CN105772594B - A kind of punching machine mechanical arm - Google Patents

Abstract

The invention discloses a punch manipulator. The invention includes a manipulator feeding structure and a manipulator discharging structure; the manipulator feeding structure and the manipulator discharging structure are respectively arranged on the feeding base and the discharging base; specifically: the manipulator feeding structure includes a feeding lifting mechanism, a material box, a plane positioning mechanism, a feeding Mechanism; the discharge structure of the manipulator includes a discharge grabbing mechanism, a material receiving mechanism and an electric control box; the invention is suitable for use in large-volume, highly repeatable stamping and forging operating environments. It has the characteristics of precise positioning, stable production quality, adjustable working rhythm, stable and reliable operation, and convenient maintenance.

Description

A punch manipulator

technical field

The invention belongs to the technical field of blanking processing of sheet metal, and in particular relates to a punching machine manipulator.

Background technique

In punch processing, due to the higher and higher requirements for processing accuracy, the requirements for processing equipment and personnel for operating equipment are also gradually increasing. Enterprises often fail to recruit suitable personnel, resulting in a significant increase in labor costs. At the same time, in the process of workers' processing, due to the instability of manual operation, the unqualified rate is common. In addition, in punch processing, manual operation is very dangerous, and workers are prone to work-related injuries due to misoperation or special reasons, which increases the cost of the enterprise. Based on these problems, punch processing enterprises are eager to find solutions that can effectively reduce costs and improve product output and quality. Therefore, the development of a sheet metal punching manipulator can replace the manual loading and unloading and stamping functions of the workpiece in the loading and unloading process of the punching machine. The manipulator has the characteristics of precise positioning, stable production quality, adjustable working rhythm, stable and reliable operation, and convenient maintenance.

Contents of the invention

The object of the present invention is to provide a punch manipulator aiming at the deficiencies of the prior art.

The technical solution adopted by the present invention to solve its technical problems is as follows:

A punch manipulator, comprising a manipulator feeding structure and a manipulator discharging structure; the manipulator feeding structure and the manipulator discharging structure are respectively arranged on a feeding base and a material discharging base; specifically: the manipulator feeding structure includes a feeding lifting mechanism, a material box, and a plane positioning Mechanism, feeding mechanism; the manipulator discharge structure includes the discharge grasping mechanism, the receiving mechanism and the electric control box;

The feeding lifting mechanism includes the feeding lifting cylinder, the main frame of the feeding manipulator, the feeding guide rail, the first-level feeding cylinder, the second-level feeding cylinder, pulleys, the linear optical axis, the suction cup lifting cylinder and the feeding suction cup; the feeding lifting cylinder is set on the main frame of the feeding manipulator , the specific feeding lifting cylinder is set on the main frame of the feeding manipulator through the height adjustment pad of the feeding lifting cylinder, and the output shaft of the feeding lifting cylinder passes through the through hole of the main frame of the feeding manipulator and is fixedly connected with the feeding guide rail. The telescopic pull the feeding guide rail up and down; the four linear optical axes are set in the main frame of the feeding manipulator, one end of the linear optical axis is fixedly connected with the inner upper surface of the main frame of the feeding manipulator, and the other end is fixed on the linear optical axis bracket, the linear optical axis bracket It is fixedly connected in the main frame of the feeding manipulator; the feeding guide rail is fixed on the linear optical axis, and the specific two feeding guide rails are respectively fixed parallel to the four linear optical axes, and the two feeding guide rails can slide up and down along the linear optical axis; Both the first-stage cylinder and the second-stage feeding cylinder are fixed on the lower surface of the feeding guide rail. Specifically: the first-stage feeding cylinder is directly fixed on the lower surface of the feeding guide rail, and the second-stage feeding cylinder is slidingly connected to the upper surface of the feeding guide rail through a pulley, that is, the second feeding cylinder The first-stage cylinder can move itself through the movement of the pulley; the output shaft of the first-stage feeding cylinder is directly connected to the second-stage feeding cylinder, the output shaft of the second-stage feeding cylinder is connected to the suction cup lifting cylinder, and the output shaft of the suction cup lifting cylinder passes through The suction cup bracket is connected with the feeding suction cup.

The plane positioning mechanism includes a horizontal positioning cylinder, a longitudinal positioning cylinder, a longitudinal positioning block, a horizontal positioning block, a longitudinal push block and a horizontal push block; Connected, the longitudinal positioning block and the transverse positioning block are arranged at fixed positions, and are used for positioning the plates in the material box.

The horizontal positioning block and the vertical positioning block are adjustable and adjusted according to the size of the sheet; the horizontal push block and the vertical push block can be fine-tuned up and down and adjusted according to the thickness of the sheet; The horizontal positioning cylinder pushes the sheet material to the horizontal stopper through the horizontal push block to complete the horizontal positioning; then the vertical positioning cylinder moves, and pushes the sheet material to the longitudinal positioning stopper through the vertical push block to complete the longitudinal positioning. The positioning of the starting position of the sheet.

