CN106424421B - A kind of panel beating manipulator automatically adjusting workpiece height - Google Patents

A kind of panel beating manipulator automatically adjusting workpiece height Download PDF

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Publication number
CN106424421B
CN106424421B CN201611099833.3A CN201611099833A CN106424421B CN 106424421 B CN106424421 B CN 106424421B CN 201611099833 A CN201611099833 A CN 201611099833A CN 106424421 B CN106424421 B CN 106424421B
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China
Prior art keywords
screw rod
punch forming
lifting
rotation
drive shaft
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CN201611099833.3A
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Chinese (zh)
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CN106424421A (en
Inventor
徐杨
徐克郎
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SUZHOU XUANYOU TECHNOLOGY CO., LTD.
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SUZHOU XUANYOU TECHNOLOGY Co Ltd
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Priority to CN201611099833.3A priority 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 kind of panel beating manipulators for automatically adjusting workpiece height, including punch forming mechanism, transfer manipulator and plate to go up and down supporting table;The punch forming mechanism includes mold and molding feeding cylinder under punch forming, and the transfer machinery hand includes rotation drive shaft, rotation pickup swing arm and electromagnetism workpiece taking sucker;Fixed support base, multiple lifting support screws and horizontal drive shaft are provided with below the plate lifting supporting table, multiple axially vertically disposed screw rod installation through-holes are provided in the fixed support base, the lifting support screw is provided in each screw rod installation through-hole, a screw rod lifting gear is additionally provided on each screw rod installation through-hole, the lateral surface of the screw rod lifting gear is bevel gear structure, and the shaft driving bevel gear for cooperating the screw rod lifting gear is provided in the horizontal drive shaft.What the present invention can be realized the blanking plate of stacking automatically grabs feeding operation.

