CN106424421A - Sheet-metal working mechanical arm for automatically adjusting height of workpiece - Google Patents

Sheet-metal working mechanical arm for automatically adjusting height of workpiece Download PDF

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Publication number
CN106424421A
CN106424421A CN201611099833.3A CN201611099833A CN106424421A CN 106424421 A CN106424421 A CN 106424421A CN 201611099833 A CN201611099833 A CN 201611099833A CN 106424421 A CN106424421 A CN 106424421A
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CN
China
Prior art keywords
rotating shaft
sheet
rotation
punch forming
screw mandrel
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Granted
Application number
CN201611099833.3A
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Chinese (zh)
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CN106424421B (en
Inventor
徐杨
徐克郎
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SUZHOU XUANYOU TECHNOLOGY CO., LTD.
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Wuhu Yuanshan Machine Manufacturing Co Ltd
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Priority to CN201611099833.3A priority Critical patent/CN106424421B/en
Publication of CN106424421A publication Critical patent/CN106424421A/en
Application granted granted Critical
Publication of CN106424421B publication Critical patent/CN106424421B/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21DWORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00Feeding, 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
    • B21D43/02Advancing work in relation to the stroke of the die or tool
    • B21D43/18Advancing work in relation to the stroke of the die or tool by means in pneumatic or magnetic engagement with the work

Abstract

The invention discloses a sheet-metal working mechanical arm for automatically adjusting the height of a workpiece, comprising an impact molding mechanism, a transfer mechanical arm and a plate lifting support table. The impact molding mechanism comprises an impact molding lower mold and a molding and material loading air cylinder; the transfer mechanical arm comprises a rotation driving spindle, a rotation piece taking swing arm and an electromagnetic piece taking sucking disc; a fixed supporting base, multiple lifting support lead screws and a horizontally driving spindle are arranged below the plate lifting support table; the fixed supporting base is provided with multiple lead screw installing through holes which are arranged vertically in the axial direction, each of the lead screw installing through holes is provided with one of the lifting support lead screws, each of the lead screw installing through holes is provided with a lead screw lifting wheel gear, the outer sides of the lead screw lifting wheel gears are of bevel gear structures, and the horizontally driving spindle is provided with a spindle driving bevel gear that matches the lead screw lifting wheel gears. The sheet-metal working mechanical arm for automatically adjusting the height of a workpiece can realize automatic grabbing and material loading operation of stacked blanking plates.

