CN105215076A - A kind of sheet fabrication combination plant, automation machining sheet system and processing method - Google Patents
A kind of sheet fabrication combination plant, automation machining sheet system and processing method Download PDFInfo
- Publication number
- CN105215076A CN105215076A CN201510652778.5A CN201510652778A CN105215076A CN 105215076 A CN105215076 A CN 105215076A CN 201510652778 A CN201510652778 A CN 201510652778A CN 105215076 A CN105215076 A CN 105215076A
- Authority
- CN
- China
- Prior art keywords
- plate
- locating platform
- control device
- suction
- inductor
- Prior art date
- Legal status (The legal status 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 status listed.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C37/00—Manufacture of metal sheets, bars, wire, tubes or like semi-manufactured products, not otherwise provided for; Manufacture of tubes of special shape
- B21C37/02—Manufacture of metal sheets, bars, wire, tubes or like semi-manufactured products, not otherwise provided for; Manufacture of tubes of special shape of sheets
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/003—Positioning devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/18—Advancing work in relation to the stroke of the die or tool by means in pneumatic or magnetic engagement with the work
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of sheet fabrication combination plant, before operation, first according to the parameter adjustment inductor such as size, thickness of plate and the position of sensor, so that carry out one-time positioning to plate.Make suction plate component suction position accurate, and plate can be placed on locating platform accurately.After plate is arranged to locating platform, orientation angle is in the extreme lower position of locating platform by gas ejection mechanism, make plate under the effect of self gravitation, landing is to orientation angle place, the gear being subject to alignment pin is held, make system complete secondary location, so further accuracy improving location, the subsequent handling being convenient to be connected with this combination plant is processed further to plate.Do not need manual operation to plate haul, location, conveying process, system completes whole operation automatically, can realize twice location, offer convenience to plate following process, provide production efficiency, make Sheet Metal Processing reach lean production, manufacture out fine work to user.
Description
Technical field
The present invention relates to sheet fabrication field, particularly relate to a kind of sheet fabrication combination plant, automation machining sheet system and method for processing sheet material.
Background technology
Industrial robot is multi-joint manipulator towards industrial circle or multivariant robot.Industrial robot is the installations automatically performing work, is to lean on self power and control ability to realize a kind of machine of various function.It can accept mankind commander, also can run according to the program of layout in advance, the principle guiding principle action that modern industrial robot can also be formulated according to artificial intelligence technology.Industrial robot in the industrial production can for some long working that is dull, frequent and that repeat of oblige by doing, or the operation under dangerous, adverse circumstances, such as in the operations such as punching press, compression casting, heat treatment, welding, application, plastic products shaping, machining and simple assembling, and in the departments such as atomic energy industry, complete carrying or the technological operation of harmful material.
In mechanical processing process, sheet material is transported to bender or cutting machine or bonding machine etc. by industrial robot, industrial robot provides translocation to operations such as punching press, compression casting, heat treatment, welding, application, plastic products shapings, but, thering is provided in the process of plate to industrial robot, also there is more weak point, such as during industrial robot adsorbent, due to sheet material putting position disunity, when causing suction disc, cause location inaccurate, have a strong impact on the precision of following process, and then affect product quality.
Summary of the invention
In order to overcome above-mentioned deficiency of the prior art, the object of the invention is to, a kind of sheet fabrication combination plant is provided, comprise: Handling device, positioner, articulated robot and communicate to connect with described Handling device, described positioner, described articulated robot respectively, for controlling described Handling device, described positioner, described articulated robot carry out the control device that runs;
Described Handling device comprises: carry across frame, suction plate component and for driving described suction plate component in described carrying across the suction disc driving mechanism that frame runs;
Described carrying is provided with transverse transmission mechanism and the first level sensor be electrically connected with described control device respectively and position sensor across frame;
Described suction plate component comprises: the suction disc be in transmission connection with described transverse transmission mechanism is across frame, described suction disc is provided with elevating mechanism across frame, lift drive mechanism, rising put inductor in place and attract the position inductor, and described elevating mechanism is provided with suction disc sucker and pressure sensor;
Described positioner be arranged on described carrying across frame across interior, described positioner comprises: positioning base, is arranged on the locating platform on described positioning base; Described positioning base is provided with for holding described locating platform, changes the gas ejection mechanism of described locating platform height; Described locating platform is rectangular configuration, described locating platform is provided with the plate inductor falling to putting described locating platform for responding to plate, the right angle that described locating platform is in extreme lower position is orientation angle, and two limits adjacent with described orientation angle are respectively equipped with several alignment pins;
Described articulated robot comprises: mechanical arm, arranges on described mechanical arm, for adsorbing the Suction cup assembly of plate, is communicated with described Suction cup assembly, for the aspirator making Suction cup assembly produce negative-pressure adsorption plate;
Described control device comprises: initial position sensing module, position sensing module, displacement setting module, attract the position induction module, pressure sensor block, rising put induction module, plate induction module, pneumatic jack control module, arm suction control module, arm control module in place;
The initial position induced signal that described initial position sensing module sends for receiving described just level sensor, makes described control device control described transverse transmission mechanism and stops driving described suction plate component to move;
Plate, for setting the distance just between level sensor and locating platform, after making suction plate component adsorb plate, according to the distance of setting, is transported on locating platform by initial position sensing station by described displacement setting module;
Describedly attract the position induction module for what attract the position that inductor sends described in receiving and attract the position induced signal, make described control device control described suction disc sucker suction plate;
Described pressure sensor block is for receiving the pressure sensitive signal of pressure sensor transmission, and described control device controls described lift drive mechanism, makes described lift drive mechanism drive described elevating mechanism to rise;
The described rising induction module that puts in place to put in place induced signal for receiving the described rising rising that inductor sends that puts in place, described control device is made to control described lift drive mechanism, stop driving described elevating mechanism to rise, described control device controls described transverse transmission mechanism and drives described suction plate component to move to described locating platform;
The plate induced signal that described plate induction module sends for receiving described plate inductor, described control device is made to control described lift drive mechanism, stop driving described elevating mechanism to decline, and make described control device control described suction disc sucker stopping absorption plate, plate is fallen to putting on described locating platform and after plate is fallen to putting described locating platform, make control device control described lift drive mechanism, drive described elevating mechanism to rise;
Described position sensing module is used for the location triggered signal that receiving position sensor sends;
Described pneumatic jack control module is used for the initial position induced signal receiving just level sensor transmission according to initial position sensing module, make pneumatic jack control module control described gas ejection mechanism and change described locating platform height, described orientation angle is made to be in the extreme lower position of described locating platform, and when the raised part trigger position sensor of locating platform, pneumatic jack control module control gas ejection mechanism is out of service and adsorb plate for working as described mechanical arm, plate is made to leave described locating platform, described plate induction module does not receive plate induced signal, pneumatic jack control module controls described gas ejection mechanism and makes described locating platform recovery level,
Described arm suction control module is used for after position sensing module receives the location triggered signal of position sensor transmission, and described arm suction control module controls described mechanical arm and adsorbs plate on described locating platform;
Described arm control module is run for controlling described mechanical arm.
