CN107052185B - Numerical control press metal plate automatic loading and unloading device - Google Patents
Numerical control press metal plate automatic loading and unloading device Download PDFInfo
- Publication number
- CN107052185B CN107052185B CN201710433253.1A CN201710433253A CN107052185B CN 107052185 B CN107052185 B CN 107052185B CN 201710433253 A CN201710433253 A CN 201710433253A CN 107052185 B CN107052185 B CN 107052185B
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- Prior art keywords
- table top
- flitch
- feeding
- blanking
- rack
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, 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
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/18—Advancing work in relation to the stroke of the die or tool by means in pneumatic or magnetic engagement with the work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, 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
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
- B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D45/00—Ejecting or stripping-off devices arranged in machines or tools dealt with in this subclass
- B21D45/02—Ejecting devices
- B21D45/04—Ejecting devices interrelated with motion of tool
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
A kind of numerical control press metal plate automatic loading and unloading device, it is characterised in that including rack and feeding table top, blanking table top, raw material pallet, waste tray, suction cup carrier, conveying robot, lifting walking dolly；It is slided in rack after in face of feeding platform, for loading flitch；It is slided in rack after in face of blanking bench, for loading half-finished product plate, half-finished product plate becomes slashing after processing；Waste tray is located at the lower section of blanking table top, for loading slashing；Raw material tray rack is set in lower space, is used for stacking several piece flitch；The frame body of suction cup carrier is liftably connected in rack, and bottom is equipped with multiple suction suckers, for adsorbing the flitch on raw material pallet；Conveying robot is suspended above feeding table top, carries for feeding, discharge and the precision of flitch position adjusts；Lifting walking dolly is moved forward and backward in bottom of the frame, has liftable microscope carrier, carries waste tray or raw material pallet for holding in the palm.The invention saves time and labor, and work efficiency is high and highly reliable.
Description
Technical field
The present invention relates to sheet metal processing fields, and in particular to a kind of automatic loading/unloading dress for panel beating numerical control press
It sets.
Background technique
Panel beating is a kind of comprehensive cold machining process for sheet metal, including cut, rush/cut/compound, folding, riveting,
Splicing, molding etc., significant feature are exactly that the same sheet metal part thickness that processes is consistent.
Sheet metal component is with light-weight, intensity is high, conductive (can be used in being electromagnetically shielded), at low cost, scale of mass production performance
The features such as good, is widely applied in fields such as electronic apparatus, communication, auto industry, medical instruments, such as in computer machine
In case, mobile phone, sheet metal component is essential component part.As sheet metal component is using more and more extensive, to panel beating
It is required that higher and higher.
Existing panel beating is completed by numerically-controlled machine tool mostly, has machining accuracy height, process velocity fast
The advantages that.Wherein, panel beating is initial, needs to carry out block of metal thin plate (hereinafter referred " flitch ") by numerical control press
Punching press, punching.In the prior art, the processing table top by the way that flitch to be manually carried to numerical control press is needed, it is not only time-consuming to take
Power, and flitch is difficult to control in the position precision of processing table top, brings unfavorable factor to following process, while there is also worker's
Security hidden trouble；In addition, also needing after completing the process through the machine table manually by half-finished product plate from numerical control press
It is removed on face, equally exists time-consuming and laborious and high security risk problem.
Therefore, above-mentioned the shortcomings of the prior art how is solved, feeding, discharge efficiency is improved and is eliminated safe hidden trouble, just
As the project of the invention to be researched and solved.
Summary of the invention
The object of the present invention is to provide a kind of numerical control press metal plate automatic loading and unloading devices.