Description

A kind of panel beating mechanical hand for automatically adjusting workpiece height
Technical field
The present invention relates to a kind of machining equipment technical field, particularly a kind of panel beating for automatically adjusting workpiece height add Work mechanical hand.
Background technology
Sheet metal component is machined to finished product by raw material, generally includes blanking, punching, thick molding, polish and welding etc. and makees Industry step.After blanking is machined, and the blanking sheet material for unloading is stacked on ground platen or transfer waggon, Ran Houyun Later process is delivered to, being sent in diel carries out follow-up punching or operations for forming, and make in follow-up punching or molding In industry, generally being sent into blanking sheet material in punch forming or punching die using manual type carries out stamping press.Artificial crawl The operating type of molding or punching die sent into by blanking sheet material, not only high labor intensive but also working performance is low, is also easy in addition Generation industrial accident, again manual work mode be unfavorable for accurately controlling the placement location of blanking sheet material, easily cause punching press Molding or the site error of punching processing.Additionally, the machinery of molding or punching die sent into by existing automatic crawl blanking sheet material Handss, are typically only capable to capture the blanking sheet material of fixed position and level altitude, it is therefore desirable to which hand fit is captured every time in mechanical hand Before action, a blanking sheet material is placed in the crawl position of mechanical hand, the mode labor intensity of above-mentioned operation is larger, automatization Degree needs to be improved further.It is necessary to design a kind of panel beating mechanical hand for automatically adjusting workpiece height, Neng Goushi for this The automatic crawl feeding operation of the blanking sheet material for now stacking, to overcome the problems referred to above.
Content of the invention
In order to overcome the deficiencies in the prior art, the invention provides a kind of panel beating machinery for automatically adjusting workpiece height Handss, can realize the automatic crawl feeding operation of the blanking sheet material of stacking.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of panel beating mechanical hand for automatically adjusting workpiece height, including punch forming mechanism, is arranged at the punch forming The transfer mechanical hand of mechanism's updrift side and be arranged at the transfer machinery on hand roam all around the would to sheet material lifting supporting table;Institute Stating punch forming mechanism includes mould and molding feeding cylinder under punch forming, and the transfer machinery handss include that rotation driving turns Axle, rotation pickup swing arm and electromagnetism workpiece taking sucker;One end of the rotation pickup swing arm connects the rotation driving rotating shaft and can So that around the rotation driving rotating shaft rotation, the other end of the rotation pickup swing arm is provided with the electromagnetism workpiece taking sucker;Institute State the updrift side that molding feeding cylinder is located at mould under the punch forming, and the piston rod freedom of the molding feeding cylinder End is towards mould under the punch forming;The lower section of the sheet material lifting supporting table is provided with fixing support base, the sheet material The bottom of lifting supporting table is fixed and is vertically arranged with multiple lifting support screws, is provided with multiple axles in the fixing support base To the screw mandrel installation through-hole being vertically arranged, a lifting support screw in each described screw mandrel installation through-hole, is provided with, per A screw mandrel lifter wheel is additionally provided with the individual screw mandrel installation through-hole, and the screw mandrel lifter wheel is circulus and suit Outside the lifting support screw, being also horizontally disposed with the fixing support base has for driving multiple screw mandrel lifting tooths The horizontal drive rotating shaft around itself axial-rotation is taken turns, the lateral surface of each screw mandrel lifter wheel is bevel gear structure, Multiple rotating shaft driving bevel gears for being respectively cooperating with multiple screw mandrel lifter wheels are provided with the horizontal drive rotating shaft.
Used as the improvement further of technique scheme, the rotation pickup swing arm is provided with the electromagnetism workpiece taking sucker One end is additionally provided with angle adjustment rotating shaft, the angle adjustment rotating disk being arranged in the angle adjustment rotating shaft, the electromagnetism pickup Sucker is arranged on the roll surface of the angle adjustment rotating disk, and the electromagnetism workpiece taking sucker is parallel to the axle of the angle adjustment rotating shaft Line, and the angle adjustment rotating shaft and the rotation driving rotating shaft all be horizontally disposed with and perpendicular to streamline direction.
Used as the improvement further of technique scheme, the piston rod of the molding feeding cylinder has two-stage stroke, and first Level stroke makes the piston rod free end of the molding feeding cylinder move to the upstream end of mould under the punch forming, the second level Stroke makes the piston rod free end of the molding feeding cylinder move to the downstream of mould under the punch forming;The punching press The updrift side of molding bottom die is additionally provided with push postive stop baffle, and the upstream end of the push postive stop baffle is inclined upwardly and sets Put, the downstream for pushing postive stop baffle is horizontally disposed with, and the downstream bottom surface for pushing postive stop baffle and the punching press The apical side height difference of molding bottom die is equal to the thickness of the sheet material for needing to push.
Used as the improvement further of technique scheme, the rotation pickup swing arm is circular arc, and the rotation pickup Swing arm lifts the curving of supporting table towards the sheet material.
As the improvement further of technique scheme, also include for driving the horizontal drive rotating shaft around itself axle To rotation horizontal rotating shaft motor, for control the horizontal rotating shaft motor operation rising control inductive probe and Decline control inductive probe, the rising control inductive probe is arranged at the bottom for declining control inductive probe and is close to institute Decline control inductive probe is stated, the rising control inductive probe and decline control inductive probe are arranged at the sheet material liter The upper side of drop supporting table.
Compared with prior art, the invention has the beneficial effects as follows:
A kind of panel beating mechanical hand for automatically adjusting workpiece height provided by the present invention, can realize the blanking sheet material for stacking Automatic crawl feeding operation, operating personnel only needs to, by ground platen or transfer cart, the blanking sheet material of stacking is placed on plate In material lifting supporting table, the labor intensity of operating personnel and the occurrence probability of industrial accident is advantageously reduced, and permissible Working performance is improved, and is conducive to the placement location of feeding plate material in punch forming or punching process is accurately controlled, subtract The site error of the molded or punching processing of Shaochong.
