CN106966181B - Thin and flat plate separating and stacking unit for stamping sheet metal factory - Google Patents
Thin and flat plate separating and stacking unit for stamping sheet metal factory Download PDFInfo
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- CN106966181B CN106966181B CN201710192987.5A CN201710192987A CN106966181B CN 106966181 B CN106966181 B CN 106966181B CN 201710192987 A CN201710192987 A CN 201710192987A CN 106966181 B CN106966181 B CN 106966181B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0214—Articles of special size, shape or weigh
- B65G2201/022—Flat
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Bending Of Plates, Rods, And Pipes (AREA)
Abstract
The invention discloses a thin and flat plate separating and stacking unit for stamping sheet metal factories, which comprises a grabbing stacking mechanical arm, a stacking bracket, a stacking platform and an electric control device, wherein the grabbing stacking mechanical arm is connected with the electric control device; the grabbing and stacking mechanical arm comprises a mechanical arm and a grabbing and stacking mechanical arm, wherein the grabbing and stacking mechanical arm is arranged at the tail section of the mechanical arm and comprises a grabbing mechanism with a plane structure; the stacking bracket comprises a bracket body and a plate stacking frame, the plate stacking frame is a vertically arranged barrel-shaped structure, the top end of the barrel-shaped structure is provided with an annular port, and the inner surface size of the barrel-shaped structure is in clearance fit with the appearance size of the thin flat plate type sheet metal part; a workpiece positioning mechanism and a position sensor are arranged on the upper surface of the stacking platform; the electric control device comprises an industrial control computer, a positioning, grabbing and stacking loop and a pushing and separating loop. This sign indicating number unit is got in thin flat sheet branch of punching press sheet metal factory can realize intelligent operation, avoids manual operation's potential safety hazard when improving production efficiency, and the automatic sign indicating number of getting of the thin flat sheet class sheet metal component of the appearance structure rule is particularly useful for.
Description
Technical Field
The invention relates to a plate code-taking unit, in particular to a thin plate code-taking unit suitable for a stamping sheet metal factory, and belongs to the field of stamping sheet metal technical equipment.
Background
The sheet metal is a comprehensive cold working process aiming at sheet metal (the thickness is below 6mm generally), and the process comprises shearing, punching/cutting/compounding, folding, welding, riveting, splicing, forming (such as an automobile body) and the like, and is characterized in that the thickness of the same part is consistent, products processed by the sheet metal industry are called sheet metal parts, the sheet metal parts in different industries are generally different and are mainly used for the name of assembly, and generally, the three most important steps of a sheet metal part factory are shearing, punching/cutting and folding.
Generally, basic equipment for sheet metal part machining comprises a plate shearing machine, a numerical control punch/laser, a plasma, a water jet cutting machine/compound machine, a bending machine and various auxiliary equipment such as an uncoiler, a leveler, a deburring machine, a spot welding machine and the like.
To the appearance structure rule like thin flat plate class sheet metal component such as LED lamp shade usually adopt the mode of arranging in ranks to put in good order the transportation and count quantity, and need paint the special treatment such as grease carries out rust-resistant usually, the preparation of LED lamp shade adopts once roll-in drawing shaping with circular thin flat plate lamp shade semi-manufactured goods on the roller press, need paint lubricated grease before the roll-in process in order to reduce the roller wheel to the roll-in damage on circular thin flat plate lamp shade semi-manufactured goods surface, guarantee the appearance quality after the shaping, and the use of grease easily makes the thin flat plate class sheet metal component that arranges in ranks produce between the semi-manufactured goods cohesively, difficult separation takes out, usually the manual work separates the sign indicating number of getting.
The traditional production mode of manual code fetching operation has the following defects:
1. Although the automatic operation of the stamping process equipment is realized, the mode of manually stacking the semi-finished products of the sheet metal parts like thin plates causes low automation degree, low equipment utilization rate and low capacity of the overall equipment, and the manual operation warehousing or transferring procedure is complicated and has low efficiency;
2. the code fetching speed on the production line can be kept to be equal to the conveying speed of the production line, so that the normal production can be ensured, the labor intensity of operators is high, and the potential safety hazard exists when the operators grab the semi-finished thin and flat sheet metal parts manually, so that the safety accident is easily caused;
3. The influence of human factors such as responsibility, emotion and the like of an operator on the production progress in the manual code fetching operation is large, and the sorting and stacking efficiency is unstable.