Description

A kind of panel beating manipulator automatically adjusting workpiece height
Technical field
The present invention relates to a kind of machining equipment technical field, especially a kind of metal plate for automatically adjusting workpiece height adds Work manipulator.
Background technique
Sheet metal component is machined to finished product by raw material, generally includes blanking, punching, thick molding, finishing and welding etc. and makees Industry step.Blanking after processing is completed, and the blanking plate unloaded is stacked on ground platen or transfer waggon, is then transported It send to later process, is sent in stamping die and carries out subsequent punching or operations for forming, and make in subsequent punching or molding In industry, stamping press will be carried out in the feeding punch forming of blanking plate or punching die by generalling use manual type.Artificial crawl Blanking plate is sent into the operation mode of molding or punching die, not only large labor intensity but also operating efficiency is low, is furthermore also easy to Industrial accident occurs, manual work mode is unfavorable for accurately controlling the placement location of blanking plate again, be easy to cause punching press The location error of molding or punching processing.In addition, the existing machinery for automatically grabbing blanking plate and being sent into molding or punching die Hand is typically only capable to grab the blanking plate of fixed position and fixed height, it is therefore desirable to which hand fit grabs every time in manipulator Before movement, a blanking plate is placed in the crawl position of manipulator, the mode labor intensity of above-mentioned operation is larger, automation Degree needs to be further increased.It is necessary to design a kind of panel beating manipulator for automatically adjusting workpiece height, Neng Goushi thus The blanking plate now stacked automatically grabs feeding operation, to overcome the above problem.
Summary of the invention
For overcome the deficiencies in the prior art, the present invention provides a kind of panel beating for automatically adjusting workpiece height is mechanical Hand, can be realized the blanking plate of stacking automatically grabs feeding operation.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of panel beating manipulator automatically adjusting workpiece height, including punch forming mechanism, it is set to the punching press The transfer manipulator of shaping mechanism updrift side and be set to the transfer machinery on hand roam all around the would to plate lifting support Platform;The punch forming mechanism includes mold and molding feeding cylinder under punch forming, and the transfer machinery hand includes that rotation is driven Turn axis, rotation pickup swing arm and electromagnetism workpiece taking sucker;One end of the rotation pickup swing arm connects the rotation drive shaft And can be rotated around the rotation drive shaft, the other end of the rotation pickup swing arm is provided with the electromagnetism pickup and inhales Disk;The molding feeding cylinder is located at the updrift side of mold under the punch forming, and the piston of the molding feeding cylinder Bar free end is towards mold under the punch forming;Fixed support base, institute are provided with below the plate lifting supporting table The bottom fixation for stating plate lifting supporting table is vertically arranged with multiple lifting support screws, is provided in the fixed support base Multiple axially vertically disposed screw rod installation through-holes are provided with the lifting supporting wire in each screw rod installation through-hole Bar, a screw rod lifting gear is additionally provided on each screw rod installation through-hole, and the screw rod lifting gear is cyclic structure And be sleeved on outside the lifting support screw, it is also horizontally disposed in the fixed support base to have for driving multiple screw rods Lifting gear surrounds the horizontal drive shaft of itself axial-rotation, and the lateral surface of each screw rod lifting gear is bevel gear Structure is provided with multiple shafts driving cone teeth for being respectively cooperating with multiple screw rod lifting gears in the horizontal drive shaft Wheel.
As a further improvement of the above technical scheme, the rotation pickup swing arm is provided with the electromagnetism workpiece taking sucker The angle adjustment turntable that one end is additionally provided with angle adjustment shaft, is set in the angle adjustment shaft, the electromagnetism pickup Sucker is set on the roll surface of the angle adjustment turntable, and the electromagnetism workpiece taking sucker is parallel to the axis of the angle adjustment shaft Line, and angle adjustment shaft and the rotation drive shaft are horizontally disposed with and perpendicular to assembly line direction.
As a further improvement of the above technical scheme, the piston rod of the molding feeding cylinder has a two-stage stroke, and first Grade stroke makes the piston rod free end of the molding feeding cylinder move to the upstream end of mold under the punch forming, the second level Stroke makes the piston rod free end of the molding feeding cylinder move to the downstream of mold 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 tilts upwards to be set It sets, the downstream of the push postive stop baffle is horizontally disposed, and the downstream bottom surface of the push postive stop baffle and the punching press The apical side height difference of molding bottom die is equal to the thickness for needing the plate pushed.
As a further improvement of the above technical scheme, the rotation pickup swing arm is arc-shaped, and the rotation pickup Curving of the swing arm towards plate lifting supporting table.
It as a further improvement of the above technical scheme, further include for driving the horizontal drive shaft around itself axis To rotation horizontal rotating shaft driving motor, for control the horizontal rotating shaft driving motor operation rising control inductive probe and Decline control inductive probe, the control inductive probe that rises are set to the bottom of the decline control inductive probe and close to institute Decline control inductive probe is stated, the rising control inductive probe and decline control inductive probe are set to the plate liter The upper side of supporting table drops.
Compared with prior art, the beneficial effects of the present invention are:
A kind of panel beating manipulator automatically adjusting workpiece height provided by the present invention, can be realized the blanking of stacking Plate automatically grabs feeding operation, and operating personnel only needs to place the blanking plate of stacking by ground platen or transfer cart In plate lifting supporting table, the labor intensity of operating personnel and the occurrence probability of industrial accident are advantageously reduced, and Operating efficiency can be improved, and be conducive to accurately control the placement position of feeding plate material in punch forming or punching process It sets, reduces the location error of punch forming or punching processing.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Structural representation when Fig. 1 is a kind of panel beating manipulator pickup for automatically adjusting workpiece height of the present invention Figure;