Feeding mechanism includes proximity switch bracket, proximity switch fine-tuning mechanism, proximity switch Ⅰ, material box fixed cylinder, fixed cylinder adjustment structure, material box positioning block, lifting screw motor, motor fixing bracket, screw rod, screw fixing plate, roller Bracket, roller, longitudinal cylinder of feeding box, connecting block of longitudinal cylinder of feeding box, proximity switch II, rising jacking block, jacking block strut;

The proximity switch Ⅰ is set on the proximity switch bracket through the proximity switch fine-tuning mechanism, and the proximity switch Ⅰ is set at the edge of the sheet to detect the height of the starting position of the sheet; the sheet is placed in the material box, and the material box is placed in the feeding box. The upper surface of the mechanism frame; the frame of the feeding mechanism is provided with a plurality of clamping units, each clamping unit is composed of a fixed cylinder of the material box, a fixed cylinder adjustment structure and a positioning stopper of the material box, and the fixed cylinder of the material box is arranged on the fixed cylinder adjustment structure , the fixed cylinder adjustment structure is set on the upper surface of the feeding mechanism frame, the output shaft of the fixed cylinder of the material box is connected with the positioning block of the material box through the connecting rod, and the fixed cylinder adjustment structure is connected with the connecting rod through the clamping block, so that the material Box fixed cylinder, fixed cylinder adjustment structure and material box positioning block are integrated; it is convenient for the expansion and contraction of the material box fixed cylinder to control the material box positioning block to fix the material box; the lifting screw motor is set in the frame of the feeding mechanism through the motor fixing bracket , and the lower surface of the motor fixing bracket is provided with a proximity switch II, which is used to judge the highest position of the screw fixing plate; the output shaft of the screw motor is connected to one end of the screw, and the other end of the screw passes through the screw fixing plate It is connected with the inner bottom surface of the feeding mechanism frame; the threaded connection between the screw rod and the screw fixing plate, when the screw motor is working, the screw fixing plate moves up and down along the screw rod; the rising top block is set on the inner surface of the feeding mechanism frame, One end of the jacking rod is fixedly connected with the rising jacking block, and the other end is fixedly connected with the screw fixing plate after passing through the motor fixing bracket; the roller bracket is fixed on the outer bottom surface of the frame of the feeding mechanism, and the rollers are set on the roller bracket and set on the base Corresponding to the guide rail of the feeding box, the longitudinal cylinder of the feeding box is connected with the frame of the feeding mechanism through the connecting block of the longitudinal cylinder of the feeding box; when the longitudinal cylinder of the feeding box is working, the longitudinal cylinder of the feeding box can drive the entire feeding mechanism to face each other along the guide rail of the feeding box sports.

The material box is used to place the sheet material, and the material box is placed on the feeding mechanism during work; the material box and the air storage tank are all set in the main frame of the feeding manipulator, and all cylinders pass through the two-position five-way solenoid valve Connected with the air storage tank, the air storage tank provides air source for all cylinders.

The discharge structure of the manipulator includes a discharge grabbing mechanism, a receiving mechanism and an electric control box;

The discharge grabbing mechanism is similar to the feeding lifting mechanism; specifically: the discharging grabbing mechanism includes the discharging lifting cylinder, the main frame of the discharging manipulator, the discharging guide rail, the primary discharging cylinder, the secondary discharging cylinder, rollers, and guide rails Linear optical axis, servo motor, discharge suction cup, discharge suction cup bracket, servo motor connection block; the discharge lifting cylinder is set on the main frame of the discharge manipulator, and the specific discharge lift cylinder is set on the discharge manipulator through the height adjustment pad On the main frame, and the output shaft of the discharge lifting cylinder passes through the through hole of the main frame of the discharge manipulator and is fixedly connected with the discharge guide rail, and the discharge guide rail can be pulled up and down through the expansion and contraction of the discharge lift cylinder; the four guide rails have linear optical axes Set in the main frame of the discharging manipulator, one end of the linear optical axis of the guide rail is fixedly connected to the upper surface of the inner side of the main frame of the discharging manipulator, and the other end is fixed on the linear optical axis bracket, which is fixedly connected to the main frame of the discharging manipulator ;The discharge guide rail is fixed on the linear optical axis of the guide rail, and the specific two discharge guide rails are respectively fixed parallel to the linear optical axes of the four guide rails, and the two discharge guide rails can slide up and down along the linear optical axis of the guide rail; Both the air cylinder and the discharge secondary cylinder are fixed on the lower surface of the discharge guide rail, specifically: the discharge primary cylinder is directly fixed on the lower surface of the discharge guide rail, and the discharge secondary cylinder slides through the pulley on the upper surface of the discharge guide rail Connection, that is, the output secondary cylinder can move itself through the movement of the pulley; the output shaft of the primary output cylinder is directly connected with the secondary output cylinder, and the output shaft of the secondary output cylinder is connected to the block through the servo motor It is connected with the servo motor, and the servo motor is connected with the discharge suction cup through the discharge suction cup bracket; the servo motor can drive the discharge suction cup bracket and the discharge suction cup to rotate.

Both the material receiving mechanism and the electric control box are set in the main frame of the discharging manipulator; the material receiving mechanism includes a chute and a material receiving box; the chute is a slope, and it directly connects with the material receiving box. When the mechanism is dropped, the sheet material enters the receiving box through the buffer of the chute.