Disclosure of Invention
aiming at the problems in the prior art, the invention provides a sheet-fed code-taking unit for a stamping sheet metal factory, which has higher automation degree, can realize intelligent operation, improves the production efficiency, avoids the potential safety hazard of manual operation, and is particularly suitable for automatically taking codes of sheet metal parts with regular appearance structures.
In order to achieve the purpose, the thin and flat plate separating and stacking unit for the stamping sheet metal factory comprises a grabbing stacking mechanical arm, a stacking bracket, a stacking platform and an electric control device;
The grabbing and stacking mechanical arm comprises a mechanical arm and a grabbing and stacking mechanical arm; the mechanical arm at least comprises an X coordinate driving mechanism or a Y coordinate driving mechanism and a Z coordinate driving mechanism; the grabbing stacking manipulator is arranged at the tail section of the mechanical arm and comprises a grabbing mechanism with a plane structure;
The stacking bracket comprises a bracket body and a plate stacking frame; the frame body is a frame structure and comprises supporting legs which are uniformly distributed at the bottom; the plate stacking frame is a vertically arranged barrel-shaped structure with a stacking cavity, the bottom of the barrel-shaped structure is fixedly arranged on the frame body, the top end of the barrel-shaped structure is provided with a horizontally arranged annular port which is clamped and sleeved on the barrel-shaped structure, the inner surface of the barrel-shaped structure extends upwards to be flush with the upper end surface of the annular port, the shape of the inner surface of the barrel-shaped structure is the same as the shape of the thin flat plate type sheet metal part, and the size of the inner surface of the barrel-shaped structure is in clearance fit with the size of the thin flat plate type sheet metal part;
the stacking platform is fixedly arranged, a workpiece positioning mechanism and a position sensor are arranged on the upper surface of the stacking platform, and a stacking bracket positioning mechanism is also arranged on the stacking platform;
the electric control device comprises an industrial control computer, a workpiece position feedback loop, a positioning, grabbing and stacking loop, a pushing and separating loop and a counting loop, wherein the industrial control computer is electrically connected with a position sensor, a mechanical arm and a grabbing and stacking mechanical arm on the stacking platform respectively.
As an implementation mode of the grabbing mechanism of the grabbing and stacking manipulator, the grabbing mechanism of the grabbing and stacking manipulator is a negative pressure grabbing mechanism, a plane structure of the grabbing mechanism is provided with a negative pressure hole, the negative pressure hole is connected with a negative pressure source through a pipeline and a negative pressure control valve group, and an industrial control computer of the electric control device is electrically connected with the negative pressure control valve group.
As another embodiment of the grabbing mechanism of the grabbing and stacking manipulator, the grabbing mechanism of the grabbing and stacking manipulator is an electromagnetic grabbing mechanism, an electromagnetic coil is arranged on a plane structure of the grabbing mechanism, and an industrial control computer of the electric control device is electrically connected with the electromagnetic coil.
As a preferred scheme of the invention, the workpiece positioning mechanism on the stacking platform comprises a datum positioning vertical plate and a pushing clamping positioning vertical plate; the vertical datum positioning plate is fixedly arranged on the stacking platform, and the inner vertical surface of the vertical datum positioning plate is a datum surface matched with the appearance datum surface of the thin flat plate type sheet metal part workpiece; the pushing clamping and positioning vertical plate is erected and installed on the stacking platform, the inner vertical surface of the pushing clamping and positioning vertical plate is arranged corresponding to the inner vertical surface of the datum positioning vertical plate, the outer vertical surface of the pushing clamping and positioning vertical plate is connected with the telescopic control component, and an industrial control computer of the electric control device is electrically connected with the telescopic control component.
As a further improvement scheme of the invention, the grabbing mechanism of the grabbing and stacking manipulator is further provided with a plurality of claws and a claw horizontal telescopic control mechanism, the claws are arranged around the geometric center of the plane structure of the grabbing mechanism, the distance between the bottom end surface of each claw and the plane structure of the grabbing mechanism is smaller than the thickness of a workpiece, the positions, corresponding to the claws, on the inner surface of the barrel-shaped structure of the plate stacking frame 22 are provided with clamping grooves which are vertically arranged and are matched with the width dimension of the claws, the telescopic stroke of the claw horizontal telescopic control mechanism is matched with the depth dimension of the clamping grooves, and an industrial control computer of the electric control device is electrically connected with the claw horizontal telescopic control mechanism.