In order to achieve the above objectives, the technical solution adopted by the present invention is that: a kind of numerical control press is filled with metal plate automatic loading/unloading
It sets, the feeding, discharge side setting for processing table top in the numerical control press is corresponded in X-direction, and be set to raw material frame in Y direction
Front side, stacking has several piece flitch in the raw material frame；The automatic loading and unloading device includes a rack, and is arranged in the rack
In feeding table top, blanking table top, raw material pallet, waste tray, suction cup carrier, conveying robot and lifting walking dolly；Its
In:
The rack includes the front space and back space in Y direction arrangement, and the back space is included in Z axis
The upper space and lower space of directional spreding；Under the original state of device, the feeding table top, the blanking table top, institute
State waste tray, the conveying robot is respectively positioned in the front space；The raw material pallet and the suction cup carrier are located at
In the back space, and raw material pallet is located at the lower space, and suction cup carrier is located at the upper space；
The feeding table top is driven by one first driving mechanism, is slid back and forth and is set in the rack in Y direction；
The upper surface of feeding table top is for loading the flitch；Before feeding table top loads the flitch or after loading the flitch, institute
It states feeding table top and is respectively positioned on the front space；When feeding table top carries out the loading of flitch, the feeding table top is moved to institute
State back space；
The blanking table top is driven by one second driving mechanism, is slid back and forth and is set in the rack in Y direction；
The upper surface of blanking table top is for loading half-finished product plate, the i.e. flitch after numerical control press processing；It is filled in blanking table top
It carries before the half-finished product plate or after loading the half-finished product plate, the blanking table top is located at the front space, and described in being located at
The lower section of feeding table top；When blanking table top is mounted with the half-finished product plate, become slashing after worker is handled, in blanking bench
When face carries out the blanking of the slashing, the blanking bench is mobile facing towards the back space, and the slashing after blanking moves to
In the waste tray；
The waste tray is set up in the rack, and is located at the lower section of the blanking table top；The upper table of waste tray
Face is for loading the slashing obtained from the blanking table top, and the lower section of waste tray is a traffic space, for described
Lifting walking dolly is resident or is displaced；
The raw material tray rack is set in the rack, and the upper surface of raw material pallet is former for flitch described in stacking several piece
The lower section of material torr disk is the traffic space；
The suction cup carrier includes a frame body, which is driven by a third driving mechanism, liftably connected in Z-direction
Set on the rack；The bottom of the frame body, which is uniformly hung down, is equipped with multiple suction suckers, raw material described in each suction sucker face
The top of pallet is arranged, for adsorbing and positioning the flitch on raw material pallet；
The conveying robot is suspended at the top of the feeding table top, which includes a handling arm, the handling arm
It is driven by one the 4th driving mechanism, horizontally slips and be set in the rack in X-direction, carried for feeding, i.e., in institute
Before stating flitch processing, the flitch on the feeding table top is sent into along the x axis to be added on the processing table top of the numerical control press
Work, or carried for blanking, i.e., after the flitch is processed into the half-finished product plate, by the processing table top of the numerical control press
On half-finished product plate be sent on the blanking table top along the x axis；
Gradually be provided with along the x axis in the handling arm at least one first feeding sucker and at least one second
Feeding sucker, on the one hand for adsorbing the flitch before positioning process or the half-finished product plate after processing, carry out the feeding carrying or
The blanking is carried, and on the other hand the position for flitch described in the horizontal adjustment on the processing table top, is processing flitch
The position precision of table top meets processing request；
Wherein, each first feeding sucker also passes through the driving of one first cylinder and in Y direction does horizontally stretching motion,
Each second feeding sucker does oblique stretching motion by the driving of one second cylinder in the horizontal direction, to work as first feeding
After the flitch is located in sucker and the second feeding sucker suction, X-direction and Y-axis side are carried out to the position of the flitch
To horizontal adjustment；
The lifting walking dolly is driven by one the 5th driving mechanism, in the traffic space of the bottom of the frame
It moves forward and backward along the y axis, and then carries out position switching in the front space or the back space；The lifting walking
Trolley has a liftable microscope carrier, and when lifting walking dolly is located at the lower section of the waste tray, the microscope carrier is for holding in the palm
The waste tray is carried, to go up and down to it；And when lifting walking dolly is located at the lower section of the raw material pallet, the load
Platform is for asking the load raw material pallet to be conveniently replaceable raw material pallet to go up and down to it.
Related content in above-mentioned technical proposal is explained as follows:
It is first driving mechanism, second driving mechanism, the third driving mechanism, described 1. in above scheme
4th driving mechanism and the 5th driving mechanism can be used motor and be driven with the mode of chain, but be not limited to
This, it is possible to use the thinkable driving mechanism of the other skilled in the art such as hydraulic drive, screw nut driven institute.
2. in above scheme, after feeding table top loads the flitch, flitch is moved to number by the conveying robot
In the processing table top for controlling punching machine, i.e., the described feeding table top plays the role of the transfer of flitch.
3. in above scheme, worker dismantles multiple products in half-finished product plate, after disassembly is completed, half-finished product plate
As slashing, slashing can be moved to from blanking table top by the waste tray by manual handling or mechanically operated mode
In.
4. further including a unloading rack in above scheme, which is liftably connected in Z-direction in the rack
In, and between the front space and the back space；
Multiple discharging blocks are gradually provided on the unloading rack along the x axis, when the blanking table top is intended to described in blanking
When slashing, the blanking bench is mobile facing towards the back space, while the unloading rack declines, and is kept off by each discharging
Block stops slashing and vertical drop is into the waste tray.
5. in above scheme, being entered in front of rack by fork truck, and muti-piece is stacked on to the slashing in waste tray
It is taken away together together with waste tray.
6. in above scheme, stacking is had the raw material pallet of flitch to take out from raw material cabin by the lifting walking dolly, along Y
It is carried to before axial direction in the rack；After the flitch on raw material pallet is finished, walking dolly is gone up and down by empty raw material pallet
It is sent back in raw material cabin after Y-axis, and the raw material pallet for taking one piece of stacking to have flitch again puts back to the rack.
