A kind of Jian Shi robots of punch press
The present invention relates to a kind of robot, the Jian Shi robots of more particularly to a kind of punch press belong to Intelligentized mechanical engineering
In the punch press processing of the special Zhi Guan enterprises of current punching apparatus, because it is tinplate, material plate to make sheet material
All relatively lighter with the product after shaping therefore general all using manual operations, i.e., tinplate sheet material is put into the mould of punch press by human hand
On tool, stamping forming workpiece is taken out after upper die of punching press punching press, which is finished, leaves lower mould, then with hand.This feeding by hand and
There is following defect in the way for taking out workpiece：One is that safety coefficient is low, occurs industrial accident in enterprise often, seriously even
Have and human hand is broken into the phenomenon that disables；Two be that percent defective is high, because the accuracy of artificial feeding operation is unstable, as long as feeding is slightly
There is deviation, what is gone out is exactly waste product；Three be sheet material utilization rate it is low, it is fixed because the accuracy of artificial feeding operation is unstable
The tinplate of specification has strict layout in a certain specification product of punching, as long as there is a jig frequency to have deviation, this tinplate
A product will be lacked；Four be that labor intensity is big, be sitting in the time of a class full god's perfusion before punch press fix it is several
Individual action, its tired degree is well imagined；Five be the efficiency that the product gone out places chaotic influence next procedure, because substantially all
It is parts wage, in order to which soon also for safety, the product after punching is all used after lower mould is automatically exited from, typically and pushed away by club
Enter the turnover bag supported in advance, next procedure will be fetched in disorder heap, not only influence efficiency to be also adapted to automation behaviour
The content of the invention
To solve a variety of drawbacks that above-mentioned Zhi Guan enterprises manually operate punch press, the present invention discloses a kind of inspection of punch press and picked up
The technical solution adopted in the present invention is：A kind of Jian Shi robots of punch press are flat by robot body and positioning
Platform is constituted, and robot body is positioned at the centre before punch press and including base, travel mechanism, rotating mechanism, turning arm and control
Component processed, base is the load bearing seat of robot body and is mounted below adjustable landing leg, and travel mechanism includes slide rail, moved
Dynamic underframe, drive component, slide rail are constituted by least two and are fixed on submounts, and the outer side edges of slide rail are fluted and inner side edge
Rack is installed, roll-out tray is arranged on above slide rail by mobile sliding block, drive component is chain structure and is arranged on movement
On underframe, drive component is moved by the kinetic energy conversion driving roll-out tray of gear and rack on slide rail, and rotating mechanism includes
Fluted disc, rotating disk and column, fluted disc are fixed on above roll-out tray, and rotating disk is arranged on above fluted disc by rotary slider, are stood
The lower end of post is connected to the center of rotating disk, and pivoted arm includes arm body, lift cylinder and handgrip, and one end of arm body is connected to column
Upper end, the other end is to column with cylinder body that is remote horizontal-extending and connecting lift cylinder, and handgrip is the span formula for above having elongated end
By multiple elastic pneumatic suckers and electromagnet below structure and the termination for being connected to expansion link below lift cylinder above, handgrip
The execution face being combined into, electromagnet is arranged on elongated end, and control assembly includes control computer, control panel and servomotor, behaviour
Make instruction control computer is inputed to by control panel, by control computer instruction servomotor, lift cylinder, handgrip, punch press and
Locating platform is acted；Locating platform is to by the mobile platform of lifting of sheet material, locating platform receives installed in punch press submounts
Computer instruction is controlled to press product punching parameter, each jig frequency is promoted and moved once by sheet material automatically；Two of robot body
Side also side is provided with sheet material locating rack and transmission belt.
Servomotor includes shift servo motor and rotating servo motor, and shift servo motor is arranged on mobile chassis and led to
Overdrive the kinetic energy conversion driving mobile chassis movement of component, rotating servo motor is arranged on rotating disk and passes through gear and fluted disc
Circumference any angle of the kinetic energy conversion driving rotating disk along fluted disc rotate or position.