A method for using a punch manipulator according to the present invention comprises a working process of a manipulator feeding structure and a working process of a manipulator discharging structure;

The working process of the manipulator feeding structure is as follows:

First: the worker puts the sheet into the material box one by one, then manually puts the material box on the feeding mechanism, and starts the working button in the electric control box; after the work is started: four clamping units clamp the material box on the feeding mechanism In terms of mechanism, specifically: the output shaft of the fixed cylinder of the material box in the clamping unit is connected with the positioning block of the material box through the connecting rod, and the adjustment structure of the fixed cylinder is connected with the connecting rod through the clamping block, so that the fixed cylinder of the material box 1. The fixed cylinder adjustment structure and the material box positioning block are composed; the material box is fixed by the expansion and contraction of the material box fixed cylinder to control the material box positioning block;

Secondly: the feeding mechanism drags the material box into the working area through the feeding longitudinal cylinder, specifically: the feeding box longitudinal cylinder drives the entire feeding mechanism to move relatively along the material box guide rail through the material box guide rail and the roller; thus drags the material box into the work area middle;

Then: the feeding lifting mechanism moves the feeding guide rail down along the linear optical axis through the expansion and contraction of the feeding lifting cylinder until the material sucker is located above the sheet; at this time, the positioning of the starting position of the sheet is completed by the plane positioning mechanism, specifically: horizontal The positioning cylinder acts to complete the horizontal positioning of the sheet; the vertical positioning cylinder acts to complete the longitudinal positioning of the sheet; the feeding lifting mechanism moves down to the designated position through the output shaft of the suction cup lifting cylinder, so that the sheet is conveniently sucked by the feeding suction cup;

Then: the feeding lifting mechanism moves the feeding guide rail up along the linear optical axis through the expansion and contraction of the feeding lifting cylinder, and the sheet is lifted; performs the translational movement of the first-level feeding cylinder, and indirectly promotes the translational movement of the second-level feeding cylinder. Under the push, the secondary feeding cylinder moves along the feeding guide rail, so that the sheet is placed directly under the punch; at this time, the feeding lifting cylinder extends downward, and the sheet is placed on the mold of the workbench; finally: the feeding lifting mechanism returns , ready to absorb the next sheet, at this time start the punching machine for stamping;

The working process of the discharge structure of the manipulator is as follows:

Firstly: After the punching machine completes a stamping through the punch, the discharge primary cylinder moves, thereby pushing the discharge secondary cylinder to translate along the guide rail, so that the sheet placed on the workbench mold is sucked by the discharge suction cup;

Secondly: the material grabbing mechanism lifts the sheet to the designated position through the expansion and contraction of the discharge lifting cylinder. At this time, the servo motor works and rotates 180 degrees. After the rotation of the sheet is completed, the output shaft of the discharge lifting cylinder is extended to make the discharge The suction cup moves down, and after moving down to a certain position, the sheet is re-placed on the mold of the workbench; then the discharge grabbing mechanism is reset to the farthest end of the first-stage discharge cylinder;

Then: after the punch completes the second stamping through the punch, the discharge primary cylinder moves, thereby pushing the discharge secondary cylinder to translate along the guide rail, so that the sheet placed on the workbench mold is sucked by the discharge suction cup ;

Then: the first-stage discharging cylinder and the second-stage discharging cylinder move the sheet directly above the chute; loosen the suction cup, put down the sheet, and complete the discharging process once;

Finally: the discharge grabbing mechanism returns to its position, ready to pick up the next sheet.

Beneficial effects of the present invention:

The invention can realize fault self-diagnosis: during the whole working process, the PLC diagnoses the working parameters in real time, if any abnormal action is found (such as not receiving the in-position signal within the specified time), stop the machine in time, and give an audible and visual alarm to remind the staff to carry out maintenance ;

The invention is convenient for users to maintain and expand the system: the system has complete maintenance instructions and fault diagnosis and troubleshooting methods, and reserves multiple control interfaces and communication interfaces to facilitate system expansion and networking.

The present invention adopts a line arrangement, and the feeding manipulator and the discharging manipulator are arranged on the same straight line, which is convenient for operation. At the same time, it is convenient for mold replacement.

The invention can not only effectively reduce the cost, but also improve the output and quality of the product; the automatic loading and unloading of the workpiece and the stamping function can be replaced manually in the loading and unloading link of the punching machine, and it has great advantages in the operation environment of large-scale, highly repeatable stamping and forging, etc. Advantage. And the manipulator has the characteristics of precise positioning, stable production quality, adjustable working rhythm, stable and reliable operation, and convenient maintenance.

Description of drawings

Figure 1 is a schematic sectional view of the system structure

Figure 2 is a schematic top view of the system structure

Fig. 3 is the working flow chart of the present invention's feeding mechanical structure

Fig. 4 is the working flow diagram of the discharging mechanical structure of the present invention

Fig. 5 (a) is the front view of the feeding lifting mechanism of the present invention

Figure 5(b) is a top view of the feeding lifting mechanism of the present invention

Fig. 6 is the planar positioning mechanism of the present invention

Figure 7 is a cross-sectional view of the structure of the feeding mechanism of the present invention

Fig. 8 is a partial top view of the guide rail of the feeding mechanism of the present invention

Fig. 9 (a) is the structural diagram of the main components of the rotating mechanism of the present invention

Figure 9(b) is a top view of the main components of the rotation mechanism of the present invention