Description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 be of the present invention a kind of automatically adjust workpiece height panel beating mechanical hand pickup when structural representation Figure;
Fig. 2 be of the present invention a kind of automatically adjust workpiece height panel beating mechanical hand feeding when structural representation.
Specific embodiment
It is the structural representation of one specific embodiment of the present invention referring to figs. 1 to Fig. 2, Fig. 1 to Fig. 2.
As shown in Figure 1 to Figure 2, a kind of panel beating mechanical hand for automatically adjusting workpiece height, including punch forming mechanism, Be arranged at punch forming mechanism updrift side transfer mechanical hand and be arranged at the transfer machinery on hand roam all around the would to Sheet material lifts supporting table 10;The punch forming mechanism includes mould 21 and molding feeding cylinder 22 under punch forming, described in Favourable turn tool handss include rotation driving rotating shaft 31, rotation pickup swing arm 32 and electromagnetism workpiece taking sucker 33;The rotation pickup swing arm 32 One end connect the rotation driving rotating shaft 31 and can rotate around the rotation driving rotating shaft 31, described rotate pickup swing arm 32 other end is provided with the electromagnetism workpiece taking sucker 33;The molding feeding cylinder 22 is located at mould 21 under the punch forming Updrift side, and the piston rod free end of the molding feeding cylinder 22 is towards mould 21 under the punch forming;The plate The lower section of material lifting supporting table 10 is provided with fixing support base 11, and the bottom of the sheet material lifting supporting table 10 is fixed and vertically set Multiple lifting support screws 12 are equipped with, and multiple axially vertically disposed screw mandrels are provided with the fixing support base 11 and are installed and lead to Hole, is provided with a lifting support screw 12, on each described screw mandrel installation through-hole in each described screw mandrel installation through-hole A screw mandrel lifter wheel 13 is additionally provided with, the screw mandrel lifter wheel 13 is circulus and is sleeved on the lifting supporting wire Outside bar 12, being also horizontally disposed with the fixing support base 11 has for driving multiple screw mandrel lifter wheels 13 around itself The horizontal drive rotating shaft 14 of axial-rotation, the lateral surface of each screw mandrel lifter wheel 13 is bevel gear structure, the water Multiple rotating shaft driving bevel gears 15 for being respectively cooperating with multiple screw mandrel lifter wheels 13 are provided with flat drive shaft 14.
Specifically, one end that the rotation pickup swing arm 32 is provided with the electromagnetism workpiece taking sucker 33 is additionally provided with angle tune Turn over axle 34, the angle adjustment rotating disk 35 being arranged in the angle adjustment rotating shaft 34, the electromagnetism workpiece taking sucker 33 is arranged at On the roll surface of the angle adjustment rotating disk 35, the electromagnetism workpiece taking sucker 33 parallel to the axis of the angle adjustment rotating shaft 34, And the angle adjustment rotating shaft 34 and the rotation driving rotating shaft 31 are all horizontally disposed with and perpendicular to streamline direction.The molding The piston rod of feeding cylinder 22 has two-stage stroke, and first order stroke makes the piston rod free end of the molding feeding cylinder 22 move The upstream end of mould 21 to the punch forming, second level stroke transports the piston rod free end of the molding feeding cylinder 22 The downstream of mould 21 under moving to the punch forming;Under the punch forming, the updrift side of mould 21 is additionally provided with push limit Position baffle plate 23, the upstream end for pushing postive stop baffle 23 is inclined upwardly settings, the downstream water of the push postive stop baffle 23 Flat arrange, and the downstream bottom surface for pushing postive stop baffle 23 is poor with the apical side height of mould 21 under the punch forming is equal to Need the thickness of the sheet material of push.The rotation pickup swing arm 32 is circular arc, and the rotation pickup swing arm 32 is towards described The curving of sheet material lifting supporting table 10.Also include for driving the horizontal drive rotating shaft 14 around itself axial-rotation Horizontal rotating shaft motor 16, for control 16 operation of horizontal rotating shaft motor rising control inductive probe 17 and under Drop control inductive probe 18, the control inductive probe 17 that rises is arranged at the bottom for declining control inductive probe 18 and tight Adjacent described decline controls inductive probe 18, and described rising controls inductive probe 17 and the control inductive probe 18 that declines to be arranged at The sheet material lifts the upper side of supporting table 10.
During work, first as shown in Figure 1, it would be desirable to which the sheet material stacking of processing is placed into sheet material lifting supporting table 10 On top surface, the rotation pickup swing arm 32 surrounds 31 rotate counterclockwise of rotation driving rotating shaft, makes the electromagnetism workpiece taking sucker 33 are fitted in the sheet material top surface that stack in sheet material lifting supporting table 10;Then the rotation pickup swing arm 32 surrounds the rotation Turn drive shaft 31 to turn clockwise, the electromagnetism workpiece taking sucker 33 is while surround 34 dextrorotation of angle adjustment rotating shaft Turn, until moving to state shown in Fig. 2;Then the electromagnetism pickup is inhaled by the molding feeding cylinder 22 by first order stroke Sheet material on disk 33 is pushed under the punch forming on mould 21, carries out punch forming processing operation, described after the completion of operation Sheet material after molding is pushed away mould 21 under the punch forming by second level stroke by molding feeding cylinder 22.
Control inductive probe 18 when the sheet material apical side height that the sheet material lifts stacking in supporting table 10 reaches described decline Position at when, decline control inductive probe 18 senses that object, so as to send signal, controls the horizontal rotating shaft to drive Motor 16 drives the lifting support screw 12 to decline;When the sheet material apical side height for stacking in sheet material lifting supporting table 10 is low When at the position for rising control inductive probe 17, the rising control inductive probe 17 is sensed less than object so as to send Signal, controls the horizontal rotating shaft motor 16 to drive the lifting support screw 12 to rise;So as to the sheet material is lifted The sheet material apical side height for stacking in supporting table 10 stably controls and controls inductive probe 17 and the decline control in described rising At the joint face of inductive probe 18.
Preferable enforcement to the present invention is illustrated above, and certainly, the present invention can also be adopted and above-mentioned enforcement The different form of mode, those of ordinary skill in the art are in the conversion of the equivalent that is made without prejudice to present invention spirit on the premise of Or corresponding change, should all belong in protection scope of the present invention.