Preferably, described gas ejection mechanism comprises: the pneumatic jack post be connected with described locating platform, the air feed module be communicated with described pneumatic jack post and be electrically connected with described control device, for controlling air feed module to the magnetic valve of pneumatic jack post air feed;
Described control device comprises: solenoid valve control module;
After described solenoid valve control module receives the plate induced signal of described plate inductor transmission for described plate induction module, described solenoid valve control module controls described magnetic valve and opens, described air feed module holds described locating platform to described pneumatic jack post air feed, makes described orientation angle be in the extreme lower position of described locating platform;
Described gas ejection mechanism comprises: two described pneumatic jack posts and swingable bracing frame, swingable bracing frame is arranged on the center bottom locating platform.
Preferably, described positioner comprises: retaining mechanism;
Described retaining mechanism comprises: locking latch and bolt driving part;
Described bolt driving part is electrically connected with described position sensor, and after triggering described position sensor when locating platform, described bolt driving part controls described locking latch and holds locking to described pneumatic jack capital.
Preferably, two limits that described orientation angle is adjacent are respectively equipped with the rectangular groove for accommodating described alignment pin;
Described locating platform is provided with for the positioning pin drive mechanism driving described alignment pin to move along rectangular groove flute length direction in described rectangular groove and to be elevated along groove depth direction;
Described positioning pin drive mechanism is electrically connected with described control device, controls described alignment pin move in described rectangular groove for making described control device;
Described locating platform surface is provided with roller.
Preferably, described carrying is provided with scraping mechanism across frame;
Described scraping mechanism comprises: along vertical direction extend scraper block and be connected with described scraper block, for regulating the position adjusting mechanism of described scraper block position;
Described scraper block is arranged on described rising and puts in place inductor and describedly attract the position between inductor, after described suction disc sucker suction plate, in uphill process, through described scraper block, edges of boards and described scraper block are swiped, wipes unnecessary plate off, make described suction disc sucker only adsorb a plate.
Preferably, described suction disc has longitudinal transmission mechanism across erection;
Lateral attitude inductor and lengthwise position inductor is provided with above described locating platform;
Described orientation angle is provided with the located lateral limit paralleled across the transverse transmission mechanism of frame with described carrying and the longitudinal register limit paralleled with the longitudinal transmission mechanism of described suction plate component;
Described lateral attitude inductor is arranged near described located lateral limit;
Described lengthwise position inductor is arranged near described longitudinal register limit;
Described lateral attitude inductor and lengthwise position inductor are electrically connected with described control device respectively, described longitudinal transmission mechanism and described transverse transmission mechanism is controlled respectively for described control device, plate is placed on described locating platform by described suction plate component, is not pressed against on described alignment pin.
A kind of automation machining sheet system, comprising: above-mentioned sheet fabrication combination plant and the bender matched with described sheet fabrication combination plant, or sheet cutting machine, or bonding machine, or plate shearing machine, or flush coater.
A kind of method for processing sheet material, comprising:
Step one: lift drive mechanism drives elevating mechanism to decline, when triggering attracts the position inductor, control device controls suction disc sucker suction plate;
Step 2: pressure sensor block receives the pressure sensitive signal of pressure sensor transmission, makes control device control lift drive mechanism, drives elevating mechanism to rise;
Step 3: the induction module that puts in place of rising receives the described rising rising that inductor sends that puts in place and to put in place induced signal, control device is made to control lift drive mechanism, stop driving elevating mechanism to rise, control device controls transverse transmission mechanism and drives suction plate component to move to locating platform;
Step 4: according to the distance of displacement setting module setting just between level sensor and locating platform, plate is transported to above locating platform by initial position sensing station by suction plate component, lift drive mechanism drives elevating mechanism to decline, plate triggers plate inductor, control device is made to control lift drive mechanism, stop driving elevating mechanism to decline, and make control device control suction disc sucker stopping absorption plate, plate is fallen to putting on locating platform; And for making control device control described lift drive mechanism, drive elevating mechanism to rise;
Step 5: control device controls lift drive mechanism, driving elevating mechanism rises, stop rising until triggering rising puts in place after inductor, control device controls transverse transmission mechanism and drives suction plate component to move to first level sensor, until triggering just level sensor stopping is mobile;
Step 6: the initial position induced signal receiving just level sensor transmission according to initial position sensing module, pneumatic jack control module controls gas ejection mechanism and changes locating platform height, orientation angle is made to be in the extreme lower position of locating platform, plate is under the effect of self gravitation, landing is to orientation angle place, when the raised part trigger position sensor of locating platform, it is out of service that pneumatic jack control module controls gas ejection mechanism;
Step 7: after position sensing module receives the location triggered signal of position sensor transmission, arm suction control module controls the plate on mechanical arm absorption locating platform;
Step 8: when mechanical arm absorption plate, make plate leave locating platform, plate induction module does not receive plate induced signal, and pneumatic jack control module controls gas ejection mechanism and makes locating platform recovery level.