Structural representation when Fig. 2 is a kind of panel beating manipulator feeding for automatically adjusting workpiece height of the present invention Figure.
Specific embodiment
Referring to figs. 1 to Fig. 2, Fig. 1 to Fig. 2 is the structural schematic diagram of a specific embodiment of the invention.
As shown in Figure 1 to Figure 2, a kind of panel beating manipulator automatically adjusting workpiece height, including punch forming mechanism, Be set to the transfer manipulator of punch forming mechanism updrift side and be set to the transfer machinery on hand roam all around the would to Plate goes up and down supporting table 10;The punch forming mechanism include under punch forming mold 21 and molding feeding cylinder 22, it is described in Tool hand of making a connection includes rotation drive shaft 31, rotation pickup swing arm 32 and electromagnetism workpiece taking sucker 33;The rotation pickup swing arm 32 One end connect the rotation drive shaft 31 and can be around the rotation drive shaft 31 rotation, the rotation pickup swing arm 32 other end is provided with the electromagnetism workpiece taking sucker 33;The molding feeding cylinder 22 is located at mold 21 under the punch forming Updrift side, and the piston rod free end of the molding feeding cylinder 22 is towards mold 21 under the punch forming;The plate The lower section of material lifting supporting table 10 is provided with fixed support base 11, and the bottom fixation of the plate lifting supporting table 10 is set vertically Multiple lifting support screws 12 are equipped with, it is logical that multiple axially vertically disposed screw rod installations are provided in the fixed support base 11 Hole, is provided with the lifting support screw 12 in each screw rod installation through-hole, on each screw rod installation through-hole It is additionally provided with a screw rod lifting gear 13, the screw rod lifting gear 13 is cyclic structure and is sleeved on the lifting supporting wire It is also horizontally disposed in the fixed support base 11 to have for driving multiple screw rod lifting gears 13 around itself outside bar 12 The horizontal drive shaft 14 of axial-rotation, the lateral surface of each screw rod lifting gear 13 are bevel gear structure, the water Multiple shaft driving bevel gears 15 for being respectively cooperating with multiple screw rod lifting gears 13 are provided in 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 axis 34, the angle adjustment turntable 35 being set in the angle adjustment shaft 34, the electromagnetism workpiece taking sucker 33 are set to On the roll surface of the angle adjustment turntable 35, the electromagnetism workpiece taking sucker 33 is parallel to the axis of the angle adjustment shaft 34, And the angle adjustment shaft 34 and the rotation drive shaft 31 are horizontally disposed with and perpendicular to assembly line direction.The molding The piston rod of feeding cylinder 22 has two-stage stroke, and first order stroke makes the piston rod free end movement of the molding feeding cylinder 22 The upstream end of mold 21 under to the punch forming, second level stroke make the piston rod free end fortune of the molding feeding cylinder 22 The downstream of mold 21 under moving to the punch forming;The updrift side of mold 21 is additionally provided with push limit under the punch forming The upstream end of position baffle 23, the push postive stop baffle 23 is obliquely installed upwards, the downstream water of the push postive stop baffle 23 Flat setting, and the downstream bottom surface of the push postive stop baffle 23 and the apical side height difference of mold 21 under the punch forming are equal to The thickness for the plate for needing to push.The rotation pickup swing arm 32 is arc-shaped, and the rotation pickup swing arm 32 is towards described The curving of plate lifting supporting table 10.It further include for driving the horizontal drive shaft 14 around itself axial-rotation Horizontal rotating shaft driving motor 16, for control 16 operation of horizontal rotating shaft driving motor rising control inductive probe 17 and under Drop control inductive probe 18, the control inductive probe 17 that rises are set to the bottom of the decline control inductive probe 18 and tight The adjacent decline controls inductive probe 18, and the rising control inductive probe 17 and decline control inductive probe 18 are set to The upper side of the plate lifting supporting table 10.
When work, first as shown in Figure 1, the plate processed will be needed, which to stack, is placed into the plate lifting supporting table 10 On top surface, the rotation pickup swing arm 32 makes the electromagnetism workpiece taking sucker around the rotation counterclockwise of rotation drive shaft 31 33 are fitted in the plate top surface stacked in the plate lifting supporting table 10;Then the rotation pickup swing arm 32 surrounds the rotation Turn drive shaft 31 to rotate clockwise, the electromagnetism workpiece taking sucker 33 is revolved around angle adjustment shaft 34 clockwise simultaneously Turn, until moving to state shown in Fig. 2;Then the molding feeding cylinder 22 is inhaled the electromagnetism pickup by first order stroke Plate on disk 33 pushes under the punch forming on mold 21, carries out punch forming and processes operation, described after the completion of operation It forms feeding cylinder 22 and plate after molding is pushed away by mold 21 under the punch forming by second level stroke.
When the plate apical side height stacked in plate lifting supporting table 10 reaches the decline control inductive probe 18 Position at when, decline control inductive probe 18 senses object to issue signal, controls the horizontal rotating shaft driving Motor 16 drives the lifting support screw 12 to decline;When the plate apical side height stacked in plate lifting supporting table 10 is low When at the position for rising control inductive probe 17, the rising control induction of inductive probe 17 is issued less than object Signal controls the horizontal rotating shaft driving motor 16 and the lifting support screw 12 is driven to rise;To which the plate be gone up and down The plate apical side height stacked in supporting table 10, which is steadily controlled, controls inductive probe 17 and decline control in the rising At the joint face of inductive probe 18.
Preferable implementation of the invention is illustrated above, certainly, the present invention can also use and above-mentioned implementation The different form of mode, those skilled in the art's made equivalent transformation on the premise of without prejudice to spirit of the invention Or corresponding change, all it should belong in protection scope of the present invention.