As a further improvement scheme of the invention, a plurality of plate stacking frames are arranged; the mechanical arm comprises an X coordinate driving mechanism, a Y coordinate driving mechanism and a Z coordinate driving mechanism.
As a further improvement scheme of the invention, a C coordinate driving mechanism is further arranged between the grabbing and stacking manipulator and the tail section of the mechanical arm, and an industrial control computer of the electric control device is electrically connected with the C coordinate driving mechanism.
As a further improvement scheme of the invention, the grabbing and stacking manipulator is further provided with a mode identification sensor, the electric control device further comprises a mode identification judgment loop, and the industrial control computer is electrically connected with the mode identification sensor.
As a further improvement scheme of the invention, the grabbing and stacking manipulator is also provided with a displacement sensor, and an industrial control computer of the electric control device is electrically connected with the displacement sensor.
As a preferable aspect of the present invention, the robot arm is a gantry robot arm.
compared with the prior art, the thin plate type sheet metal part separating and code-fetching unit of the stamping sheet metal factory adopts the mechanical arm and the grabbing and stacking mechanical arm which are controlled by the microcomputer to sequentially stack the thin plate type sheet metal parts on the stacking platform in the plate stacking frame or sequentially stack the thin plate type sheet metal parts in the plate stacking frame on the sheet metal processing equipment, and the automatic operation is controlled by the computer completely, so that the influence of the human factors such as the responsibility and the mood of an operator on the production progress can be avoided through the automatic operation, the limitation of the proficiency of the operating skill of the operator can be avoided, and the defects of manual operation can be avoided completely; when thin flat plate type sheet metal parts in the plate stacking frame are sequentially grabbed, the industrial control computer controls the grabbing and stacking manipulator to vertically move up to a preset distance after the distance between the bottom plane of the grabbed workpiece and the upper end face of the annular port of the plate stacking frame is smaller than the preset distance of the thickness of the workpiece, so that even if a second workpiece is adhered to the bottom plane of the first workpiece, the second workpiece falls into the plate stacking frame again under the blocking of the inner surface of the annular port of the plate stacking frame in the translation process of the grabbing and stacking manipulator, the thin flat plate type sheet metal parts are separately grabbed, the sorting and stacking efficiency or the sequential grabbing efficiency is high, and the automatic grabbing and stacking method is particularly suitable for automatically grabbing and stacking the thin flat plate type sheet metal parts with regular appearance structures.
Drawings
FIG. 1 is a schematic three-dimensional structure of the present invention;
FIG. 2 is a schematic view of a three-dimensional structure of a workpiece grasped by the grasping and stacking manipulator of the present invention;
FIG. 3 is a schematic top view of the stacking platform of the present invention.
in the figure: 1. snatch the mechanical arm of putting things in good order, 11, arms, 12, snatch the manipulator of putting things in good order, 2, the bracket of putting things in good order, 21, the support body, 22, panel are put in good order the frame, 3, are put in good order the platform.
Detailed Description
The present invention will be further explained below by taking a semi-finished product of a sheet metal part such as an LED lamp cover as an example and referring to the accompanying drawings (hereinafter, a horizontal left-right direction is taken as an X coordinate direction, a horizontal front-back direction is taken as a Y coordinate direction, a vertical up-down direction is taken as a Z coordinate direction, and a direction rotating along the vertical up-down direction as a rotation axis is taken as a C coordinate direction).
The core of automated production is ordered production, i.e. sequencing is the most crucial work in automated production.
As shown in figure 1, the thin and flat plate spreading and stacking unit for stamping sheet metal factories comprises a grabbing stacking mechanical arm 1, a stacking bracket 2, a stacking platform 3 and an electric control device.
The grabbing and stacking mechanical arm 1 comprises a mechanical arm 11 and a grabbing and stacking mechanical arm 12; the mechanical arm 11 at least comprises an X coordinate driving mechanism or a Y coordinate driving mechanism and a Z coordinate driving mechanism; snatch stacking manipulator 12 and install the final section at arm 11, including the mechanism of snatching that has planar structure, snatch the mechanism and can laminate the snatching to thin flat plate class sheet metal component.