As can be seen from the above technical solutions, the present invention has the following advantages:
Sheet fabrication combination plant is before operation, first according to the sensor and inductor etc. of size, thickness, material etc. the setting parameter correspondence position of plate, so that carry out one-time positioning to plate, make suction plate component suction position accurate, and plate can be placed on locating platform accurately.After plate is arranged to locating platform, orientation angle is in the extreme lower position of locating platform by gas ejection mechanism, make plate under the effect of self gravitation, landing is to orientation angle place, the gear being subject to alignment pin is held, system completes secondary location, and so further accuracy improving location, the subsequent handling being convenient to be connected with this combination plant is processed further to plate.Use combination plant not need manual operation to plate haul, location, conveying process, system completes whole operation automatically, can realize twice location, offer convenience to plate following process, provide production efficiency, make Sheet Metal Processing reach lean production, manufacture out fine work to user.
Accompanying drawing explanation
In order to be illustrated more clearly in technical scheme of the present invention, be briefly described to the accompanying drawing used required in description below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is mechanical arm and control device structural representation;
Fig. 2 is Handling device and positioning device structure schematic diagram;
Fig. 3 is the module diagram of control device;
Fig. 4 is pneumatic jack post layout drawing on locating platform;
Fig. 5 is the structural representation of lateral attitude inductor and lengthwise position inductor;
Fig. 6 is the flow chart of method for processing sheet material.
Detailed description of the invention
For making goal of the invention of the present invention, feature, advantage can be more obvious and understandable; specific embodiment and accompanying drawing will be used below; the technical scheme of the present invention's protection is clearly and completely described; obviously; the embodiments described below are only the present invention's part embodiments, and the embodiment of not all.Based on the embodiment in this patent, those of ordinary skill in the art are not making other embodiments all obtained under creative work prerequisite, all belong to the scope of this patent protection.
The present embodiment provides a kind of sheet fabrication combination plant, refer to shown in Fig. 1, Fig. 2, Fig. 3, comprise: Handling device, positioner, articulated robot 3 and communicate to connect with Handling device, positioner, articulated robot 3 respectively, for controlling Handling device, positioner, articulated robot 3 carry out the control device 4 that runs;
Handling device comprises: carry across frame 11, suction plate component and for drive suction plate component carrying across the suction disc driving mechanism that frame runs;
Carry and be provided with transverse transmission mechanism 12 and the first level sensor 13 be electrically connected with control device 4 respectively and position sensor 14 across frame 11;
Suction plate component comprises: the suction disc be in transmission connection with transverse transmission mechanism 12 is across frame 15, suction disc is provided with elevating mechanism across frame 15, lift drive mechanism, rising put inductor 16 in place and attract the position inductor 17, and elevating mechanism is provided with suction disc sucker 18 and pressure sensor;
Be understandable that, between the span that to carry across frame 11 be two supports and two supports with certain span, be provided with support member.Two supports are provided with transverse transmission mechanism 12, and in the present embodiment, laterally referring to the direction parallel with support, be longitudinally the direction with support vertical, positioner be arranged on carry across frame 11 across interior.Plate, is sucked up by suction disc sucker 18 across between two supports across frame 15 by suction disc.Transverse transmission mechanism 12 can adopt electric cylinder transmission, or hydraulic cylinder transmission, or screw rod transmission etc.Suction disc is provided with the drive disk assembly suitable with transverse transmission mechanism 12 across frame 15, and the concrete kind of drive does not limit here.Lift drive mechanism can adopt motor to drive.
Positioner be arranged on carrying across frame 11 across interior, positioner comprises: positioning base, is arranged on the locating platform 21 on positioning base; Positioning base is provided with for holding locating platform 21, changes the gas ejection mechanism 22 of locating platform height; Locating platform 21 is rectangular configuration, locating platform 21 is provided with the plate inductor 23 falling to putting locating platform 21 for responding to plate, the right angle that locating platform 21 is in extreme lower position is orientation angle 24, and two limits adjacent with orientation angle 24 are respectively equipped with several alignment pins 25;
Articulated robot comprises: mechanical arm 3, arranges on mechanical arm, for adsorbing the Suction cup assembly of plate, is communicated with Suction cup assembly, for the aspirator making Suction cup assembly produce negative-pressure adsorption plate;
Control device 4 comprises: initial position sensing module 41, position sensing module 42, attract the position induction module 43, pressure sensor block 44, rising puts in place induction module 45, plate induction module 46, pneumatic jack control module 47, displacement setting module 48, arm suction control module 49, arm control module 50;
The initial position induced signal that initial position sensing module 41 sends for receiving just level sensor 13, makes control device 4 control transverse transmission mechanism 12 and stops driving suction plate component to move;
Plate, for setting the distance just between level sensor 13 and locating platform 21, after making suction plate component adsorb plate, according to the distance of setting, is transported on locating platform 21 by first level sensor 13 position by described displacement setting module 48;
Attract the position induction module 43 for receive attract the position inductor 17 send attract the position induced signal, make control device 5 control suction disc sucker 18 and adsorb plate;
The pressure sensitive signal that pressure sensor block 44 transmits for receiving pressure sensor 51, makes control device 4 control lift drive mechanism, drives elevating mechanism to rise;
The induction module 45 that puts in place of rising to put in place induced signal for receiving the rising that inductor 16 sends that puts in place of rising, control device is made to control lift drive mechanism, stop driving elevating mechanism to rise, control device controls transverse transmission mechanism and drives suction plate component to move to locating platform 21;
The plate induced signal that plate induction module sends for receiving described plate inductor 23, described control device 4 is made to control described lift drive mechanism, stop driving described elevating mechanism to decline, and make described control device 4 control described suction disc sucker stopping absorption plate, plate is fallen to putting on described locating platform 21 and by plate and fall to putting after on described locating platform 21, make control device 4 control described lift drive mechanism, drive described elevating mechanism to rise;
The location triggered signal that described position sensing module 42 sends for receiving position sensor 14;
The initial position induced signal that described pneumatic jack control module 47 sends for receiving just level sensor 13 according to initial position sensing module 41, make pneumatic jack control module 47 control described gas ejection mechanism and change described locating platform 21 height, described orientation angle 24 is made to be in the extreme lower position of described locating platform 21, and when the raised part trigger position sensor 14 of locating platform 21, it is out of service and for adsorbing plate when described mechanical arm 4 that pneumatic jack control module 47 controls gas ejection mechanism, plate is made to leave described locating platform 21, described plate induction module does not receive plate induced signal, pneumatic jack control module 47 controls described gas ejection mechanism and makes described locating platform 21 recovery level,
Described arm suction control module 49 is for after the location triggered signal that receives position sensor 14 when position sensing module 42 and send, and described arm suction control module 49 controls described mechanical arm 3 and adsorbs plate on described locating platform 21;
Arm control module 52 is run for controlling mechanical arm 3.