Drive component includes motor sprocket, drive shaft, drive sprocket, drive gear and chain, and motor sprocket is connected to shifting
Dynamic servomotor, drive shaft is constituted by least two and is separately mounted to the roll-out tray on the inside of slide rail and is applied in roll-out tray
Top and bottom, drive shaft upper end connection drive sprocket, drive shaft lower end connection drive gear and sliding tooth wheel and rack kiss
Close, chain connection is between motor gear and drive sprocket.
Mobile sliding block and rotary slider are that side is fluted and include the structure of joint face, planing surface and buckle face, are connected
Face is above and is connected to below roll-out tray and rotating disk, and planing surface is above groove and is fitted in slide rail respectively
Above fluted disc, buckle face below groove and be fitted in respectively above sliding rail groove and fluted disc outer below.
The beneficial effects of the invention are as follows：One is that safety coefficient is high, gives punch press feeding by robot, has effectively prevented personnel's
Industrial accident；Two be high yield rate, is precisely shifted by procedure operation and sheet material by control computer, can effectively be prevented because of feeding error
The ability substandard products caused；Three be the utilization rate height of sheet material, and advance programmed sheet material shift parameters precise instructions are pressed by control computer
Mobile platform is shifted, and leftover pieces can be effectively preferably minimized；Four be to substitute artificial effectively reduction of having office hours completely by robot to work strong
Brief description of the drawings
The present invention is further described below in conjunction with the accompanying drawings：
Sides and partial cross section mplifying structure schematic diagram of the Fig. 1 for the present invention；
Fig. 2 is handgrip positive structure schematic of the invention；
Fig. 3 is planar structure schematic diagram of the invention.
1, base in figure, 2, landing leg, 3, slide rail, 4, roll-out tray, 5, rack, 6, mobile sliding block, 7, fluted disc, 8, rotation
Disk, 9, column, 10, rotary slider, 11, arm body, 12, lift cylinder, 13, handgrip, 14, Pneumatic suction cup, 15, electromagnet, 16, move
Dynamic servomotor, 17, rotating servo motor, 18, drive shaft, 19, drive sprocket, 20, drive gear, 21, chain, 22, positioning
Platform, 23, sheet material locating rack, 24, transmission belt, 25, punch press, 26, sheet material.
In Fig. 1,2 embodiment, a kind of Jian Shi robots of punch press are made up of robot body and locating platform,
Robot body is positioned at the centre before punch press 25 and including base 1, travel mechanism, rotating mechanism, turning arm and control group
Part, base 1 is the load bearing seat of robot body and is mounted below adjustable landing leg 2, and travel mechanism includes slide rail 3, moved
Dynamic underframe 4, drive component, slide rail 3 are constituted and are fixed on above base 1 by least two, and the outer side edges of slide rail 3 are fluted and interior
Side is provided with rack 5, and roll-out tray 4 is arranged on above slide rail 3 by mobile sliding block 6, and drive component is chain structure and pacified
On roll-out tray 4, drive component is moved by the kinetic energy conversion driving roll-out tray 4 of gear and rack 5 on slide rail 3,
Rotating mechanism includes fluted disc 7, rotating disk 8 and column 9, and fluted disc 7 is by being fixed on above roll-out tray 4, and rotating disk 8 passes through rotation
Sliding block 10 is arranged on above fluted disc 7, and the lower end of column 9 is connected to the center of rotating disk 8, and pivoted arm includes arm body 11, lift cylinder
12 and handgrip 13, one end of arm body 11 is connected to the upper end of column 9, and the other end is to column 9 with remote horizontal-extending and connect lifting
The cylinder body of cylinder 12, handgrip 13 be above have elongated end span formula structure and be connected to above lift cylinder 12 below expansion link
Termination, the execution face being combined into by multiple elastic pneumatic suckers 14 and electromagnet 15 below handgrip 13, electromagnet 15 installs
In elongated end, control assembly includes control computer, control panel and servomotor, and operational order inputs to control by control panel
Computer processed, is acted by control computer instruction servomotor, lift cylinder 12, handgrip 13, punch press 25 and locating platform 22.