Claims (1)

1. a kind of panel beating manipulator for automatically adjusting workpiece height, it is characterised in that: including punch forming mechanism, be set to The transfer manipulator of punch forming mechanism updrift side and be set to the transfer machinery on hand roam all around the would to plate liter It drops supporting table (10);The punch forming mechanism include mold under punch forming (21) and molding feeding cylinder (22), it is described in Tool hand of making a connection includes rotation drive shaft (31), rotation pickup swing arm (32) and electromagnetism workpiece taking sucker (33);The rotation pickup One end of swing arm (32) connects the rotation drive shaft (31) and can rotate around the rotation drive shaft (31), described The other end of rotation pickup swing arm (32) is provided with the electromagnetism workpiece taking sucker (33);The molding feeding cylinder (22) is located at institute State the updrift side of mold under punch forming (21), and the piston rod free end of molding feeding cylinder (22) is towards the punching Molded lower mold (21);Fixed support base (11), the plate are provided with below plate lifting supporting table (10) The bottom of lifting supporting table (10), which is fixed, is vertically arranged with multiple lifting support screws (12), on the fixed support base (11) Multiple axially vertically disposed screw rod installation through-holes are provided with, are provided with the lifting in each screw rod installation through-hole Support screw (12) is additionally provided with a screw rod lifting gear (13), the screw rod lifting on each screw rod installation through-hole Gear (13) is cyclic structure and is sleeved on the lifting support screw (12) outside, also horizontal on the fixed support base (11) It is provided with the horizontal drive shaft (14) for driving multiple screw rod lifting gears (13) to surround itself axial-rotation, each The lateral surface of the screw rod lifting gear (13) is bevel gear structure, is provided with multiple points on the horizontal drive shaft (14) Do not cooperate the shaft driving bevel gear (15) of multiple screw rod lifting gears (13);
One end of the electromagnetism workpiece taking sucker (33) is additionally provided with angle adjustment shaft (34), further includes being set to the angle tune Angle on turn over axis (34) adjusts turntable (35), and the electromagnetism workpiece taking sucker (33) is set to angle adjustment turntable (35) Roll surface on, the electromagnetism workpiece taking sucker (33) is parallel to the axis of angle adjustment shaft (34), and the angle adjusts Shaft (34) and the rotation drive shaft (31) are horizontally disposed with and perpendicular to assembly line direction;
The piston rod of molding feeding cylinder (22) has two-stage stroke, and first order stroke makes molding feeding cylinder (22) Piston rod free end moves to the upstream end of mold (21) under the punch forming, and second level stroke makes the molding feeding cylinder (22) piston rod free end moves to the downstream of mold (21) under the punch forming;Mold (21) under the punch forming Updrift side be additionally provided with push postive stop baffle (23), it is described push postive stop baffle (23) upstream end be obliquely installed upwards, The downstream of push postive stop baffle (23) is horizontally disposed, and the downstream bottom surface of push postive stop baffle (23) with it is described The apical side height difference of mold (21) is equal to the thickness for needing the plate pushed under punch forming;
The rotation pickup swing arm (32) is arc-shaped, and the rotation pickup swing arm (32) goes up and down supporting table towards the plate (10) curving;
Further include for drive the horizontal drive shaft (14) around itself axial-rotation horizontal rotating shaft driving motor (16), Rising for controlling horizontal rotating shaft driving motor (16) operation controls inductive probe (17) and decline control inductive probe (18), described to rise control inductive probe (17) and be set to the bottom of decline control inductive probe (18) and close under described Drop control inductive probe (18), rising control inductive probe (17) and decline control inductive probe (18) are set to institute State the upper side of plate lifting supporting table (10).
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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CN106424421B true CN106424421B (en) 2019-01-15

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JP2020021795A (en) * 2018-07-31 2020-02-06 日本電産サンキョー株式会社 Conveyance 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

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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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Address before: 241009 68 Fangzheng Road, Jiujiang Economic Development Zone, Wuhu, Anhui

Applicant before: WUHU YUANSHAN MACHINE MANUFACTURING CO., LTD.

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