Sensor in the present embodiment or inductor all can use photoelectric sensor, or acousto-optic sensor, or mechanical pick-up device etc.
It can thus be appreciated that sheet fabrication combination plant is before operation, first according to size, thickness, material etc. the parameter adjustment corresponding inductor of sheet fabrication combination plant of plate and the position of sensor, so that carry out one-time positioning to plate.Make suction plate component suction position accurate, and plate can be placed on locating platform 21 accurately.After plate is arranged to locating platform 21, gas ejection mechanism 22 is by the extreme lower position of orientation angle place 24 in locating platform 21, make plate under the effect of self gravitation, landing is to orientation angle 21 place, system is made to complete secondary location, so further accuracy improving location, the subsequent handling being convenient to be connected with native system is processed further to plate.Use system does not need manual operation to plate haul, location, conveying process, and system completes whole operation automatically, can realize twice location, offer convenience to plate following process, provide production efficiency, make Sheet Metal Processing reach lean production, manufacture out fine work to user.
In the present embodiment, gas ejection mechanism 22 comprises: the pneumatic jack post be connected with locating platform 21, the air feed module be communicated with pneumatic jack post and be electrically connected with control device 4, for controlling air feed module to the magnetic valve of pneumatic jack post air feed;
Control device 4 comprises: solenoid valve control module;
After solenoid valve control module receives the plate induced signal of plate inductor 23 transmission for plate induction module 46, solenoid valve control module Controlling solenoid valve is opened, air feed module holds locating platform 21 to pneumatic jack post air feed, makes orientation angle 24 be in the extreme lower position of locating platform 21;
Described gas ejection mechanism comprises: two described pneumatic jack posts and swingable bracing frame 67, swingable bracing frame 67 is arranged on the center bottom locating platform 21.
Like this pneumatic jack post is arranged on two corner positions closed on orientation angle 24, the drift angle distributed in diagonal with orientation angle 24 does not arrange pneumatic jack post; When pneumatic jack post promotes, by two drift angle jack-up of closing on orientation angle 24, orientation angle 24 is rocked to the extreme lower position of locating platform 21 by swingable bracing frame simultaneously.
Refer to shown in Fig. 4, here forming two limits of orientation angle 24 is gulde edge, and two described pneumatic jack posts 50 are arranged on the position beyond two gulde edges, namely draw straight line along two described pneumatic jack posts 50, form 24a region and 24b region, orientation angle 24 is arranged on 24a region.The area in 24a region is greater than the area in 24b region.The position that such two described pneumatic jack posts 50 are arranged, draws straight line
50a, is formedthe area in 24a region is greater than the area in 24b region, time on plate placement positioning platform 21, area of sheet metal due to 24a region is greater than the area of sheet metal in 24b region, and locating platform 21 tilts to orientation angle 24, makes orientation angle 24 be rocked to the extreme lower position of locating platform 21.When the raised part trigger position sensor 14 of locating platform 21, it is out of service that pneumatic jack control module controls gas ejection mechanism;
Further, positioner comprises: retaining mechanism 27; Retaining mechanism 27 comprises: locking latch and bolt driving part; Described bolt driving part is electrically connected with described position sensor 14, and after triggering described position sensor 14 when locating platform 21, described bolt driving part controls described locking latch and holds locking to described pneumatic jack post 50.Avoid mechanical arm 3 when adsorbing plate, locating platform 21 is unstable, and affects positioning precision.
When mechanical arm 3 adsorbs plate, make plate leave locating platform 21, plate induction module does not receive plate induced signal, and control device 4 controls gas ejection mechanism 22 and makes locating platform 21 recovery level;
In the present embodiment, two limits that orientation angle 24 is adjacent are respectively equipped with the rectangular groove for accommodating alignment pin; Locating platform 21 is provided with for the positioning pin drive mechanism driving alignment pin 25 to move along rectangular groove flute length direction in rectangular groove and to be elevated along groove depth direction; Positioning pin drive mechanism is electrically connected with control device, controls alignment pin move in rectangular groove for making control device;
Be understandable that, alignment pin 25, under the effect of positioning pin drive mechanism, smoothly moves and lifting at rectangular trough inner water.Because the board dimension of processing differs, can, by the positioning precision of the horizontal position adjustment locating platform 21 pair plates of adjustment alignment pin 25 in rectangular groove, make locating platform 21 can adapt to the processing of different size plate here.The lifting of alignment pin 25 can be played, and when not needing orientation angle to locate, can fall in rectangular groove by alignment pin 25, keeps the smooth use of locating platform 21, makes locating platform 21 can be suitable for the various condition of production.Locating platform surface is provided with roller 26.