The stacking bracket 2 comprises a bracket body 21 and a plate stacking frame 22; the frame body 21 is a frame structure and comprises supporting legs which are uniformly distributed at the bottom; the plate stacking frame 22 is vertically arranged and is of a barrel-shaped structure with a stacking cavity, the bottom of the barrel-shaped structure is fixedly mounted on the frame body 21, the top end of the barrel-shaped structure is provided with an annular port which is horizontally arranged and clamped on the barrel-shaped structure, the inner surface of the barrel-shaped structure extends upwards to be parallel to the upper end face of the annular port, the shape of the inner surface of the barrel-shaped structure is the same as that of a semi-finished product of a circular thin flat plate type sheet metal part of an LED lampshade, the size of the inner surface of the barrel-shaped structure is in clearance fit with that of the semi-finished product of the circular thin flat plate type sheet metal part of the LED lampshade, and the semi-finished product of the circular thin flat plate type sheet metal part of the LED lampshade can be stacked in a layered manner in.
The stacking platform 3 is fixedly arranged, a workpiece positioning mechanism and a position sensor are arranged on the upper surface of the stacking platform 3, and a stacking bracket positioning mechanism is further arranged on the stacking platform 3.
The electrically controlled device include the industrial control computer, work piece position feedback loop, the location snatchs the pile-up loop, pass branch return circuit and count return circuit, the industrial control computer respectively with pile up the position sensor on the platform 3, arm 11, snatch the manipulator 12 electricity of putting in good order and be connected, the industrial control computer can control arm 11 and snatch the manipulator 12 of putting in good order and snatch the circular thin flat plate class sheet metal component semi-manufactured goods of the LED lamp shade of putting in good order on the platform 3 and put in good order in the frame 22 of putting in good order and count, or snatch the circular thin flat plate class sheet metal component semi-manufactured goods and the order of the LED lamp shade of the frame 22 of putting in good order and put in good order on panel beating equipment and count.
The working principle of the thin and flat plate separating and code-fetching unit of the stamping sheet metal factory is as follows: the stacking bracket 2 is manually moved to the position close to the stacking platform 3 and is positioned at a set position through a stacking bracket positioning mechanism of the stacking platform 3, or a logistics automatic guide transport vehicle is moved to the position below the stacking bracket 2 to support the stacking bracket 2 and move to the position close to the stacking platform 3 through the stacking bracket positioning mechanism of the stacking platform 3, and then the mechanical arm 11 and the grabbing and stacking mechanical arm 12 of the industrial control computer of the electric control device are controlled to move in a coordinate mode to grab and stack semi-finished products of the sheet metal parts.
When the semi-finished products of the circular thin flat plate type sheet metal parts of the LED lamp shades on the stacking platform 3 are required to be sequentially stacked in the plate stacking frame 22, a workpiece position feedback loop firstly starts to work, the semi-finished products of the circular thin flat plate type sheet metal parts of the LED lamp shades are sequentially conveyed to the stacking platform 3 through a conveying belt and are positioned by a workpiece positioning mechanism of the stacking platform 3, and then a position sensor on the stacking platform 3 feeds back the in-place information of the workpieces to an industrial control computer; the positioning, grabbing and stacking loop starts to work, the industrial control computer sends an instruction to control the mechanical arm 11 and the grabbing and stacking mechanical arm 12 to move according to a set program coordinate so that the grabbing and stacking mechanical arm 12 moves to a set position right above the geometric center of a first workpiece on the stacking platform 3, then the grabbing and stacking mechanical arm 12 vertically moves downwards to a set distance that the plane structure of the grabbing mechanism is flush with the upper plane of the workpiece to grab the workpiece, and the counting loop works simultaneously to count the workpieces; then the industrial control computer sends an instruction to control the mechanical arm 11 and the grabbing and stacking mechanical arm 12 to move according to a set program coordinate so that the grabbing and stacking mechanical arm 12 grabs a workpiece and moves to a set position right above the plate stacking frame 22, then the grabbing and stacking mechanical arm 12 vertically moves downwards according to the set program and extends into the plate stacking frame 22 to a set distance, the industrial control computer sends an instruction again to enable the grabbing mechanism to loosen the workpiece, the workpiece falls into the plate stacking frame 22, the mechanical arm 11 and the grabbing and stacking mechanical arm 12 return to initial positions to complete grabbing and stacking of the first workpiece, and the like, and stacking of the effective volume of the plate stacking frame 22 is completed when the counting loop feeds back the stacking number to a set value, and the stacking bracket 2 is transported.