Servomotor includes shift servo motor 16 and rotating servo motor 17, and shift servo motor 16 is arranged on mobile bottom
Disk 4 is simultaneously moved by the kinetic energy conversion driving mobile chassis 4 of drive component, and rotating servo motor 17 is arranged on rotating disk 8 and led to
Circumference any angle of the kinetic energy conversion driving rotating disk 8 of gear and fluted disc 7 along fluted disc 7 is crossed to rotate or position.
Drive component includes motor sprocket, drive shaft 18, drive sprocket 19, drive gear 20 and chain 21, motor sprocket
Shift servo motor 16 is connected to, drive shaft 18 is constituted by least two and is separately mounted to the roll-out tray 4 of the inner side of slide rail 3 simultaneously
It is applied in the top and bottom of roll-out tray 4, the upper end connection drive sprocket 19 of drive shaft 18, the lower end connection sliding tooth of drive shaft 18
Simultaneously drive gear 20 is coincide wheel 20 with rack 5, and chain 21 is linked between motor gear and drive sprocket 19.
Mobile sliding block 6 and rotary slider 10 are that side is fluted and include the structure of joint face, planing surface and buckle face, even
Junction is above and is connected to below roll-out tray 4 and rotating disk 8, and planing surface is above groove and is fitted in respectively
Above slide rail 3 and fluted disc 7, buckle face is below groove and is fitted in respectively above the groove of slide rail 3 and the outer of fluted disc 7
Rack 5, mobile sliding block 6, rotary slider 10, motor sprocket, drive sprocket 19 and drive gear 20 are nylon matter knot
In the fig. 3 embodiment, locating platform 22 is mobile flat to lifting for sheet material 26 installed in the submounts of punch press 25
Platform, locating platform 22 receives control computer instruction and presses product punching parameter, and each jig frequency promotes sheet material 26 to move once automatically.
Two sides of robot body are also equipped with sheet material locating rack 23 and transmission belt 24.
Embodiment 1：Sheet material 26 is moved to sheet material locating rack 23 by forklift, starts punching robot.
Embodiment 2：Default location is in the centre before punch press 25 during 13 armed state of handgrip.When sheet material 26 in place when,
Control computer instruction lift cylinder 12 rotates to the top of sheet material locating rack 23 and declined, and handgrip 13 below drops to sheet material 26
Above, then instruct handgrip 13 after the adsorbent 26 of Pneumatic suction cup 14 to rise to setting position, control computer instructs rotation again
Servomotor driving rotating disk 8 rotates 90 °, and handgrip 13 takes the upper of locating platform 22 to by rotating disk 8 by column 9, arm body 11
Embodiment 3：When the sheet material 26 that handgrip 13 is adsorbed is moved to 22 top of locating platform, computer instruction lifting air is controlled
Cylinder 12 drops to handgrip 13 above the locating platform 22 of setting height, then instructs Pneumatic suction cup 14 to release the suction to sheet material 26
Attached, sheet material 26 is placed on locating platform 22, then controls computer instruction locating platform 22 that sheet material 26 is moved into punch press 25
Mould below setting position, then instruct punch press 25 start punching.
Embodiment 4：When sheet material 26 goes out a product by the punching of punch press 25, during the drift return of punch press 25, mould
Product is automatically exited from bed die by tool.Now, control computer instruction travel mechanism promotes handgrip 13 to move forward, the extension of the front end of handgrip 13
End is extend between upper and lower mould, and control computer connects electromagnet, and product controls computer instruction rotating mechanism after being adsorbed by electromagnet
Handgrip 13 is rotated to behind the top of transmission belt 24, electromagnet power supply is disconnected, product is placed to above transmission belt 24.Handgrip is to biography
Travel mechanism drives the return of handgrip 13 during defeated Tape movement.Product is placed to after transmission belt 24, control computer instruction rotation
Handgrip 13 is returned to the default location before punch press 25 by rotation mechanism.So repeat to a sheet material 26 to be finished by punching, in weight
The action of multiple embodiment 2.