After plate is fallen to putting described locating platform 21 by suction plate component, control device 4 is made to control described lift drive mechanism, described elevating mechanism is driven to rise, stop rising after inductor until triggering rising puts in place, control device controls transverse transmission mechanism and drives suction plate component to move to first level sensor, stops mobile until trigger just level sensor; Only has the initial position induced signal when initial position sensing module reception just level sensor transmission, pneumatic jack control module controls gas ejection mechanism and changes locating platform height, orientation angle is made to be in the extreme lower position of locating platform, plate is under the effect of self gravitation, landing is to orientation angle place, when the raised part trigger position sensor of locating platform, it is out of service that pneumatic jack control module controls gas ejection mechanism; Like this, suction plate component returns to initial position, is convenient to transport plate next time and uses, improve equipment operating efficiency.
In the present embodiment, carry and be provided with scraping mechanism 19 across frame 15;
Scraping mechanism 19 comprises: the scraper block being provided with scraper pressure sensor;
Scraper block is arranged on rising and puts in place inductor 16 and attract the position between inductor 17, after adsorbing plate, through described scraper block, edges of boards and described scraper block is swiped, wipes unnecessary plate off, make 18, suction disc sucker adsorb a plate for suction disc sucker 18.
Before processing plate, set the thickness will processing plate, the number of plate.Setting Handling device minimum point, will basis when suction plate component decline suction disc: thickness of slab * number calculates suction disc position, the position of scraper block is first regulated by position adjusting mechanism, make sheet material in the process risen, sheet material edge and scraper block produce and rub, unnecessary sheet material is scraped and settles on position to sheet material, only carry a sheet material.An each like this carrying sheet material, avoids the generation of security incident, offers convenience also to follow-up production and processing.Also can after suction plate component adsorb plate, rise and touch after scraper block stops several seconds, then rise.
Scraper block can be connected across frame with carrying by position adjusting mechanism, and support also can be adopted separately to be connected across frame with carrying.Also can be provided with a ground supports frame on ground scraper block is set up, keep certain height with ground, position adjusting mechanism is roller or the locking device of ground supports frame, finding by promoting ground supports frame the position can swiped with sheet material, by locking device, ground supports frame being locked.Here the fixed form of scraper block is not limited.
In the present embodiment, refer to Fig. 5 suction disc and be provided with longitudinal transmission mechanism across frame 15;
Lateral attitude inductor 32 and lengthwise position inductor 31 is provided with above locating platform 21;
Orientation angle 24 is provided with and carries the located lateral limit 24b paralleled across the transverse transmission mechanism of the frame 11 and longitudinal register limit 24a paralleled with the longitudinal transmission mechanism of suction plate component;
Lateral attitude inductor 32 is arranged near located lateral limit 24b; Lengthwise position inductor 31 is arranged near longitudinal register limit 24a;
Lateral attitude inductor 32 and lengthwise position inductor 31 are electrically connected with control device 4 respectively, longitudinal transmission mechanism and transverse transmission mechanism is controlled respectively for control device 4, plate is placed on locating platform 21 by suction plate component, is not pressed against on alignment pin 25.
By arranging lateral attitude inductor 32 and lengthwise position inductor 31 makes longitudinal transmission mechanism and transverse transmission mechanism when plate is put in transmission, avoiding plate to be pressed on alignment pin 25, making alignment pin 25 block plate, and cause locating platform to locate.
The present invention also provides a kind of automation machining sheet system, comprising: the bender utilizing above-mentioned sheet fabrication combination plant and match with sheet fabrication combination plant, or sheet cutting machine, or bonding machine, or plate shearing machine, or flush coater.
The invention provides a kind of method for processing sheet material, refer to shown in Fig. 6, comprising:
S1: lift drive mechanism drives elevating mechanism to decline, when triggering attracts the position inductor, control device controls suction disc sucker suction plate;
S2: pressure sensor block receives the pressure sensitive signal of pressure sensor transmission, makes control device control lift drive mechanism, drives elevating mechanism to rise;
S3: the induction module that puts in place of rising receives the described rising rising that inductor sends that puts in place and to put in place induced signal, control device is made to control lift drive mechanism, stop driving elevating mechanism to rise, control device controls transverse transmission mechanism and drives suction plate component to move to locating platform;
S4: according to the distance of displacement setting module setting just between level sensor and locating platform, plate is transported to above locating platform by initial position sensing station by suction plate component, lift drive mechanism drives elevating mechanism to decline, plate triggers plate inductor, control device is made to control lift drive mechanism, stop driving elevating mechanism to decline, and make control device control suction disc sucker stopping absorption plate, plate is fallen to putting on locating platform; And for making control device control described lift drive mechanism, drive elevating mechanism to rise;
S5: control device controls lift drive mechanism, driving elevating mechanism rises, stop rising until triggering rising puts in place after inductor, control device controls transverse transmission mechanism and drives suction plate component to move to first level sensor, until triggering just level sensor stopping is mobile;
S6: the initial position induced signal receiving just level sensor transmission according to initial position sensing module, pneumatic jack control module controls gas ejection mechanism and changes locating platform height, orientation angle is made to be in the extreme lower position of locating platform, plate is under the effect of self gravitation, landing is to orientation angle place, when the raised part trigger position sensor of locating platform, it is out of service that pneumatic jack control module controls gas ejection mechanism;
S7: after position sensing module receives the location triggered signal of position sensor transmission, arm suction control module controls the plate on mechanical arm absorption locating platform;
S8: when mechanical arm absorption plate, make plate leave locating platform, plate induction module does not receive plate induced signal, and pneumatic jack control module controls gas ejection mechanism and makes locating platform recovery level.
