding table.
3. short chi material feeding mechanical hand system as claimed in claim 2, it is characterized in that: the upper surface of described storing stand is provided with material roller on two centering adjusting devices and three groups along the longitudinal direction, on described three groups, material roller and two centering adjusting devices are spaced, each centering adjusting device is provided with two the vertical spacing bars linked by centering adjusting device, these two vertical spacing bars distribute along the fore-and-aft direction of storing stand, and gap between two vertical spacing bars on each centering adjusting device is corresponding with the gap between the vertical spacing bar of two on another centering adjusting device is communicated with and forms storing region, two ends, left and right, described storing region are respectively equipped with the vertical postive stop baffle arranged.
4. short chi material feeding mechanical hand system as claimed in claim 3, it is characterized in that: described centering adjusting device comprises elongated positioning seat, double threaded screw, two nuts and handwheel, described elongated positioning seat be recessed to form elongated slot top down, the rear and front end of described elongated positioning seat is positioning end, described double threaded screw is positioned at elongated slot and the rear and front end of double threaded screw is arranged on corresponding positioning end place, two described nuts are arranged on double threaded screw, the lower end of two described vertical spacing bars is installed on corresponding nut, described handwheel is positioned at the front side of elongated positioning seat and is arranged on the front end of double threaded screw.
5. short chi material feeding mechanical hand system as claimed in claim 2, it is characterized in that: described feeding table is parallel with storing stand, the front side of described feeding table is provided with testing agency, is provided with the automatic retreating materials mechanism that can move right on the left of described feeding table.
6. short chi material feeding mechanical hand system as claimed in claim 2, it is characterized in that: described take out device comprises location-plate, slider waveguide rod mechanism, first cylinder, installing plate, second cylinder and reclaimer robot, described location-plate to be arranged on rear side of high low trestle and to arrange along the longitudinal direction, the slide block of described first cylinder and slider waveguide rod mechanism is fixed on location-plate, the guide rod of described slider waveguide rod mechanism can slide anteroposterior be arranged on slide block, described installing plate to be positioned at above feeding table and to arrange in left-right direction, described installing plate is connected to the front end of the guide rod of slider waveguide rod mechanism and the push rod of the first cylinder, described second cylinder is vertically arranged and is fixed on the upside of installing plate, described reclaimer robot is between feeding table and installing plate, and the push rod of described second cylinder is connected to reclaimer robot through installing plate down.
7. short chi material feeding mechanical hand system as claimed in claim 6, it is characterized in that: described reclaimer robot comprises principal arm, support arm and vacuum cup, described principal arm arranges in left-right direction and is connected to the push rod of described second cylinder, the upside of described principal arm is provided with two guide rods, two described guide rod upper ends are run through installing plate and are symmetrically distributed in the both sides of the second cylinder, described support arm is arranged along the longitudinal direction and is arranged on the downside of principal arm, and described vacuum cup is arranged on the downside of support arm.
8. short chi material feeding mechanical hand system as claimed in claim 2, it is characterized in that: described numerical-control feed mechanism and numerical control receiving mechanism are installed in the front openings place of a pressing equipment, described numerical-control feed mechanism is consistent with the structure of numerical control receiving mechanism and include servomotor, mount pad and to be arranged in mount pad and the conveying roller linked by servomotor.
9. short chi material feeding mechanical hand system as claimed in claim 2, it is characterized in that: described garbage collection mechanism comprises stand type support, the front side of described stand type support is hinged with counter-rotating platform, described stand type support is provided with the 3rd cylinder, described 3rd cylinder is obliquely installed, and the push rod of described 3rd cylinder upper end is connected to counter-rotating platform.
10. short chi material feeding mechanical hand system as claimed in claim 9, it is characterized in that: bottom the front side of described stand type support, be extended with Extension support forward, described Extension support is extended with front two rows limited post upward, and described front two rows limited post forms garbage collection space.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510448803.8A CN105013963A (en) | 2015-08-21 | 2015-08-21 | Short material feeding manipulator system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510448803.8A CN105013963A (en) | 2015-08-21 | 2015-08-21 | Short material feeding manipulator system |
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| CN105013963A true CN105013963A (en) | 2015-11-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510448803.8A Pending CN105013963A (en) | 2015-08-21 | 2015-08-21 | Short material feeding manipulator system |
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| CN (1) | CN105013963A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105798186A (en) * | 2016-03-23 | 2016-07-27 | 浙江工业大学 | Continuous automatic feeding device of punching machine |
| CN108672583A (en) * | 2018-06-29 | 2018-10-19 | 山东方德自动化设备有限公司 | A kind of punching automation feeding line alignment table automatic regulating apparatus |
| CN108838286A (en) * | 2018-03-13 | 2018-11-20 | 华南理工大学 | A kind of short metal tube reducing device |
| CN111151673A (en) * | 2020-03-05 | 2020-05-15 | 温州市博迈环保科技有限公司 | Waste collecting device for metal stamping |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0047056A2 (en) * | 1980-08-29 | 1982-03-10 | Danly Machine Corporation | Power press arrangement |
| CN203140557U (en) * | 2013-02-05 | 2013-08-21 | 济南德高机器有限公司 | Sash material punching production line for aluminum doors and aluminum windows |
| CN103722100A (en) * | 2013-12-20 | 2014-04-16 | 芜湖常瑞汽车部件有限公司 | PLC (programmable logic controller) control type automotive metal sheet machining punch |
| CN204504037U (en) * | 2015-02-07 | 2015-07-29 | 广州科敏达工业机器人有限公司 | Short chi material feeding mechanical hand system |
-
2015
- 2015-08-21 CN CN201510448803.8A patent/CN105013963A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0047056A2 (en) * | 1980-08-29 | 1982-03-10 | Danly Machine Corporation | Power press arrangement |
| CN203140557U (en) * | 2013-02-05 | 2013-08-21 | 济南德高机器有限公司 | Sash material punching production line for aluminum doors and aluminum windows |
| CN103722100A (en) * | 2013-12-20 | 2014-04-16 | 芜湖常瑞汽车部件有限公司 | PLC (programmable logic controller) control type automotive metal sheet machining punch |
| CN204504037U (en) * | 2015-02-07 | 2015-07-29 | 广州科敏达工业机器人有限公司 | Short chi material feeding mechanical hand system |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105798186A (en) * | 2016-03-23 | 2016-07-27 | 浙江工业大学 | Continuous automatic feeding device of punching machine |
| CN108838286A (en) * | 2018-03-13 | 2018-11-20 | 华南理工大学 | A kind of short metal tube reducing device |
| CN108838286B (en) * | 2018-03-13 | 2023-09-29 | 华南理工大学 | Short metal pipe diameter reducing device |
| CN108672583A (en) * | 2018-06-29 | 2018-10-19 | 山东方德自动化设备有限公司 | A kind of punching automation feeding line alignment table automatic regulating apparatus |
| CN111151673A (en) * | 2020-03-05 | 2020-05-15 | 温州市博迈环保科技有限公司 | Waste collecting device for metal stamping |
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