when semi-finished products of circular thin flat plate type sheet metal parts of an LED lampshade in a plate stacking frame 22 need to be sequentially stacked on sheet metal processing equipment, a positioning, grabbing and stacking loop starts to work, an industrial control computer sends an instruction to control a mechanical arm 11 and a grabbing and stacking mechanical arm 12 to move according to a set program so that the coordinates of the grabbing and stacking mechanical arm 12 move to a set position right above the geometric center of the inner surface of the plate stacking frame 22, then the grabbing and stacking mechanical arm 12 vertically moves downwards according to the set program to a set distance that the plane structure of a grabbing mechanism is aligned with the upper plane of the uppermost layer of first workpieces in the plate stacking frame 22 to grab the workpieces, and a counting loop works simultaneously to count the workpieces; then the industrial control computer sends out an instruction to control the mechanical arm 11 and the grabbing and stacking mechanical arm 12 to move according to a set program coordinate to enable the grabbing and stacking mechanical arm 12 to vertically move up to a set distance, at the moment, the distance between the bottom plane of the grabbed workpiece and the upper end face of the annular port of the plate stacking frame 22 is smaller than the thickness of the workpiece, then the industrial control computer sends out an instruction to control the mechanical arm 11 and the grabbing and stacking mechanical arm 12 to move according to the set program coordinate to enable the grabbing and stacking mechanical arm 12 to horizontally move by a set distance, at the moment, a second workpiece is adhered to the bottom plane of the first workpiece, the second workpiece falls into the plate stacking frame 22 again to achieve separation operation after being blocked by the inner surface of the annular port of the plate stacking frame 22 in the translation process of the grabbing and stacking mechanical arm 12, and then the industrial control computer sends out an instruction to control the mechanical arm 11 and the grabbing and stacking mechanical arm 12 to move according to the set program coordinate to enable the grabbing Moving to a set position on the sheet metal processing equipment and loosening the workpieces, returning the mechanical arm 11 and the grabbing and stacking mechanical arm 12 to the initial position to complete grabbing, separating and stacking of the first workpiece, and repeating the steps until the grabbing quantity is fed back to a set value by the counting loop, so that grabbing, separating and stacking of all the workpieces in the plate stacking frame 22 are completed, and the empty stacking bracket 2 is transported.
As an embodiment of the grabbing mechanism of the grabbing and stacking manipulator 12, the grabbing mechanism of the grabbing and stacking manipulator 12 is a negative pressure grabbing mechanism, a plane structure of the grabbing mechanism is provided with a negative pressure hole, the negative pressure hole is connected with a negative pressure source through a pipeline and a negative pressure control valve group, and an industrial control computer of the electric control device is electrically connected with the negative pressure control valve group; the industrial control computer can realize the opening and closing of the negative pressure adsorption environment by opening and closing the negative pressure control valve bank.
As another embodiment of the grabbing mechanism of the grabbing and stacking manipulator 12, the grabbing mechanism of the grabbing and stacking manipulator 12 is an electromagnetic grabbing mechanism, a plane structure of the grabbing mechanism is provided with an electromagnetic coil, and an industrial control computer of the electric control device is electrically connected with the electromagnetic coil; the industrial control computer can realize the opening and closing of the electromagnetic adsorption environment by opening and closing the electromagnetic coil.
The workpiece positioning mechanism on the stacking platform 3 can adopt a guiding moving positioning mode and also can adopt a mode of clamping and positioning through a datum plane, and the latter is more accurate in positioning, so that the latter is preferred, namely, as a preferred scheme of the invention, as shown in fig. 3, the workpiece positioning mechanism on the stacking platform 3 comprises a datum positioning vertical plate and a pushing clamping positioning vertical plate; the datum positioning vertical plate is fixedly arranged on the stacking platform 3, and the inner vertical surface of the datum positioning vertical plate is a datum surface matched with the appearance datum surface of the thin flat plate type sheet metal part workpiece; the pushing clamping and positioning vertical plate is erected and installed on the stacking platform 3, the inner vertical surface of the pushing clamping and positioning vertical plate is arranged corresponding to the inner vertical surface of the datum positioning vertical plate, the outer vertical surface of the pushing clamping and positioning vertical plate is connected with the telescopic control component, and an industrial control computer of the electric control device is electrically connected with the telescopic control component; the industrial control computer can push the clamping and positioning vertical plate to push the thin flat plate type sheet metal part workpiece between the reference positioning vertical plate and the pushing and clamping and positioning vertical plate by controlling the stretching of the stretching control part, so that the appearance reference surface of the thin flat plate type sheet metal part workpiece is attached to the inner vertical surface of the reference positioning vertical plate to realize accurate reference surface positioning of the workpiece.