7. in above scheme, the work of the suction cup carrier includes taking plate and putting plate, and process is as follows:
(1), plate is taken:
Firstly, the frame body drops to close to the position of the raw material pallet；Then, each suction sucker declines and inhales
The flitch of attached raw material pallet the top；Then, the flitch is lifted certain altitude by the suction sucker in advance, and by dividing
Expect that block carries out scraper up and down to the side of the flitch, mutually pasted to avoid muti-piece flitch, guarantees that suction cup carrier is once only taken out
One block plate；Finally, the frame body and suction sucker rise, the flitch is taken out from raw material pallet and is moved on described
Portion space waits the feeding table top to enter the upper space and loads flitch；
(2), plate is put:
Firstly, the feeding table top is along the y axis back into the upper space；Then, the frame body of the suction cup carrier
Decline, and the flitch is placed on feeding table top by the suction sucker, the flitch for completing feeding table top loads；Most
Afterwards, the feeding table top after the completion of loading returns to forward the front space along the y axis, and the suction cup carrier can carry out next block
Plate takes plate to work.
8. in above scheme, the suction cup carrier further includes a distribution block, which is connected in the side of the frame body simultaneously
It depends downwardly；Also, the distribution block does reciprocal fortune in Z-direction by a cylinder (or other driving mechanisms such as motor) driving
It is dynamic；
The side of distribution block has several material-distributing tooths being vertically arranged, and constitutes described in the suction sucker suction for working as the frame body
When flitch on raw material pallet is lifted, the material-distributing tooth can to the side of the flitch carry out up and down scraper, avoid by
It is mutually pasted in muti-piece flitch and takes out excessive flitch, guarantee that the suction cup carrier once only takes a block plate away.
9. in above scheme, the microscope carrier support of the lifting walking dolly carries the waste tray, to be gone up and down to it, from
And guarantee that there is enough gaps between waste tray and blanking table top, the movement of blanking table top is avoided interference with, while can also protect
The drop for holding the two is not too large, prevents the slashing of blanking table top from accidentally slipping out when falling into waste tray.
10. in above scheme, being provided at least one clamping jaw in the handling arm along the y axis, which passes through cylinder
Driving clamps the left side or right edge of the flitch in X-direction, is completed on described by the auxiliary that moves horizontally of handling arm
Material is carried or the blanking is carried.
11. in above scheme, each first feeding sucker and each second feeding sucker by a third cylinder (or
Other driving mechanisms such as motor) driving moves up and down on Z axis, and first cylinder with the first feeding sucker together
Lifting, second cylinder are gone up and down together with the second feeding sucker.
12. in above scheme, each horizontal oblique flexible angle of the second feeding sucker has locking and unlocking two
State；Under lock state, each second feeding sucker is for cooperating each first feeding sucker to carry out the institute of the flitch
It states feeding carrying or the blanking is carried；Under unlocked state, each second feeding sucker cooperates each first feeding sucker
For adjusted on the processing table top to the position of the flitch.
13. further including a connecting rod in above scheme, which is arranged along the y axis, and the front end of connecting rod passes through a rotation point
It is rotationally connected with the shell of second cylinder, the horizontal direction of the relatively described handling arm in the rear end of connecting rod is fixed, and composition only needs
By being rotated described in locking and unlocking a little, it can realize and the horizontal oblique flexible angle of the second feeding sucker is locked
And unlock.
14. in above scheme, first cylinder, second cylinder and the third cylinder can also be used motor etc. its
His driving mechanism.
The working principle of the invention and advantage are as follows:
A kind of numerical control press metal plate automatic loading and unloading device of the present invention, including rack and feeding table top, blanking bench
Face, raw material pallet, waste tray, suction cup carrier, conveying robot, lifting walking dolly；Rack includes front and rear space, after
Portion space includes upper and lower part space；It is slided in rack after in face of feeding platform, for loading flitch；It is sliding after in face of blanking bench
It moves in rack, for loading half-finished product plate, half-finished product plate becomes slashing after processing；Waste tray is located at blanking table top
Lower section, for loading slashing；Raw material tray rack is set in lower space, is used for stacking several piece flitch；The frame body of suction cup carrier can
It is connected with up and down in rack, bottom is equipped with multiple suction suckers, for adsorbing the flitch on raw material pallet；Conveying robot is outstanding
Above feeding table top, including the handling arm being set in rack that horizontally slips, carried for feeding, discharge；It is set in handling arm
There are the first feeding sucker and the second feeding sucker, is carried for feeding, discharge and the precision of flitch position adjusts；First feeding sucker
In Y direction horizontal extension, the second feeding sucker is oblique flexible in the horizontal direction；Walking dolly is gone up and down in bottom of the frame anteroposterior position
It moves, there is liftable microscope carrier, carry waste tray or raw material pallet for holding in the palm.
Compared to existing technologies, the feeding, discharge of the processing table top of numerical control press is performed fully automatic in the present invention, not only saves
Shi Shengli, and prevented manually-operated security risk, and can guarantee position precision of the flitch on processing table top, have high
Working efficiency, significantly reduce production finished product and yields be high, highly reliable.