In the figure: 1. Feeding lifting cylinder 2. Touch screen 3 Feeding manipulator main frame 4 Feeding guide rail 5 Feeding primary cylinder 6 Feeding secondary cylinder 7 Pulley 8 Linear optical axis 9 Horizontal positioning cylinder 10 Material box 11 Air storage tank 12 Feeding lifting mechanism 13 Base 14 Punch main body 15 Punch head 16 Working table 17 Discharging lifting cylinder 18 Discharging manipulator main frame 19 Guide rail linear optical axis 20 Roller 21 Discharging guide rail 22 Discharging primary cylinder 23 Discharging secondary cylinder 24 Discharging chute 25 Material receiving box 26 Electric control box 27 Base 28 Material box guide rail 29 Suction cup 30 Suction cup bracket 31 Longitudinal positioning cylinder 32 Servo motor 33 Proximity switch bracket 34 Proximity switch fine-tuning mechanism 35 Proximity switch Ⅰ 36 Sheet material 37 Material box fixed cylinder 38 Fixed cylinder Adjusting structure 39 clamping block 40 material box positioning stopper 41 lifting screw motor 42 motor fixing bracket 43 screw rod 44 screw fixing plate 45 roller bracket 46 roller 47 feeding box longitudinal cylinder 48 feeding box longitudinal cylinder connection block 49 proximity switch II 50 Lifting top block 51 Top block pole 52 Longitudinal positioning block 53 Horizontal positioning block 54 Longitudinal push block 55 Horizontal push block 56 Feeding lift cylinder height adjustment pad 57 Feeding secondary cylinder connection block 58 Suction cup lifting cylinder 59 Linear optical axis Bracket 60 Feed suction cup 61 Discharge suction cup 62 Discharge suction cup bracket 63 Servo motor connection block

Detailed ways

The technical solution adopted by the present invention to solve its technical problems is as follows:

A punch manipulator, comprising a manipulator feeding structure and a manipulator discharging structure; the manipulator feeding structure and the manipulator discharging structure are respectively arranged on a feeding base and a material discharging base; specifically: the manipulator feeding structure includes a feeding lifting mechanism, a material box, and a plane positioning Mechanism, feeding mechanism; the manipulator discharge structure includes the discharge grasping mechanism, the receiving mechanism and the electric control box;

As shown in Figures 1, 2, and 7, the feeding lifting mechanism includes a feeding lifting cylinder 1, a feeding manipulator main frame 3, a feeding guide rail 4, a feeding primary cylinder 5, a feeding secondary cylinder 6, a pulley 7, a linear optical axis 8, and a suction cup Lifting cylinder 58 and feeding suction cup 60; feeding lifting cylinder 1 is arranged on the main frame 3 of the feeding manipulator, and the specific feeding lifting cylinder 1 is arranged on the main body frame 3 of the feeding manipulator through the height adjustment pad 56 of the feeding lifting cylinder, and the feeding lifting cylinder The output shaft of 1 passes through the through hole of the main frame 3 of the feeding manipulator and is fixedly connected with the feeding guide rail 4, and the feeding guide rail 4 can be pulled up and down by the expansion and contraction of the feeding lifting cylinder 1; four linear optical axes 8 are arranged in the main frame 3 of the feeding manipulator , one end of the linear optical axis 8 is fixedly connected to the inner upper surface of the main body frame 3 of the feeding manipulator, and the other end is fixed on the linear optical axis bracket 59, and the linear optical axis bracket 59 is fixedly connected in the main frame 3 of the feeding manipulator; the feeding guide rail 4 is fixed on On the linear optical axis 8, the specific two feeding guide rails 4 are respectively fixed in parallel by four linear optical axes 8, and the two feeding guide rails 4 can slide up and down along the linear optical axis 8; the primary feeding cylinder 5 and the secondary feeding cylinder 6 are all fixed on the lower surface of the feeding guide rail 4, specifically: the first-stage feeding cylinder 5 is directly fixed on the lower surface of the feeding guide rail 4, and the second-stage feeding cylinder 6 is slidingly connected with the upper surface of the feeding guide rail 4 through a pulley, that is, the second-level feeding Cylinder 6 can make itself translational by the movement of pulley; The output shaft of feeding primary cylinder 5 is directly connected with feeding secondary cylinder 6, and the output shaft of feeding secondary cylinder 6 is connected with suction cup lifting cylinder 58, and the suction cup lifting cylinder The output shaft of 58 is connected with feeding sucker 60 by sucker support 30.

As shown in Figures 1 and 6, the plane positioning mechanism includes a horizontal positioning cylinder 9, a longitudinal positioning cylinder 31, a longitudinal positioning block 52, a lateral positioning block 53, a longitudinal push block 54 and a horizontal push block 55; the output of the horizontal positioning cylinder 9 The shaft is connected with the horizontal push block 55, the longitudinal positioning cylinder 31 is connected with the vertical push block 54, the longitudinal positioning block 52 and the horizontal positioning block 53 are arranged at fixed positions, and are used for positioning the plates in the feed box;

The horizontal positioning stopper and the longitudinal positioning stopper are adjustable and adjusted according to the size of the sheet material. The horizontal push block and the vertical push block can be fine-tuned up and down, and adjusted according to the thickness of the sheet metal; when positioning, firstly, the horizontal positioning cylinder 9 pushes the sheet material to the horizontal stopper through the horizontal push block 55 to complete the horizontal positioning; The longitudinal positioning cylinder 31 moves, and the sheet material is pushed to the longitudinal positioning stopper 52 by the longitudinal push block 54 to complete the longitudinal positioning, and thus complete the positioning of the sheet material starting position.