In order to realize that the grabbing and stacking manipulator 12 can more stably adsorb and grab workpieces, as a further improvement scheme of the invention, as shown in fig. 2, a plurality of claws and a claw horizontal telescopic control mechanism are further arranged on a grabbing mechanism of the grabbing and stacking manipulator 12, the distance between the bottom end surface of each claw and the plane structure of the grabbing mechanism is smaller than the thickness of the workpiece, a vertically arranged clamping groove matched with the width of each claw is arranged on the inner surface of the barrel-shaped structure of the plate stacking frame 22 corresponding to the position of each claw, the telescopic stroke of each claw horizontal telescopic control mechanism is matched with the depth of the clamping groove, and an industrial control computer of the electric control device is electrically connected with the claw horizontal telescopic control mechanism; the industrial control computer can control the jaw to open and close in a small range through controlling the stretching of the jaw horizontal stretching control mechanism to realize clamping the workpiece after the jaw is stretched out and closed, and meanwhile, the jaw is controlled to close before the workpiece is clamped, then negative pressure adsorption is carried out to correct the adsorption position of the workpiece, the workpiece is ensured to be adsorbed at an accurate position, and then the workpiece is adsorbed and grabbed more stably.
In order to further improve the grabbing and stacking efficiency, as a further improvement of the invention, a plurality of plate stacking frames 22 are provided; the mechanical arm 11 comprises an X coordinate driving mechanism, a Y coordinate driving mechanism and a Z coordinate driving mechanism; in the grabbing and stacking process, the industrial control computer can control the mechanical arm 11 to move to another plate stacking frame 22 to grab and stack after the grabbing and stacking of one plate stacking frame 22 is completed, and therefore grabbing and stacking efficiency is improved.
In order to further realize flexible grabbing and facilitate the change of stacking angles of non-circular workpieces, as a further improvement scheme of the invention, a C coordinate driving mechanism is further arranged between the grabbing and stacking manipulator 12 and the tail section of the mechanical arm 11, and an industrial control computer of the electric control device is electrically connected with the C coordinate driving mechanism; the grabbing and stacking manipulator 12 can rotate and translate through the C coordinate driving mechanism before stacking the workpieces, so that the stacking angle of the non-circular workpieces is changed.
Before adsorbing and grabbing the semi-finished product of the sheet metal part, the industrial control computer can firstly perform mode recognition and grabbing positioning on the workpiece through the mode recognition sensor and the displacement sensor according to a set program, so that accurate positioning adsorption and grabbing are realized, and positioning stacking of accurate positions is realized.
In order to further realize accurate grabbing and stacking of the grabbing and stacking manipulator 12, as a further improvement scheme of the invention, the grabbing and stacking manipulator 12 is also provided with a mode identification sensor, the electric control device further comprises a mode identification judgment loop, and an industrial control computer is electrically connected with the mode identification sensor; when the grabbing and stacking manipulator 12 grabs or stacks, the mode recognition judgment loop firstly starts to work, the mode recognition sensor collects top end face information of the thin flat plate type sheet metal parts and compares the top end face information with a standard top end face model built in a central control computer to obtain a position deviation value, the central control computer firstly corrects the line position of the grabbing and stacking manipulator 12 according to the deviation value and then grabs or stacks, and therefore more accurate grabbing or stacking is achieved.
In order to realize more accurate mode identification, as a further improvement scheme of the invention, the grabbing and stacking manipulator 12 is also provided with a displacement sensor, and an industrial control computer of the electric control device is electrically connected with the displacement sensor; the industrial control computer can realize that the grabbing and stacking manipulator 12 carries out coordinate movement stepping approximation on the top end surface of the thin flat plate type sheet metal part according to a set program and the feedback of the displacement sensor, and further realize that the numerical value acquired by the mode sensor carries out numerical value approximation, so that more accurate deviation numerical value can be obtained according to a curve function, and more accurate mode identification is realized.
the mechanical arm 11 can adopt a multi-joint centralized control mechanical arm, a frame type split control mechanical arm or other forms of mechanical arms such as a Delta mechanical arm, and because the control of the multi-joint mechanical arm of the first scheme and the Delta mechanical arm of the third scheme is centralized control, the precise coordinate control is complex, a large amount of calculation and software control programs need to be processed by an industrial control computer, the manufacturing cost is high, the computer control burden is heavy, and faults are easy to occur; the second solution adopts split control, i.e. several coordinate systems are controlled respectively, the control is relatively simple and direct, and the failure is not easy to occur, so the second solution is preferred, i.e. as the preferred solution of the present invention, the mechanical arm 11 is a gantry type mechanical arm.