Like this by sheet fabrication combination plant by after sheet material haul, twice location, robot conveying, can with bender, or sheet cutting machine, or bonding machine, or plate shearing machine, or flush coater matches, to plate making for further processing, and then improve the convenience of sheet fabrication, alleviate hand labor intensity.And sheet material is in sheet fabrication combination plant process, behind twice location, reaches bender, or sheet cutting machine, or bonding machine, or plate shearing machine, or the positioning precision of flush coater.Do not need manually to position again, greatly enhance productivity.
In this description, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiments, identical similar portion reference mutually between each embodiment.
To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the present invention.To be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein can without departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (8)
1. a sheet fabrication combination plant, it is characterized in that, comprise: Handling device, positioner, articulated robot and communicate to connect with described Handling device, described positioner, described articulated robot respectively, for controlling described Handling device, described positioner, described articulated robot carry out the control device that runs;
Described Handling device comprises: carry across frame, suction plate component and for driving described suction plate component in described carrying across the suction disc driving mechanism that frame runs;
Described carrying is provided with transverse transmission mechanism and the first level sensor be electrically connected with described control device respectively and position sensor across frame;
Described suction plate component comprises: the suction disc be in transmission connection with described transverse transmission mechanism is across frame, described suction disc is provided with elevating mechanism across frame, lift drive mechanism, rising put inductor in place and attract the position inductor, and described elevating mechanism is provided with suction disc sucker and pressure sensor;
Described positioner be arranged on described carrying across frame across interior, described positioner comprises: positioning base, is arranged on the locating platform on described positioning base; Described positioning base is provided with for holding described locating platform, changes the gas ejection mechanism of described locating platform height; Described locating platform is rectangular configuration, described locating platform is provided with the plate inductor falling to putting described locating platform for responding to plate, the right angle that described locating platform is in extreme lower position is orientation angle, and two limits adjacent with described orientation angle are respectively equipped with several alignment pins;
Described articulated robot comprises: mechanical arm, arranges on described mechanical arm, for adsorbing the Suction cup assembly of plate, is communicated with described Suction cup assembly, for the aspirator making Suction cup assembly produce negative-pressure adsorption plate;
Described control device comprises: initial position sensing module, position sensing module, displacement setting module, attract the position induction module, pressure sensor block, rising put induction module, plate induction module, pneumatic jack control module, arm suction control module, arm control module in place;
The initial position induced signal that described initial position sensing module sends for receiving described just level sensor, makes described control device control described transverse transmission mechanism and stops driving described suction plate component to move;
Plate, for setting the distance just between level sensor and locating platform, after making suction plate component adsorb plate, according to the distance of setting, is transported on locating platform by initial position sensing station by described displacement setting module;
Describedly attract the position induction module for what attract the position that inductor sends described in receiving and attract the position induced signal, make described control device control described suction disc sucker suction plate;
Described pressure sensor block is for receiving the pressure sensitive signal of pressure sensor transmission, and described control device controls described lift drive mechanism, makes described lift drive mechanism drive described elevating mechanism to rise;
The described rising induction module that puts in place to put in place induced signal for receiving the described rising rising that inductor sends that puts in place, described control device is made to control described lift drive mechanism, stop driving described elevating mechanism to rise, described control device controls described transverse transmission mechanism and drives described suction plate component to move to described locating platform;
The plate induced signal that described plate induction module sends for receiving described plate inductor, described control device is made to control described lift drive mechanism, stop driving described elevating mechanism to decline, and make described control device control described suction disc sucker stopping absorption plate, plate is fallen to putting on described locating platform and after plate is fallen to putting described locating platform, make control device control described lift drive mechanism, drive described elevating mechanism to rise;
Described position sensing module is used for the location triggered signal that receiving position sensor sends;
Described pneumatic jack control module is used for the initial position induced signal receiving just level sensor transmission according to initial position sensing module, make pneumatic jack control module control described gas ejection mechanism and change described locating platform height, described orientation angle is made to be in the extreme lower position of described locating platform, and when the raised part trigger position sensor of locating platform, pneumatic jack control module control gas ejection mechanism is out of service and adsorb plate for working as described mechanical arm, plate is made to leave described locating platform, described plate induction module does not receive plate induced signal, pneumatic jack control module controls described gas ejection mechanism and makes described locating platform recovery level,
Described arm suction control module is used for after position sensing module receives the location triggered signal of position sensor transmission, and described arm suction control module controls described mechanical arm and adsorbs plate on described locating platform;
Described arm control module is run for controlling described mechanical arm.
2. sheet fabrication combination plant according to claim 1, is characterized in that,
Described gas ejection mechanism comprises: the pneumatic jack post be connected with described locating platform, the air feed module be communicated with described pneumatic jack post and be electrically connected with described control device, for controlling air feed module to the magnetic valve of pneumatic jack post air feed;
Described control device comprises: solenoid valve control module;
After described solenoid valve control module receives the plate induced signal of described plate inductor transmission for described plate induction module, described solenoid valve control module controls described magnetic valve and opens, described air feed module holds described locating platform to described pneumatic jack post air feed, makes described orientation angle be in the extreme lower position of described locating platform;
Described gas ejection mechanism comprises: two described pneumatic jack posts and swingable bracing frame, swingable bracing frame is arranged on the center bottom locating platform.