Detailed description of the invention
Attached drawing 1 is the schematic perspective view of the embodiment of the present invention；
Attached drawing 2 is the structural schematic diagram of suction cup carrier of the embodiment of the present invention；
Attached drawing 3 is the structural schematic diagram of conveying robot of the embodiment of the present invention；
Attached drawing 4 is the structural schematic diagram (removal rack) of original state of the embodiment of the present invention；
Attached drawing 5 is the structural schematic diagram (removal rack) when the decline of suction cup carrier of the embodiment of the present invention takes plate；
Attached drawing 6 is the structural schematic diagram (removal rack) when suction cup carrier of the embodiment of the present invention takes plate；
Structural schematic diagram (removal rack) when attached drawing 7 is feeding of embodiment of the present invention table top loaded stock plate；
Attached drawing 8 is the structural schematic diagram (removal rack) after feeding of embodiment of the present invention table top loaded stock plate；
Attached drawing 9 is that conveying robot of the embodiment of the present invention send flitch to structural schematic diagram (the removal machine after processing table top
Frame)；
Attached drawing 10 is that structural schematic diagram of the conveying robot of the embodiment of the present invention when processing table top and clamping half-finished product plate (is gone
Except rack)；
Attached drawing 11 is the structural schematic diagram (removal rack) when half-finished product plate of the embodiment of the present invention is placed in blanking table top；
Structural schematic diagram (removal rack) when attached drawing 12 is the blanking of slashing of the embodiment of the present invention；
Attached drawing 13 is the structural schematic diagram (removal rack) when falling in waste tray after the blanking of slashing of the embodiment of the present invention.
In the figures above: 1. flitch；2. rack；3. feeding table top；4. blanking table top；5. raw material pallet；6. waste tray；
7. suction cup carrier；8. going up and down walking dolly；9. half-finished product plate；10. slashing；11. unloading rack；12. discharging block；13. driving is empty
Between；14. frame body；15. suction sucker；16. distribution block；17. handling arm；18. track；19. the first feeding sucker；20. on second
Expect sucker；21. the first cylinder；22. the second cylinder；23. third cylinder；24. connecting rod；25. rotation point；26. clamping jaw；27. microscope carrier.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and embodiments:
Embodiment: referring to shown in attached drawing 1~13, a kind of numerical control press metal plate automatic loading and unloading device, in X-direction pair
Feeding, discharge side (right side) setting for processing table top (non-attached drawing shows) in the numerical control press is answered, and is set to raw material in Y direction
The front side of frame (non-attached drawing shows), stacking has several piece flitch 1 in the raw material frame；The automatic loading and unloading device includes a rack 2, with
And feeding table top 3, blanking table top 4, raw material pallet 5, waste tray 6, suction cup carrier 7, conveying robot in the rack 1 are set
And lifting walking dolly 8；Wherein:
The rack 2 includes the front space and back space in Y direction arrangement, and the back space is included in Z
The upper space and lower space of axis direction distribution；As shown in figure 4, under the original state of device (when not starting to work),
The feeding table top 3, the blanking table top 4, the waste tray 6, the conveying robot and the lifting walking dolly 8
It is respectively positioned in the front space；The raw material pallet 5 and the suction cup carrier 7 are located in the back space, and raw material support
Disk 5 is located at the lower space, and suction cup carrier 7 is located at the upper space；
The feeding table top 3 is driven by a first motor, passes through the upper layer rail of 2 or so two inside of rack in Y direction
Road, which slides back and forth, to be set in the rack 2；The upper surface of feeding table top 3 is for loading the flitch 1；It is filled in feeding table top 3
It carries before the flitch 1 or after loading the flitch 1, the feeding table top 3 is respectively positioned on the front space；Feeding table top 3 into
When the loading of row flitch 1, the feeding table top 3 is moved to the back space, sees Fig. 7, carries out flitch by the suction cup carrier 7
1 loading；After feeding table top 3 loads the flitch 1, flitch 1 is moved to by adding for numerical control press by the conveying robot
In work table top, Fig. 9 is seen, i.e., the described feeding table top 3 plays the role of the transfer of flitch 1.
The blanking table top 4 passes through the lower layer track of 2 or so two inside of rack by one second motor driven, in Y direction
Road, which slides back and forth, to be set in the rack 2；The upper surface of blanking table top 4 is for loading half-finished product plate 9, i.e., through the numerical control stamping
Flitch 1 after bed processing；Before blanking table top 4 loads the half-finished product plate 9 or after loading the half-finished product plate 9, under described
Material table top 4 is located at the front space, and is located at the underface of the feeding table top 3；When blanking table top 4 be mounted with described half at
When product plate 9, becomes slashing 10(worker after worker is handled and multiple products in half-finished product plate 9 are dismantled, disassembly is completed
Later, half-finished product plate 9 becomes slashing 10), when blanking table top 4 carries out the blanking of the slashing 10, Figure 12 is seen, under described
Expect that table top 4 is mobile towards the back space, the slashing 10 after blanking moves in the waste tray 6, sees Figure 13.