As shown in Figures 1, 2, 5(a) and 5(b), the feeding mechanism includes a proximity switch bracket 33, a proximity switch fine-tuning mechanism 34, a proximity switch I 35, a fixed cylinder 37 for the material box, a fixed cylinder adjustment structure 38, and a material box Positioning block 40, lifting screw motor 41, motor fixing bracket 42, screw rod 43, screw fixing plate 44, roller bracket 45, roller 46, feeding box longitudinal cylinder 47, feeding box longitudinal cylinder connection block 48, proximity switch Ⅱ49 , rising top block 50, top block strut 51;

The proximity switch I35 is arranged on the proximity switch bracket 33 through the proximity switch fine-tuning mechanism 34, and the proximity switch I35 is arranged at the edge of the sheet material to detect the height of the initial position of the sheet material; the sheet material 36 is placed in the material box, and the material box Placed on the upper surface of the feeding mechanism frame; the feeding mechanism frame is provided with multiple clamping units, each clamping unit is composed of a fixed cylinder 37 for the material box, a fixed cylinder adjustment structure 38 and a positioning block 40 for the material box, and the fixed cylinder for the material box 37 is arranged on the fixed cylinder adjustment structure 38, and the fixed cylinder adjustment structure 38 is arranged on the upper surface of the feeding mechanism frame. The clamping block 39 is connected with the connecting rod, thereby the material box fixed cylinder 37, the fixed cylinder adjustment structure 38 and the material box positioning stopper 40 are integrated; the expansion and contraction of the material box fixed cylinder 37 is convenient to control the material box positioning stopper 40 fixed bins; the lifting screw motor 41 is arranged in the feeding mechanism frame by the motor fixing bracket 42, and the lower surface of the motor fixing bracket 42 is provided with a proximity switch II 49 for judging the highest position of the screw fixing plate 44; The output shaft of motor 41 is connected with screw mandrel one end, and the other end of screw mandrel 43 passes through screw mandrel fixing plate 44 and is connected with the inner bottom surface of feeding mechanism frame; Be thread connection between screw mandrel 43 and screw mandrel fixing plate 44, When the screw motor 41 works, the screw fixing plate 44 moves up and down along the screw 43; the rising top block 50 is arranged on the inner surface of the feeding mechanism frame, and one end of the top block pole 51 is fixedly connected with the rising top block 50, and the other end is worn After passing the motor fixing bracket 42, it is fixedly connected with the screw rod fixing plate 44; the roller bracket 45 is fixed on the outer bottom surface of the frame of the feeding mechanism, and the roller 46 is arranged on the roller bracket 45, corresponding to the feed box guide rail 28 arranged on the base, and the feed box is vertically Cylinder 47 is connected with feeding mechanism framework through feeding box longitudinal cylinder connection block 48; When feeding box longitudinal cylinder 47 works, feeding box longitudinal cylinder 47 can drive whole feeding mechanism through roller 46 and move relatively along feeding box guide rail 28;

The material box is used to place the sheet material, and the material box is placed on the feeding mechanism during work; the material box and the air storage tank are all arranged in the main frame 3 of the feeding manipulator, and all the cylinders are passed through the two-position five-way electromagnetic The valve is connected with the gas storage tank 11, and the gas storage tank 11 provides the gas source for all cylinders.

As shown in Figures 1, 2, 8 and 9(a), 9(b), the discharge structure of the manipulator includes a discharge grabbing mechanism, a receiving mechanism (including a chute and a receiving box) and an electric control box;

As shown in Figures 1, 2, 8, and 9(a), 9(b), the discharging grabbing mechanism is similar to the feeding lifting mechanism; specifically: the discharging grabbing mechanism includes a discharging lifting cylinder 17, a discharging manipulator main body Frame 18, discharge guide rail 21, discharge primary cylinder 22, discharge secondary cylinder 23, roller 20, guide rail linear optical axis 19, servo motor 32, discharge suction cup 61, discharge suction cup bracket 62, servo motor connection block 63: The discharge lifting cylinder 17 is set on the main body frame 18 of the discharge manipulator, and the specific discharge lift cylinder 17 is set on the main body frame 18 of the discharge manipulator through a height adjustment pad, and the output shaft of the discharge lift cylinder 17 passes through After the through hole of the main frame 18 of the discharging manipulator, it is fixedly connected with the discharging guide rail 21, and the discharging guide rail 21 can be pulled up and down by the expansion and contraction of the discharging lifting cylinder 17; the four guide rail linear optical axes 19 are arranged in the main frame 18 of the discharging manipulator , one end of the linear optical axis 19 of the guide rail is fixedly connected with the inner upper surface of the main body frame 18 of the discharging manipulator, and the other end is fixed on the linear optical axis support 59, and the linear optical axis support 59 is fixedly connected in the main frame 18 of the discharging manipulator; The guide rails 21 are fixed on the linear optical axes 19 of the guide rails. Specifically, the two discharge guide rails 21 are respectively fixed in parallel by four linear optical axes 19 of the guide rails, and the two discharge guide rails 21 can slide up and down along the linear optical axes 19 of the guide rails; The material primary cylinder 22 and the discharge secondary cylinder 23 are all fixed on the lower surface of the discharge guide rail 21, specifically: the discharge primary cylinder 22 is directly fixed on the lower surface of the discharge guide rail 21, and the discharge secondary cylinder 23 passes The pulley is slidingly connected with the upper surface of the discharge guide rail 21, that is, the secondary cylinder 23 of the discharge can make itself translate by the movement of the pulley; the output shaft of the primary cylinder 22 of the discharge is directly connected with the secondary cylinder 23 of the discharge, The output shaft of the discharging secondary cylinder 23 is connected with the servo motor 32 through the servo motor connecting block 63, and the servo motor 32 is connected with the discharging sucker 61 through the discharging sucker support 62; the servo motor 32 can drive the discharging sucker support 62 and Discharge sucker 61 rotates 180 degrees.