3. sheet fabrication combination plant according to claim 2, is characterized in that,
Described positioner comprises: retaining mechanism;
Described retaining mechanism comprises: locking latch and bolt driving part;
Described bolt driving part is electrically connected with described position sensor, and after triggering described position sensor when locating platform, described bolt driving part controls described locking latch and holds locking to described pneumatic jack capital.
4. sheet fabrication combination plant according to claim 1, is characterized in that,
Two limits that described orientation angle is adjacent are respectively equipped with the rectangular groove for accommodating described alignment pin;
Described locating platform is provided with for the positioning pin drive mechanism driving described alignment pin to move along rectangular groove flute length direction in described rectangular groove and to be elevated along groove depth direction;
Described positioning pin drive mechanism is electrically connected with described control device, controls described alignment pin move in described rectangular groove for making described control device;
Described locating platform surface is provided with roller.
5. sheet fabrication combination plant according to claim 1, is characterized in that,
Described carrying is provided with scraping mechanism across frame;
Described scraping mechanism comprises: along vertical direction extend scraper block and be connected with described scraper block, for regulating the position adjusting mechanism of described scraper block position;
Described scraper block is arranged on described rising and puts in place inductor and describedly attract the position between inductor, after described suction disc sucker suction plate, in uphill process, through described scraper block, edges of boards and described scraper block are swiped, wipes unnecessary plate off, make described suction disc sucker only adsorb a plate.
6. sheet fabrication combination plant according to claim 1, is characterized in that,
Described suction disc has longitudinal transmission mechanism across erection;
Lateral attitude inductor and lengthwise position inductor is provided with above described locating platform;
Described orientation angle is provided with the located lateral limit paralleled across the transverse transmission mechanism of frame with described carrying and the longitudinal register limit paralleled with the longitudinal transmission mechanism of described suction plate component;
Described lateral attitude inductor is arranged near described located lateral limit;
Described lengthwise position inductor is arranged near described longitudinal register limit;
Described lateral attitude inductor and lengthwise position inductor are electrically connected with described control device respectively, described longitudinal transmission mechanism and described transverse transmission mechanism is controlled respectively for described control device, plate is placed on described locating platform by described suction plate component, is not pressed against on described alignment pin.
7. an automation machining sheet system, is characterized in that, comprising: utilize claim 1 to sheet fabrication combination plant according to claim 6 and the bender that matches with described sheet fabrication combination plant, or sheet cutting machine, or bonding machine, or plate shearing machine, or flush coater.
8. a method for processing sheet material, is characterized in that, comprising:
Step one: lift drive mechanism drives elevating mechanism to decline, when triggering attracts the position inductor, control device controls suction disc sucker suction plate;
Step 2: pressure sensor block receives the pressure sensitive signal of pressure sensor transmission, makes control device control lift drive mechanism, drives elevating mechanism to rise;
Step 3: the induction module that puts in place of rising receives the described rising rising that inductor sends that puts in place and to put in place induced signal, control device is made to control lift drive mechanism, stop driving elevating mechanism to rise, control device controls transverse transmission mechanism and drives suction plate component to move to locating platform;
Step 4: according to the distance of displacement setting module setting just between level sensor and locating platform, plate is transported to above locating platform by initial position sensing station by suction plate component, lift drive mechanism drives elevating mechanism to decline, plate triggers plate inductor, control device is made to control lift drive mechanism, stop driving elevating mechanism to decline, and make control device control suction disc sucker stopping absorption plate, plate is fallen to putting on locating platform; And for making control device control described lift drive mechanism, drive elevating mechanism to rise;
Step 5: control device controls lift drive mechanism, driving elevating mechanism rises, stop rising until triggering rising puts in place after inductor, control device controls transverse transmission mechanism and drives suction plate component to move to first level sensor, until triggering just level sensor stopping is mobile;
Step 6: the initial position induced signal receiving just level sensor transmission according to initial position sensing module, pneumatic jack control module controls gas ejection mechanism and changes locating platform height, orientation angle is made to be in the extreme lower position of locating platform, plate is under the effect of self gravitation, landing is to orientation angle place, when the raised part trigger position sensor of locating platform, it is out of service that pneumatic jack control module controls gas ejection mechanism;
Step 7: after position sensing module receives the location triggered signal of position sensor transmission, arm suction control module controls the plate on mechanical arm absorption locating platform;