It further include a unloading rack 11, which is liftably connected in the rack 2 in Z-direction, and is located at
Between the front space and the back space；
Multiple discharging blocks 12 are gradually provided on the unloading rack 11 along the x axis, when the blanking table top 4 is intended to blanking
When the slashing 10, the blanking table top 4 is mobile towards the back space, while the unloading rack 11 declines, by each
The discharging block 12 stops slashing 10 and vertical drop is into the waste tray 6.
The waste tray 6 is set up in the rack 2, and is located at the underface of the blanking table top 4；Waste tray 6
Upper surface for loading the slashing 10 obtained from the blanking table top 4, the lower section of waste tray 6 is a driving sky
Between 13, it is resident for the lifting walking dolly 8 or be displaced；When the slashing 10 in the waste tray 6 reaches certain height
Degree and can not be by the lifting walking dolly 8 adjusting when, entered in front of rack 2 by fork truck, and muti-piece is stacked on useless
Slashing 10 on material torr disk 6 is taken away together together with waste tray 6.
The raw material pallet 5 is set up in the rack 2, and the upper surface of raw material pallet 5 is for flitch described in stacking several piece
1, the lower section of raw material pallet 5 is the traffic space 13；The lifting walking dolly 8 by stacking have the raw material pallet 5 of flitch 1 from
It takes out, is carried to before Y-axis in the rack 2 in raw material cabin；After the flitch 1 on raw material pallet 5 is finished, lifting walking
Trolley 8 sends empty raw material pallet 5 in raw material cabin back to after Y-axis, and the raw material pallet 5 for taking one piece of stacking to have flitch 1 again is put
Return the rack 2.
As shown in Fig. 2, the suction cup carrier 7 includes a frame body 14, the frame body 14 is by a third motor driven, in Z axis side
To being liftably connected in the rack 2；The bottom of the frame body 14, which is uniformly hung down, is equipped with multiple suction suckers 15, each suction
The top of raw material pallet 5 described in 15 face of sucker is arranged, for adsorbing and positioning the flitch 1 on raw material pallet 5；
The suction cup carrier 7 further includes a distribution block 16, which is connected with the side in the frame body 14 and lets droop
If；Also, the distribution block 16 is moved reciprocatingly by a cylinder (or other driving mechanisms such as motor) driving in Z-direction；
The side of the distribution block 16 is equipped with several material-distributing tooths being vertically arranged backwards, constitutes the suction for working as the frame body 14
When the flitch 1 that sucker 15 adsorbs on the raw material pallet 5 is lifted, the material-distributing tooth can side to the flitch 1 into
Scraper above and below row avoids taking out excessive flitch 1 since muti-piece flitch 1 is mutually pasted, guarantees that the suction cup carrier 7 is once only taken away
One block plate 1.
The conveying robot is suspended at the top of the feeding table top 3, and as described in Figure 3, which includes a carrying
Arm 17, the handling arm 17 are horizontally slipped along track 18 in X-direction and are set in the rack 2 by one the 4th motor driven；
It can be used for feeding carrying, as shown in figure 9, i.e. before the flitch 1 processing, by the flitch 1 on the feeding table top 3 along X-axis side
It is to be processed on the processing table top for being sent into the numerical control press, or carried for blanking, as shown in Figure 10, i.e., in the flitch 1
After being processed into the half-finished product plate 9, the half-finished product plate 9 on the processing table top of the numerical control press is sent into institute along the x axis
(feeding table top 3 moves to the loading that back space carries out next block plate 1 at this time) is stated on blanking table top 4；
A first feeding sucker 19 and two are from left to right gradually provided in the handling arm 17 along the x axis
Second feeding sucker 20, the flitch 1 before being on the one hand used to adsorb positioning process or the half-finished product plate 9 after processing, carry out on described
Material is carried or the blanking is carried, and on the other hand the position for flitch 1 described in the horizontal adjustment on the processing table top, makes to expect
Plate 1 meets processing request in the position precision of processing table top, convenient for the press work of next step numerical control press；
Wherein, the first feeding sucker 19 is also driven by one first cylinder 21 and does fortune of horizontally stretching in Y direction
Dynamic, each second feeding sucker 20 does oblique stretching motion by the driving of one second cylinder 22 in the horizontal direction, when described
After the flitch 1 is located in first feeding sucker 19 and the second feeding sucker 20 absorption, the position of the flitch 1 is carried out
The horizontal adjustment of X-direction and Y direction；
The first feeding sucker 19 is driven by a third cylinder 23 with each second feeding sucker 20 and is done on Z axis
Elevating movement, and first cylinder 21 is gone up and down together with the first feeding sucker 19, second cylinder 22 is the same as described
Two feeding suckers 20 are gone up and down together.