Claims (5)

1. a kind of panel beating mechanical hand for automatically adjusting workpiece height, it is characterised in that:Including punch forming mechanism, it is arranged at The transfer mechanical hand of punch forming mechanism updrift side and be arranged at the transfer machinery on hand roam all around the would to sheet material liter Drop supporting table(10);The punch forming mechanism includes mould under punch forming(21)With molding feeding cylinder(22), described in Favourable turn tool handss include rotation driving rotating shaft(31), rotation pickup swing arm(32)With electromagnetism workpiece taking sucker(33);The rotation pickup Swing arm(32)One end connect the rotation driving rotating shaft(31)And the rotation driving rotating shaft can be surrounded(31)Rotation, described Rotation pickup swing arm(32)The other end be provided with the electromagnetism workpiece taking sucker(33);The molding feeding cylinder(22)Positioned at institute State mould under punch forming(21)Updrift side, and the molding feeding cylinder(22)Piston rod free end towards the punching Molded lower mould(21);The sheet material lifts supporting table(10)Lower section be provided with fixing support base(11), the sheet material Lifting supporting table(10)Bottom fix be vertically arranged with multiple lifting support screws(12), the fixing support base(11)On Multiple axially vertically disposed screw mandrel installation through-holes are provided with, in each described screw mandrel installation through-hole, are provided with a lifting Support screw(12), on each described screw mandrel installation through-hole, it is additionally provided with a screw mandrel lifter wheel(13), the screw mandrel lifting Gear(13)For circulus and it is sleeved on the lifting support screw(12)Outward, the fixing support base(11)Upper also level It is provided with for driving multiple screw mandrel lifter wheels(13)Horizontal drive rotating shaft around itself axial-rotation(14), each The screw mandrel lifter wheel(13)Lateral surface be bevel gear structure, the horizontal drive rotating shaft(14)On be provided with multiple points Do not coordinate multiple screw mandrel lifter wheels(13)Rotating shaft driving bevel gear(15).
2. a kind of panel beating mechanical hand for automatically adjusting workpiece height according to claim 1, it is characterised in that:Described Rotation pickup swing arm(32)It is provided with the electromagnetism workpiece taking sucker(33)One end be additionally provided with angle adjustment rotating shaft(34), arrange In the angle adjustment rotating shaft(34)On angle adjustment rotating disk(35), the electromagnetism workpiece taking sucker(33)It is arranged at the angle Adjustment rotating disk(35)Roll surface on, the electromagnetism workpiece taking sucker(33)Parallel to the angle adjustment rotating shaft(34)Axis, and The angle adjustment rotating shaft(34)With the rotation driving rotating shaft(31)All it is horizontally disposed with and perpendicular to streamline direction.
3. a kind of panel beating mechanical hand for automatically adjusting workpiece height according to claim 1, it is characterised in that:Described Molding feeding cylinder(22)Piston rod have two-stage stroke, first order stroke makes the molding feeding cylinder(22)Piston rod from By mould under end motion to the punch forming(21)Upstream end, second level stroke makes the molding feeding cylinder(22)Work Stopper rod free end moves to mould under the punch forming(21)Downstream;Mould under the punch forming(21)Party upstream To being additionally provided with push postive stop baffle(23), the push postive stop baffle(23)Upstream end be inclined upwardly setting, the push Postive stop baffle(23)Downstream be horizontally disposed with, and the push postive stop baffle(23)Downstream bottom surface and the punch forming Lower mould(21)Apical side height difference be equal to need push sheet material thickness.
4. a kind of panel beating mechanical hand for automatically adjusting workpiece height according to claim 1, it is characterised in that:Described Rotation pickup swing arm(32)For circular arc, and the rotation pickup swing arm(32)Supporting table is lifted towards the sheet material(10)One Lateral bend.
5. a kind of panel beating mechanical hand for automatically adjusting workpiece height according to claim 1, it is characterised in that:Also wrap Include for driving the horizontal drive rotating shaft(14)Horizontal rotating shaft motor around itself axial-rotation(16), for controlling The horizontal rotating shaft motor(16)The rising control inductive probe of operation(17)Control inductive probe with declining(18), described Rise control inductive probe(17)It is arranged at described decline and controls inductive probe(18)Bottom and be close to the decline Perceived control Should pop one's head in(18), the rising control inductive probe(17)Control inductive probe with described decline(18)It is arranged at the sheet material liter Drop supporting table(10)Upper side.
CN201611099833.3A 2016-12-05 2016-12-05 A kind of panel beating manipulator automatically adjusting workpiece height Active CN106424421B (en)