Step 8: when mechanical arm absorption plate, make plate leave locating platform, plate induction module does not receive plate induced signal, and pneumatic jack control module controls gas ejection mechanism and makes locating platform recovery level.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510652778.5A CN105215076A (en) | 2015-10-10 | 2015-10-10 | A kind of sheet fabrication combination plant, automation machining sheet system and processing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510652778.5A CN105215076A (en) | 2015-10-10 | 2015-10-10 | A kind of sheet fabrication combination plant, automation machining sheet system and processing method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105215076A true CN105215076A (en) | 2016-01-06 |
Family
ID=54984535
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510652778.5A Withdrawn CN105215076A (en) | 2015-10-10 | 2015-10-10 | A kind of sheet fabrication combination plant, automation machining sheet system and processing method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105215076A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105817547A (en) * | 2016-05-13 | 2016-08-03 | 安徽科信伟德机电产品设计有限公司 | Fetching and conveying tool based on workpiece dimensions for stamping piece |
| CN107378590A (en) * | 2017-08-08 | 2017-11-24 | 格林精密部件(苏州)有限公司 | A kind of workpiece fast-positioning device |
| WO2019215384A1 (en) * | 2018-05-11 | 2019-11-14 | Zenrobotics Oy | Waste sorting robot |
| CN110899541A (en) * | 2019-12-17 | 2020-03-24 | 江苏昱博自动化设备有限公司 | Automatic change sheet metal robot |
| CN113275640A (en) * | 2021-03-11 | 2021-08-20 | 成都宝钢汽车钢材部件加工配送有限公司 | Post-positioning adsorption detection device and use method thereof |
| CN113399843A (en) * | 2021-07-09 | 2021-09-17 | 大族激光科技产业集团股份有限公司 | Laser marking device and laser marking system |
| US11851292B2 (en) | 2018-04-22 | 2023-12-26 | Mp Zenrobotics Oy | Waste sorting gantry robot |
Citations (7)
| 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 |
| US20120247208A1 (en) * | 2011-03-30 | 2012-10-04 | Fuji Jukogyo Kabushiki Kaisha | Pressed workpiece inspection apparatus |
| CN103111535A (en) * | 2013-01-21 | 2013-05-22 | 长沙长泰机器人有限公司 | Robot flexible punching workpiece handling system based on visual system |
| CN203529443U (en) * | 2013-10-22 | 2014-04-09 | 创美工艺(常熟)有限公司 | Manipulator handling system |
| JP2015160306A (en) * | 2014-02-28 | 2015-09-07 | 株式会社安川電機 | suction pad, robot hand and robot |
| CN104889281A (en) * | 2014-03-04 | 2015-09-09 | 上海瓦科自动化设备有限公司 | Full-automatic plate shearing machine |
| CN204996848U (en) * | 2015-10-10 | 2016-01-27 | 山东省博兴县斯诺自动化设备有限公司 | Panel processing combination plant, Automated processing panel system |
-
2015
- 2015-10-10 CN CN201510652778.5A patent/CN105215076A/en not_active Withdrawn
Patent Citations (7)
| 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 |
| US20120247208A1 (en) * | 2011-03-30 | 2012-10-04 | Fuji Jukogyo Kabushiki Kaisha | Pressed workpiece inspection apparatus |
| CN103111535A (en) * | 2013-01-21 | 2013-05-22 | 长沙长泰机器人有限公司 | Robot flexible punching workpiece handling system based on visual system |
| CN203529443U (en) * | 2013-10-22 | 2014-04-09 | 创美工艺(常熟)有限公司 | Manipulator handling system |
| JP2015160306A (en) * | 2014-02-28 | 2015-09-07 | 株式会社安川電機 | suction pad, robot hand and robot |
| CN104889281A (en) * | 2014-03-04 | 2015-09-09 | 上海瓦科自动化设备有限公司 | Full-automatic plate shearing machine |
| CN204996848U (en) * | 2015-10-10 | 2016-01-27 | 山东省博兴县斯诺自动化设备有限公司 | Panel processing combination plant, Automated processing panel system |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105817547A (en) * | 2016-05-13 | 2016-08-03 | 安徽科信伟德机电产品设计有限公司 | Fetching and conveying tool based on workpiece dimensions for stamping piece |
| CN107378590A (en) * | 2017-08-08 | 2017-11-24 | 格林精密部件(苏州)有限公司 | A kind of workpiece fast-positioning device |
| US11851292B2 (en) | 2018-04-22 | 2023-12-26 | Mp Zenrobotics Oy | Waste sorting gantry robot |
| WO2019215384A1 (en) * | 2018-05-11 | 2019-11-14 | Zenrobotics Oy | Waste sorting robot |
| US11660762B2 (en) | 2018-05-11 | 2023-05-30 | Mp Zenrobotics Oy | Waste sorting robot |
| CN110899541A (en) * | 2019-12-17 | 2020-03-24 | 江苏昱博自动化设备有限公司 | Automatic change sheet metal robot |
| CN113275640A (en) * | 2021-03-11 | 2021-08-20 | 成都宝钢汽车钢材部件加工配送有限公司 | Post-positioning adsorption detection device and use method thereof |
| CN113399843A (en) * | 2021-07-09 | 2021-09-17 | 大族激光科技产业集团股份有限公司 | Laser marking device and laser marking system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105215076A (en) | A kind of sheet fabrication combination plant, automation machining sheet system and processing method | |
| CN107971415B (en) | A kind of bending machine plate bending method of automatic positioning | |
| CN111558653A (en) | Die punching device capable of automatically feeding and discharging | |
| CN103159055B (en) | A kind of sheet metal automatic shift device | |
| CN205589930U (en) | Carton hoist mechanism | |
| CN204621453U (en) | A kind of mechanical positioner of cell piece | |
| CN105035752A (en) | Sucker control device for sucker type plate transferring equipment and control method thereof | |
| CN105215096A (en) | A kind of have location, conveying, the bending system of bent integrated and method | |
| CN204996848U (en) | Panel processing combination plant, Automated processing panel system | |
| CN106002231A (en) | Production line assembling robot | |
| CN208648244U (en) | A kind of air blowing material fetching mechanism | |
| CN215202374U (en) | Crawler lightering type self-discharging blanking machine | |
| CN202555641U (en) | Surface bending machine | |
| CN105397240A (en) | Manufacturing system for fire prevention cabinet | |
| CN205613960U (en) | Automatic positioner and utilize this positioner's bender system | |
| CN105269320A (en) | Board machining system | |
| CN206265857U (en) | A kind of sheet material suction machine | |
| CN205441997U (en) | Steel sheet automatic assembly line of colding pressing | |
| CN105710243A (en) | Stamping and shaping die | |
| CN110271713A (en) | A kind of automatic stacking system with pallet jacking redoiming conveyor | |
| CN208439883U (en) | A kind of semiconductor transportation system | |
| CN208483938U (en) | A kind of Full-automatic stephanoporate diameter punching apparatus | |
| CN208614532U (en) | A kind of push plate device of ecological board sander | |
| CN105149950A (en) | Manufacturing system for fire prevention cabinet | |
| CN209303963U (en) | A kind of positioning jacking tool suitable for conveyer belt |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20160106 |