The horizontal oblique flexible angle of each second feeding sucker 20 has two states of locking and unlocking；Lock state
Under, the feeding that each second feeding sucker 20 is used to that the first feeding sucker 19 to be cooperated to carry out the flitch 1 is carried
Or the blanking is carried；Under unlocked state, each second feeding sucker 20 cooperate each first feeding sucker 19 for into
Row adjusts the position of the flitch 1 on the processing table top.
It further include a connecting rod 24, which is arranged along the y axis, and the front end of connecting rod 24 is connected by 25 rotation of a rotation point
It is connected to the shell of second cylinder 22, the horizontal direction of the relatively described handling arm 17 in the rear end of connecting rod 24 is fixed, and composition only needs
By the point of rotation described in locking and unlocking 25, it can realize and the horizontal oblique flexible angle of the second feeding sucker 20 is carried out
Locking and unlocking.
Wherein, it is provided at least one clamping jaw 26 along the y axis in the handling arm 17, which is driven by cylinder
The right edge of the flitch 1 is clamped in X-direction, the feeding carrying or institute are completed by the auxiliary that moves horizontally of handling arm 17
State blanking carrying.
The lifting walking dolly 8 is by one the 5th motor driven, in the traffic space 13 of 2 bottom of rack
It is moved forward and backward along the y axis by a track, and then carries out position switching in the front space or the back space；Institute
Stating lifting walking dolly 8, there is a liftable microscope carrier 27(being hydraulically operated other driving sides such as motor driven can also be used
Formula), when lifting walking dolly 8 is located at the lower section of the waste tray 6, the microscope carrier 27 carries the waste tray 6 for holding in the palm,
To go up and down to it, to guarantee that there is enough gaps between waste tray 6 and blanking table top 4, blanking bench is avoided interference with
The movement in face 4, while the drop of the two can also be kept not too large, prevent the slashing 10 of blanking table top 4 from falling into waste material support
It is accidentally slipped out when disk 6；And when lifting walking dolly 8 is located at the lower section of the raw material pallet 5, the microscope carrier 27 carries institute for holding in the palm
Raw material pallet 5 is stated, to go up and down to it, convenient for the replacement of raw material pallet.
The course of work:
Step 1: (feeding) is firstly, pass through a raw material piler for the raw material support of 1 stacking of muti-piece flitch to raw material frame lower layer
On disk 5, the dead astern of the 5 face rack 2 of raw material pallet；Then, the lifting walking dolly 8 straight line position backward along the y axis
It moves at raw material frame, microscope carrier 27 rises, and takes out the raw material pallet 5 for being mounted with flitch 1；Finally, lifting walking dolly 8 carry it is described
Raw material pallet 5 is moved to straight forward in rack 2, and the raw material pallet 5 for being loaded with flitch 1 is placed on the back space of rack 2
Lower space；
Step 2: (taking plate) is firstly, as shown in figure 5, the frame body 14 of the suction cup carrier 7 drops to close to the raw material pallet
5 position；Then, each suction sucker 15 declines and adsorbs the flitch 1 of 5 the top of raw material pallet；Then, the suction
The flitch 1 is lifted certain altitude by material sucker 15 in advance, and is carried out up and down by side of the distribution block 16 to the flitch 1
Scraper is mutually pasted to avoid muti-piece flitch 1, guarantees that suction cup carrier 7 once only takes out a block plate 1；Finally, as shown in fig. 6, institute
It states frame body 14 and suction sucker 15 rises, the flitch 1 is taken out from raw material pallet 5 and be moved to the upper space, etc.
Enter the upper space to the feeding table top 3 and loads flitch 1；
Step 3: (putting plate) firstly, the feeding table top 3 along the y axis back into the upper space；Then, institute
The frame body 14 for stating suction cup carrier 7 declines, and the flitch 1 is placed on feeding table top 3 by the suction sucker 15, sees such as figure
7, the flitch 1 for completing feeding table top 3 loads；Finally, as shown in figure 8, the feeding table top 3 after the completion of loading along the y axis forward
Return to the front space, what the suction cup carrier 7 can carry out next block plate 1 takes plate to work.