The sheet metal splitting and code-fetching unit of the stamping sheet metal factory is a digital control unit and a part of a sheet metal part production system of a digital bus factory, can be seamlessly connected with a digital bus of the digital bus factory to realize centralized digital management, and is not limited to the specific control mode.
According to the sheet splitting and code fetching unit for the stamping sheet metal factory, the mechanical arm 11 and the grabbing and stacking mechanical arm 12 which are controlled by a microcomputer are adopted to sequentially stack sheet metal parts on the stacking platform 3 in the sheet stacking frame 22 or sequentially stack the sheet metal parts in the sheet stacking frame 22 on sheet metal processing equipment, and automatic operation is controlled by the computer completely, so that the influence of human factors such as responsibility and emotion of operators on the production progress can be avoided through the automatic operation, the limitation of the proficiency degree of the operating skills of the operators can be avoided, and the defects of manual operation are completely avoided; when the thin flat plate type sheet metal parts in the plate stacking frame 22 are sequentially grabbed, the industrial control computer controls the grabbing and stacking manipulator 12 to horizontally move for a set distance after the distance between the bottom plane of the grabbed workpieces and the upper end face of the annular port of the plate stacking frame 22 is controlled by the industrial control computer to be smaller than the set distance of the thickness of the workpieces, so that even if a second workpiece is adhered to the bottom plane of a first workpiece, the second workpiece falls into the plate stacking frame 22 again after being blocked by the inner surface of the annular port of the plate stacking frame 22 in the translation process of the grabbing and stacking manipulator 12, the thin flat plate type sheet metal parts are separately grabbed, and the sorting and stacking or sequential grabbing efficiency is high.
Claims (9)
1. A thin and flat plate separating and code-fetching unit of a stamping sheet metal factory is characterized by comprising a grabbing and stacking mechanical arm (1), a stacking bracket (2), a stacking platform (3) and an electric control device;
The grabbing and stacking mechanical arm (1) comprises a mechanical arm (11) and a grabbing and stacking mechanical arm (12); the mechanical arm (11) comprises an X coordinate driving mechanism and a Z coordinate driving mechanism, or the mechanical arm (11) comprises a Y coordinate driving mechanism and a Z coordinate driving mechanism; the grabbing and stacking manipulator (12) is arranged at the tail section of the mechanical arm (11) and comprises a grabbing mechanism with a planar structure, a plurality of claws and a claw horizontal telescopic control mechanism are further arranged on the grabbing mechanism, and the distance between the bottom end surface of each claw and the planar structure of the grabbing mechanism is smaller than the thickness of a workpiece;
The stacking bracket (2) comprises a frame body (21) and a plate stacking frame (22); the frame body (21) is of a frame structure and comprises supporting legs which are uniformly distributed at the bottom; the plate stacking frame (22) is a vertically arranged barrel-shaped structure with a stacking cavity, the bottom of the barrel-shaped structure is fixedly installed on a frame body (21), the top end of the barrel-shaped structure is provided with a horizontally arranged annular port which is clamped and sleeved on the barrel-shaped structure, the inner surface of the barrel-shaped structure extends upwards to be flush with the upper end face of the annular port, the shape of the inner surface of the barrel-shaped structure is the same as that of a thin flat plate type sheet metal part, the inner surface of the barrel-shaped structure is in clearance fit with that of the thin flat plate type sheet metal part, a vertically arranged clamping groove which is matched with the width dimension of the clamping jaw is arranged on the inner surface of the barrel-shaped structure corresponding to the position of the clamping jaw of the grabbing and stacking manipulator (12), and the telescopic stroke of the clamping jaw horizontal telescopic control mechanism of the grabbing and stacking manipulator (12);
the stacking platform (3) is fixedly arranged, a workpiece positioning mechanism and a position sensor are arranged on the upper surface of the stacking platform, and a stacking bracket positioning mechanism is also arranged on the stacking platform (3);
The electric control device comprises an industrial control computer, a workpiece position feedback loop, a positioning, grabbing and stacking loop, a pushing and stacking loop and a counting loop, wherein the industrial control computer is respectively electrically connected with a position sensor, a mechanical arm (11) and a grabbing and stacking manipulator (12) on the stacking platform (3), and the industrial control computer is electrically connected with the jaw horizontal telescopic control mechanism.