As shown in Figures 1 and 2, the material receiving mechanism and the electric control box are all arranged in the main frame 18 of the discharging manipulator; wherein the material receiving mechanism includes a chute and a receiving box; the chute is a slope, and directly communicates with the receiving box , when the sheet material is dropped from the discharge grabbing mechanism, the sheet material enters the receiving box through the buffer of the chute.

The working process of the punch manipulator of the present invention includes two parts, which are respectively the working process of the manipulator feeding structure and the working process of the manipulator discharging structure;

As shown in Figure 3, the working process of the manipulator feeding structure is as follows:

First: Workers put the sheets into the material box in turn, then manually put the material box on the feeding mechanism, and start the work button in the electric control box. After the work is started: four clamping units clamp the material box on the feeding mechanism, specifically: the output shaft of the material box fixing cylinder 37 in the clamping unit is connected with the material box positioning block 40 through the connecting rod, and the fixed cylinder The adjustment structure 38 is connected with the connecting rod through the clamping block 39, thereby the fixed cylinder 37 of the material box, the fixed cylinder adjustment structure 38 and the positioning stopper 40 of the material box are formed into one; Block 40 fixed material box;

Secondly: the feeding mechanism drags the feed box into the work area through the feed vertical cylinder, specifically: the feed box longitudinal cylinder 47 drives the entire feed mechanism to move relative to the feed box guide rail 28 through the feed box guide rail 28 and the roller 46; thereby the feed box Drag it into the workspace.

Then: the feeding lifting mechanism moves the feeding guide rail 4 down along the linear optical axis 8 through the expansion and contraction of the feeding lifting cylinder 1 until the feeding suction cup 60 is located above the sheet; at this time, the positioning of the starting position of the sheet is completed by the plane positioning mechanism Specifically: the horizontal positioning cylinder acts to complete the horizontal positioning of the sheet; the longitudinal positioning cylinder acts to complete the longitudinal positioning of the sheet; the feeding lifting mechanism moves down to the designated position through the output shaft of the suction cup lifting cylinder 58, so that the feeding suction cup 60 can move the sheet The material sucks.

Then: the feeding lifting mechanism moves the feeding guide rail up along the linear optical axis through the expansion and contraction of the feeding lifting cylinder, and the sheet is lifted; performs the translational movement of the first-level feeding cylinder, and indirectly promotes the translational movement of the second-level feeding cylinder. Under the push, the secondary feeding cylinder moves along the feeding guide rail, so that the sheet is placed directly under the punch; at this time, the feeding lifting cylinder extends downward, and the sheet is placed on the mold of the workbench;

Finally: The feeding lifting mechanism returns to its position, ready to absorb the next piece of sheet material, at this time, start the punching machine for punching.

As shown in Figure 4, the working process of the manipulator discharge structure is as follows:

Firstly: after the punching machine completes a stamping through the punch, the discharge primary cylinder moves, thereby pushing the discharge secondary cylinder to translate along the guide rail, so that the sheet placed on the workbench mold is sucked by the discharge suction cup 61;

Secondly: the material grabbing mechanism lifts the plate to the designated position through the expansion and contraction of the material lifting cylinder 17. At this time, the servo motor 32 works and rotates 180 degrees. After the rotation of the material is completed, the output shaft of the material lifting cylinder 17 is extended. Make the discharge sucker 61 move down, and after moving down to a certain position, place the sheet material on the mold of the workbench again; then the discharge grabbing mechanism is reset to the farthest end of the discharge primary cylinder 22;

Then: after the punch completes the second stamping through the punch, the first-stage discharging cylinder moves, thereby pushing the second-stage discharging cylinder to translate along the guide rail, so that the sheet placed on the workbench mold is sucked by the discharging suction cup 61 live;

And then: the discharge primary cylinder 22 and the discharge secondary cylinder 23 place the sheet material directly above the chute through motion; unclamp the suction cup, put down the sheet material, and complete the discharge process once.

Finally: the discharge grabbing mechanism returns to its position, ready to pick up the next sheet.

Claims (5)