Step 4: (feeding) firstly, the handling arm 17 of the conveying robot is moved to the top of the feeding table top 3,
Declined by the first feeding sucker 19 and the second feeding sucker 20 and adsorb the flitch 1 on feeding table top 3, and passes through institute
State the side that clamping jaw 26 clamps the flitch 1；Then, the handling arm 17 is mobile towards the numerical control press along the x axis, will
The flitch 1 is carried in the processing table top of numerical control press, sees Fig. 9；Finally, passing through the first feeding sucker 19 and the second feeding
Sucker 20 accurately adjusted to position of the flitch 1 on the processing table top at least one times, is convenient for next step numerical control
The press work of punching machine；At the same time, other mechanisms start to work from step 2 again；
Step 5: (blanking) firstly, the handling arm 17 of the conveying robot be moved to it is described processing table top top, lead to
Cross the side of the clamping of clamping jaw 26 (or directly being adsorbed with the first feeding sucker 19 and the second feeding sucker 20) half-finished product plate 9
Figure 10 is seen on side；Then, the handling arm 17 is mobile towards the rack 2 along the x axis, and the half-finished product plate 9 is carried to institute
It states on blanking table top 4, sees Figure 11；At this point, the feeding table top 3 is in step 3, positioned at the upper space of the back space
In；
Step 6: (tearing material open) is firstly, worker handles the half-finished product plate 9 on the blanking table top 4, by half-finished product plate
Multiple products in 9 take out；Then, after disassembly is completed, the half-finished product plate 9 becomes slashing 10；Finally, the blanking bench
Face 4 is mobile towards the back space, sees Figure 12, blocking of the slashing 10 through the unloading rack 11, free-falling to institute
It states in waste tray 6, sees Figure 13；
Step 7: (discharging) passes through fork truck when 10 quantity of slashing in the waste tray 6 is accumulated to a certain extent
Enter in front of rack 2, and the slashing 10 that muti-piece is stacked in waste tray 6 is taken away together together with waste tray 6；So far
Complete single automatic loading/unloading work.
The progress of above each step has overlay region on a timeline, improves the pool utilization rate of time whereby, improves production
Efficiency.
The above embodiments merely illustrate the technical concept and features of the present invention, and its object is to allow person skilled in the art
Scholar cans understand the content of the present invention and implement it accordingly, and it is not intended to limit the scope of the present invention.It is all according to the present invention
Equivalent change or modification made by Spirit Essence, should be covered by the protection scope of the present invention.
Claims (7)
1. a kind of numerical control press metal plate automatic loading and unloading device corresponds in X-direction and processes table top in the numerical control press
The setting of feeding, discharge side, and it is set to the front side of raw material frame in Y direction, stacking has several piece flitch in the raw material frame；Its feature exists
In: the automatic loading and unloading device includes a rack, and the feeding table top, the blanking table top, raw material support that are arranged in the rack
Disk, waste tray, suction cup carrier, conveying robot and lifting walking dolly；Wherein:
The rack includes the front space and back space in Y direction arrangement, and the back space is included in Z-direction
The upper space and lower space of distribution；It is the feeding table top, the blanking table top, described useless under the original state of device
Material torr disk, the conveying robot are respectively positioned in the front space；The raw material pallet and the suction cup carrier are located at described
In back space, and raw material pallet is located at the lower space, and suction cup carrier is located at the upper space；
The feeding table top is driven by one first driving mechanism, is slid back and forth and is set in the rack in Y direction；Feeding
The upper surface of table top is for loading the flitch；Before feeding table top loads the flitch or after loading the flitch, it is described on
Material table top is respectively positioned on the front space；Feeding table top carry out flitch loading when, the feeding table top be moved to it is described after
Portion space；
The blanking table top is driven by one second driving mechanism, is slid back and forth and is set in the rack in Y direction；Blanking
The upper surface of table top is for loading half-finished product plate, the i.e. flitch after numerical control press processing；Institute is loaded in blanking table top
It states before half-finished product plate or after loading the half-finished product plate, the blanking table top is located at the front space, and positioned at the feeding
The lower section of table top；When blanking table top is mounted with the half-finished product plate, after worker is handled become slashing, blanking table top into
When the blanking of the row slashing, the blanking bench is mobile facing towards the back space, and the slashing after blanking moves to described
In waste tray；
The waste tray is set up in the rack, and is located at the lower section of the blanking table top；It uses the upper surface of waste tray
In loading the slashing obtained from the blanking table top, the lower section of waste tray is a traffic space, for the lifting
Walking dolly is resident or is displaced；
The raw material tray rack is set in the rack, and the upper surface of raw material pallet is for flitch described in stacking several piece, raw material support
The lower section of disk is the traffic space；
The suction cup carrier include a frame body, the frame body by a third driving mechanism driving, Z-direction be liftably connected in
The rack；The bottom of the frame body, which is uniformly hung down, is equipped with multiple suction suckers, raw material pallet described in each suction sucker face
Top setting, for adsorbing and positioning the flitch on raw material pallet；
The conveying robot is suspended at the top of the feeding table top, which includes a handling arm, which passes through
The driving of one the 4th driving mechanism, horizontally slips in X-direction and is set in the rack, carries for feeding, i.e., in the material
Plate processing before, the flitch on the feeding table top is sent into along the x axis it is to be processed on the processing table top of the numerical control press, or
It is carried for blanking, i.e., it, will be on the processing table top of the numerical control press after the flitch is processed into the half-finished product plate
Half-finished product plate is sent into along the x axis on the blanking table top；
At least one first feeding sucker and the second feeding of at least one are gradually provided in the handling arm along the x axis
Sucker, the flitch before being on the one hand used to adsorb positioning process or the half-finished product plate after processing, carry out the feeding carrying or described
Blanking is carried, and on the other hand the position for flitch described in the horizontal adjustment on the processing table top, makes flitch in processing table top
Position precision meet processing request；
Wherein, each first feeding sucker also passes through the driving of one first cylinder and in Y direction does horizontally stretching motion, each institute
It states the second feeding sucker and oblique stretching motion is done by the driving of one second cylinder in the horizontal direction, to work as the first feeding sucker
After the flitch is located with the second feeding sucker suction, X-direction and Y direction are carried out to the position of the flitch
Horizontal adjustment；
The lifting walking dolly is driven by one the 5th driving mechanism, along Y in the traffic space of the bottom of the frame
Axis direction moves forward and backward, and then position switching is carried out in the front space or the back space；The lifting walking is small
Vehicle has a liftable microscope carrier, and when lifting walking dolly is located at the lower section of the waste tray, the microscope carrier is carried for holding in the palm
The waste tray, to be gone up and down to it；And when lifting walking dolly is located at the lower section of the raw material pallet, the microscope carrier
For asking the load raw material pallet to be conveniently replaceable raw material pallet to go up and down to it.