2. The sheet-fed stacking unit for stamping sheet metal works as claimed in claim 1, wherein the gripping mechanism of the gripping and stacking manipulator (12) is a negative pressure gripping mechanism, the gripping mechanism has a planar structure with a negative pressure hole, the negative pressure hole is connected with a negative pressure source through a pipeline and a negative pressure control valve set, and an industrial control computer of the electronic control device is electrically connected with the negative pressure control valve set.
3. The sheet-fed stacking unit for stamping sheet metal works as claimed in claim 1, wherein the grabbing mechanism of the grabbing and stacking manipulator (12) is an electromagnetic grabbing mechanism, a plane structure of the grabbing mechanism is provided with an electromagnetic coil, and an industrial control computer of the electric control device is electrically connected with the electromagnetic coil.
4. The thin and flat plate separating and stacking unit of the stamping sheet metal factory as claimed in claim 1, wherein the workpiece positioning mechanism on the stacking platform (3) comprises a datum positioning vertical plate and a pushing clamping positioning vertical plate; the datum positioning vertical plate is fixedly arranged on the stacking platform (3), and the inner vertical surface of the datum positioning vertical plate is a datum surface matched with the appearance datum surface of the thin flat plate type sheet metal part workpiece; the pushing clamping and positioning vertical plate is erected and installed on the stacking platform (3), the inner vertical surface of the pushing clamping and positioning vertical plate is arranged corresponding to the inner vertical surface of the datum positioning vertical plate, the outer vertical surface of the pushing clamping and positioning vertical plate is connected with the telescopic control component, and an industrial control computer of the electric control device is electrically connected with the telescopic control component.
5. The stamped sheet metal factory sheet metal part stacking unit as claimed in any one of claims 1 to 4, wherein said sheet metal stacking rack (22) is provided in plurality; the mechanical arm (11) comprises an X coordinate driving mechanism, a Y coordinate driving mechanism and a Z coordinate driving mechanism.
6. The unit for spreading and stacking thin and flat plates in stamping sheet metal factories according to claim 5, wherein a C coordinate driving mechanism is further arranged between the grabbing and stacking mechanical arm (12) and the tail section of the mechanical arm (11), and an industrial control computer of the electric control device is electrically connected with the C coordinate driving mechanism.
7. The unit for spreading and stacking thin and flat plates in stamping sheet metal factories according to claim 6, wherein the grabbing and stacking manipulator (12) is further provided with a mode recognition sensor, the electric control device further comprises a mode recognition judging loop, and the industrial control computer is electrically connected with the mode recognition sensor.
8. The sheet-fed stacking unit for stamping sheet metal works as claimed in claim 7, wherein the grabbing and stacking manipulator (12) is further provided with a displacement sensor, and an industrial control computer of the electric control device is electrically connected with the displacement sensor.
9. Stamping sheet metal plant sheet metal fraction unit according to any of claims 1 to 4, characterized in that the robot arm (11) is a gantry robot arm.
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| CN201710192987.5A CN106966181B (en) | 2017-03-28 | 2017-03-28 | Thin and flat plate separating and stacking unit for stamping sheet metal factory |
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| CN106966181B true CN106966181B (en) | 2019-12-10 |
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| CN108709620A (en) * | 2018-08-02 | 2018-10-26 | 河北工业大学 | A kind of special-shaped workpiece detection device |
| CN110480295B (en) * | 2019-07-31 | 2024-02-13 | 浩德重工科技(江苏)有限公司 | Automatic bolt inserting unit of grid connecting rod automatic welding production system |
| CN110587607A (en) * | 2019-09-19 | 2019-12-20 | 工业云制造(四川)创新中心有限公司 | Automatic workpiece stacking and positioning method, storage medium and terminal |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101870415A (en) * | 2010-07-22 | 2010-10-27 | 吴双利 | Method for separating and picking up flat lenses and device thereof |
| CN105642781A (en) * | 2015-12-31 | 2016-06-08 | 徐州德坤电气科技有限公司 | Artificial intelligence sheet metal part producing system |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101870415A (en) * | 2010-07-22 | 2010-10-27 | 吴双利 | Method for separating and picking up flat lenses and device thereof |
| CN105642781A (en) * | 2015-12-31 | 2016-06-08 | 徐州德坤电气科技有限公司 | Artificial intelligence sheet metal part producing system |
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