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CN201611099833.3A CN106424421B (en) 2016-12-05 2016-12-05 A kind of panel beating manipulator automatically adjusting workpiece height

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Application Number Priority Date Filing Date Title
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CN106424421B CN106424421B (en) 2019-01-15

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110775622A (en) * 2018-07-31 2020-02-11 日本电产三协株式会社 Conveying system

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2224046Y (en) * 1994-08-10 1996-04-10 祝仕华 Sheet-material automatic feeding and taking device for punch machine
DE4403009C2 (en) * 1994-02-01 1997-05-28 Fraunhofer Ges Forschung Process for unstacking non-magnetic sheets and transferring them to a conveyor
CN201511083U (en) * 2009-08-31 2010-06-23 玉环县艾迪斯机床制造有限公司 Feeder for punches
CN102051466A (en) * 2010-12-23 2011-05-11 中冶南方(武汉)威仕工业炉有限公司 Magnetic steel plate turnover machine
CN203737874U (en) * 2013-08-05 2014-07-30 徐州市长城飞轮有限公司 Automatic feeding and discharging device for punch press
CN203955948U (en) * 2014-06-26 2014-11-26 山东丽鹏股份有限公司 A kind of full-automatic thin plate feeder
CN104858293A (en) * 2015-06-18 2015-08-26 江苏宏博机械制造有限公司 Punch with mechanical feeding device
CN106563723A (en) * 2016-11-10 2017-04-19 芜湖市元山机械制造有限公司 Automatic blanking processing system for sheet metal parts of suspensions of electric vehicles

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4403009C2 (en) * 1994-02-01 1997-05-28 Fraunhofer Ges Forschung Process for unstacking non-magnetic sheets and transferring them to a conveyor
CN2224046Y (en) * 1994-08-10 1996-04-10 祝仕华 Sheet-material automatic feeding and taking device for punch machine
CN201511083U (en) * 2009-08-31 2010-06-23 玉环县艾迪斯机床制造有限公司 Feeder for punches
CN102051466A (en) * 2010-12-23 2011-05-11 中冶南方(武汉)威仕工业炉有限公司 Magnetic steel plate turnover machine
CN203737874U (en) * 2013-08-05 2014-07-30 徐州市长城飞轮有限公司 Automatic feeding and discharging device for punch press
CN203955948U (en) * 2014-06-26 2014-11-26 山东丽鹏股份有限公司 A kind of full-automatic thin plate feeder
CN104858293A (en) * 2015-06-18 2015-08-26 江苏宏博机械制造有限公司 Punch with mechanical feeding device
CN106563723A (en) * 2016-11-10 2017-04-19 芜湖市元山机械制造有限公司 Automatic blanking processing system for sheet metal parts of suspensions of electric vehicles

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110775622A (en) * 2018-07-31 2020-02-11 日本电产三协株式会社 Conveying system

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Effective date of registration: 20181122

Address after: 215000 Intelligent Manufacturing Industrial Park, Wangting Town, Xiangcheng District, Suzhou City, Jiangsu Province

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