1. A punch manipulator is characterized in that comprising a manipulator feeding structure and a manipulator discharging structure; the manipulator feeding structure and the manipulator discharging structure are respectively arranged on a feeding base and a discharging base; the manipulator feeding structure includes a feeding lifting mechanism, a hopper, Plane positioning mechanism, feeding mechanism; manipulator discharging structure includes discharging grabbing mechanism, receiving mechanism and electric control box; The feeding lifting mechanism includes the feeding lifting cylinder, the main frame of the feeding manipulator, the feeding guide rail, the first-level feeding cylinder, the second-level feeding cylinder, pulleys, the linear optical axis, the suction cup lifting cylinder and the feeding suction cup; the feeding lifting cylinder is set on the main frame of the feeding manipulator , the feeding lifting cylinder is set on the main frame of the feeding manipulator through the height adjustment pad of the feeding lifting cylinder, and the output shaft of the feeding lifting cylinder passes through the through hole of the main frame of the feeding manipulator and is fixedly connected with the feeding guide rail, which can be stretched through the telescopic movement of the feeding lifting cylinder Pull the feeding guide rail up and down; four linear optical axes are set in the main frame of the feeding manipulator, one end of the linear optical axis is fixedly connected with the inner upper surface of the main frame of the feeding manipulator, the other end is fixed on the linear optical axis bracket, and the linear optical axis bracket is fixedly connected In the main frame of the feeding manipulator; the feeding guide rail is fixed on the linear optical axis, and the two feeding guide rails are respectively fixed parallel to the four linear optical axes, and the two feeding guide rails can slide up and down along the linear optical axis; the first-level feeding cylinder and the feeding The secondary cylinders are all fixed on the lower surface of the feeding guide rail. The primary feeding cylinder is directly fixed on the lower surface of the feeding guide rail. The secondary feeding cylinder is slidingly connected with the upper surface of the feeding guide rail through a pulley. It can translate itself; the output shaft of the primary feeding cylinder is directly connected to the secondary feeding cylinder, the output shaft of the secondary feeding cylinder is connected to the suction cup lifting cylinder, and the output shaft of the suction cup lifting cylinder is connected to the feeding suction cup through the suction cup bracket ; The plane positioning mechanism includes a horizontal positioning cylinder, a longitudinal positioning cylinder, a longitudinal positioning block, a horizontal positioning block, a longitudinal push block and a horizontal push block; connected, the longitudinal positioning block and the transverse positioning block are set at fixed positions for positioning the sheets in the material box; The horizontal positioning block and the vertical positioning block are adjustable and adjusted according to the size of the sheet; the horizontal push block and the vertical push block can be fine-tuned up and down and adjusted according to the thickness of the sheet; when positioning, the horizontal positioning cylinder is firstly used Push the sheet to the horizontal stopper through the horizontal push block to complete the horizontal positioning; then the longitudinal positioning cylinder moves, push the sheet to the longitudinal positioning stopper through the vertical push block to complete the longitudinal positioning, and thus complete the starting point of the sheet location positioning; Feeding mechanism includes proximity switch bracket, proximity switch fine-tuning mechanism, proximity switch Ⅰ, material box fixed cylinder, fixed cylinder adjustment structure, material box positioning block, lifting screw motor, motor fixing bracket, screw rod, screw fixing plate, roller Bracket, roller, longitudinal cylinder of feeding box, connecting block of longitudinal cylinder of feeding box, proximity switch II, rising jacking block, jacking block strut; The proximity switch Ⅰ is set on the proximity switch bracket through the proximity switch fine-tuning mechanism, and the proximity switch Ⅰ is set at the edge of the sheet to detect the height of the starting position of the sheet; the sheet is placed in the material box, and the material box is placed in the feeding box. The upper surface of the mechanism frame; the frame of the feeding mechanism is provided with a plurality of clamping units, each clamping unit is composed of a fixed cylinder of the material box, a fixed cylinder adjustment structure and a positioning stopper of the material box, and the fixed cylinder of the material box is arranged on the fixed cylinder adjustment structure , the fixed cylinder adjustment structure is set on the upper surface of the feeding mechanism frame, the output shaft of the fixed cylinder of the material box is connected with the positioning block of the material box through the connecting rod, and the fixed cylinder adjustment structure is connected with the connecting rod through the clamping block, so that the material The box fixed cylinder, the fixed cylinder adjustment structure and the material box positioning block are integrated to facilitate the expansion and contraction of the material box fixed cylinder to control the material box positioning block to fix the material box; the lifting screw motor is set in the frame of the feeding mechanism through the motor fixing bracket , and the lower surface of the motor fixing bracket is provided with a proximity switch II, which is used to judge the highest position of the screw fixing plate; the output shaft of the screw motor is connected to one end of the screw, and the other end of the screw passes through the screw fixing plate It is connected with the inner bottom surface of the feeding mechanism frame; the threaded connection between the screw rod and the screw fixing plate, when the screw motor is working, the screw fixing plate moves up and down along the screw rod; the rising top block is set on the inner surface of the feeding mechanism frame, One end of the jacking rod is fixedly connected with the rising jacking block, and the other end is fixedly connected with the screw fixing plate after passing through the motor fixing bracket; the roller bracket is fixed on the outer bottom surface of the frame of the feeding mechanism, and the rollers are set on the roller bracket and set on the base Corresponding to the guide rail of the feeding box, the longitudinal cylinder of the feeding box is connected with the frame of the feeding mechanism through the connecting block of the longitudinal cylinder of the feeding box; when the longitudinal cylinder of the feeding box is working, the longitudinal cylinder of the feeding box can drive the entire feeding mechanism to face each other along the guide rail of the feeding box sports. 2. A punch manipulator according to claim 1, characterized in that said feed box is used to place sheet material, and the feed box is placed on the feeding mechanism during work; said feed box and air storage tank are all arranged on In the main frame of the feeding manipulator, all cylinders are connected to the air storage tank through a two-position five-way solenoid valve, and the air storage tank provides air source for all cylinders. 