2. handling equipment according to claim 1, it is characterised in that: be provided with along the y axis in the handling arm to
A few clamping jaw, the clamping jaw are driven by cylinder and clamp the left side or right edge of the flitch in X-direction, and handling arm is passed through
The auxiliary that moves horizontally complete that the feeding is carried or the blanking is carried.
3. handling equipment according to claim 1, it is characterised in that: each first feeding sucker and each described second
Feeding sucker is driven by a third cylinder and is moved up and down on Z axis, and first cylinder is the same as the first feeding sucker
It goes up and down together, second cylinder is gone up and down together with the second feeding sucker.
4. handling equipment according to claim 1, it is characterised in that: each second feeding sucker is horizontal oblique flexible
Angle have two states of locking and unlocking；Under lock state, each second feeding sucker is for cooperating each described first
The feeding that feeding sucker carries out the flitch is carried or the blanking is carried；Under unlocked state, each second feeding is inhaled
Disk cooperates each first feeding sucker to adjust on the processing table top to the position of the flitch for carrying out.
5. handling equipment according to claim 4, it is characterised in that: further include a connecting rod, which sets along the y axis
It sets, the front end of connecting rod is rotationally connected with the shell of second cylinder, the relatively described carrying in the rear end of connecting rod by a rotation point
The horizontal direction of arm is fixed, and composition only needs to realize by rotating described in locking and unlocking a little to the second feeding sucker
Horizontal oblique flexible angle carries out locking and unlocking.
6. handling equipment according to claim 1, it is characterised in that: further include a unloading rack, the unloading rack is in Z axis side
To being liftably connected in the rack, and between the front space and the back space；
Multiple discharging blocks are gradually provided on the unloading rack along the x axis, when the blanking table top is intended to waste material described in blanking
When plate, the blanking bench is mobile facing towards the back space, while the unloading rack declines, will by each discharging block
Slashing stops and vertical drop is into the waste tray.
7. handling equipment according to claim 1, it is characterised in that: the suction cup carrier further includes a distribution block, this point
Material block is connected with the side in the frame body and depends downwardly；Also, the distribution block is done by cylinder driving in Z-direction past
Multiple movement；
The side of distribution block has several material-distributing tooths being vertically arranged, and constitutes raw material described in the suction sucker suction for working as the frame body
When flitch on pallet is lifted, the material-distributing tooth can carry out scraper up and down to the side of the flitch, avoid due to more
Block plate is mutually pasted and takes out excessive flitch, guarantees that the suction cup carrier once only takes a block plate away.
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| CN201710433253.1A CN107052185B (en) | 2017-06-09 | 2017-06-09 | Numerical control press metal plate automatic loading and unloading device |
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| CN201710433253.1A CN107052185B (en) | 2017-06-09 | 2017-06-09 | Numerical control press metal plate automatic loading and unloading device |
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| CN108356695A (en) * | 2018-02-01 | 2018-08-03 | 苏州丹卡精密机械有限公司 | A kind of automatic loading/unloading metal plate polishing system |
| CN109047398A (en) * | 2018-08-15 | 2018-12-21 | 姜云峰 | A kind of sheet fabrication center |
| CN109127936A (en) * | 2018-09-28 | 2019-01-04 | 深圳市固泰科自动化装备有限公司 | A kind of double intermediate station metal plate automatic loading/unloading equipment |
| CN109733874B (en) * | 2018-12-29 | 2024-06-04 | 深圳市惠利权环境检测有限公司 | Tray stock warehouse structure |
| CN113247349A (en) * | 2021-05-18 | 2021-08-13 | 金德精密配件（苏州）有限公司 | Full-automatic pad pasting shearing equipment |
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