3. A punch manipulator according to claim 2, characterized in that the manipulator discharge structure includes a discharge grabbing mechanism, a receiving mechanism and an electric control box; The discharging grabbing mechanism is similar to the feeding lifting mechanism; the discharging grabbing mechanism includes the discharging lifting cylinder, the main frame of the discharging manipulator, the discharging guide rail, the primary discharging cylinder, the secondary discharging cylinder, pulleys, and the linear optical axis of the guide rail , servo motor, discharge suction cup, discharge suction cup bracket, servo motor connection block; the discharge lifting cylinder is set on the main frame of the discharge manipulator, and the discharge lift cylinder is set on the main frame of the discharge manipulator through the height adjustment pad, and The output shaft of the discharge lifting cylinder passes through the through hole of the main frame of the discharge manipulator and is fixedly connected with the discharge guide rail, and the discharge guide rail can be pulled up and down through the expansion and contraction of the discharge lift cylinder; the linear optical axes of the four guide rails are set on the discharge manipulator. In the main frame, one end of the linear optical axis of the guide rail is fixedly connected with the inner upper surface of the main frame of the discharging manipulator, and the other end is fixed on the linear optical axis bracket, which is fixedly connected in the main frame of the discharging manipulator; the discharging guide rail is fixed On the linear optical axis of the guide rail, the two discharge guide rails are respectively fixed parallel to the linear optical axes of the four guide rails, and the two discharge guide rails can slide up and down along the linear optical axis of the guide rails; the first-stage discharge cylinder and the second-stage discharge cylinder Both are fixed on the lower surface of the discharge guide rail. The first-stage discharge cylinder is directly fixed on the lower surface of the discharge guide rail. The second-stage discharge cylinder is slidingly connected to the upper surface of the discharge guide rail through pulleys. The second-stage discharge cylinder can pass through the pulley. The movement of the discharge makes it able to translate itself; the output shaft of the discharge primary cylinder is directly connected with the discharge secondary cylinder, the output shaft of the discharge secondary cylinder is connected with the servo motor through the servo motor connection block, and the servo motor passes through the discharge The suction cup support is connected with the discharge suction cup; the servo motor can drive the rotation of the discharge suction cup support and the discharge suction cup. 4. A punch manipulator according to claim 3, characterized in that the receiving mechanism and the electric control box are all arranged in the main frame of the discharging manipulator; wherein the receiving mechanism includes a chute and a receiving box; the chute is a slope , and directly connected with the receiving box, when the sheet material is dropped from the discharge grabbing mechanism, the sheet material enters the receiving box through the buffer of the chute. 5. The using method of a kind of punching machine manipulator according to claim 4, is characterized in that comprising manipulator feeding structure work process and manipulator discharge structure work process; The working process of the manipulator feeding structure is as follows: First: the worker puts the sheet into the material box one by one, then manually puts the material box on the feeding mechanism, and starts the working button in the electric control box; after the work is started: four clamping units clamp the material box on the feeding mechanism In terms of mechanism, the output shaft of the fixed cylinder of the material box in the clamping unit is connected with the positioning block of the material box through the connecting rod, and the adjustment structure of the fixed cylinder is connected with the connecting rod through the clamping block, and the expansion and contraction of the fixed cylinder of the material box is used to control the material. The box positioning block fixes the material box; Secondly: the feeding mechanism drags the material box into the working area through the feeding longitudinal cylinder, and the feeding box longitudinal cylinder drives the entire feeding mechanism to move relatively along the material box guide rail through the material box guide rail and the roller; thus dragging the material box into the work area; Then: the feeding lifting mechanism moves the feeding guide rail down along the linear optical axis through the expansion and contraction of the feeding lifting cylinder until the feeding suction cup is above the sheet; at this time, the positioning of the starting position of the sheet is completed by the plane positioning mechanism, and the cylinder is positioned horizontally Action to complete the horizontal positioning of the sheet; vertical positioning cylinder action to complete the longitudinal positioning of the sheet; the feeding lifting mechanism moves down to the designated position through the output shaft of the suction cup lifting cylinder, so that the feeding suction cup can suck the sheet; Then: the feeding lifting mechanism moves the feeding guide rail up along the linear optical axis through the expansion and contraction of the feeding lifting cylinder, and the sheet is lifted; performs the translational movement of the first-level feeding cylinder, and indirectly promotes the translational movement of the second-level feeding cylinder. Under the push, the secondary feeding cylinder moves along the feeding guide rail, so that the sheet is placed directly under the punch; at this time, the feeding lifting cylinder extends downward, and the sheet is placed on the mold of the workbench; Finally: the feeding lifting mechanism returns to its position, ready to absorb the next sheet, at this time, start the punching machine for stamping; The working process of the discharge structure of the manipulator is as follows: First: After the punching machine completes a stamping through the punch, the discharge primary cylinder moves, thereby pushing the discharge secondary cylinder to translate along the discharge guide rail, so that the sheet placed on the workbench mold is sucked by the discharge suction cup ; Secondly: the material grabbing mechanism lifts the sheet to the designated position through the expansion and contraction of the discharge lifting cylinder. At this time, the servo motor works and rotates 180 degrees. After the rotation of the sheet is completed, the output shaft of the discharge lifting cylinder is extended to make the discharge The suction cup moves down, and after moving down to a certain position, the sheet is re-placed on the mold of the workbench; then the discharge grabbing mechanism is reset to the farthest end of the first-stage discharge cylinder; Then: After the punch completes the second stamping through the punch, the discharge primary cylinder moves, thereby pushing the discharge secondary cylinder to translate along the discharge guide rail, so that the sheet placed on the workbench mold passes through the discharge suction cup suck Then: the discharge primary cylinder and the discharge secondary cylinder move the sheet directly above the chute; loosen the discharge suction cup, put down the sheet, and complete a discharge process; Finally: the discharge grabbing mechanism returns to its position, ready to pick up the next sheet.