CN107097003A - A kind of laser cutting machine loading and unloading robot - Google Patents
A kind of laser cutting machine loading and unloading robot Download PDFInfo
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- CN107097003A CN107097003A CN201710391426.8A CN201710391426A CN107097003A CN 107097003 A CN107097003 A CN 107097003A CN 201710391426 A CN201710391426 A CN 201710391426A CN 107097003 A CN107097003 A CN 107097003A
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- seat
- baffle plate
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- sucker
- support
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- 238000003698 laser cutting Methods 0.000 title claims abstract description 35
- 230000007246 mechanism Effects 0.000 claims abstract description 31
- 230000003028 elevating effect Effects 0.000 claims abstract description 29
- 230000005540 biological transmission Effects 0.000 claims description 40
- 230000001360 synchronised effect Effects 0.000 claims description 23
- 230000033001 locomotion Effects 0.000 claims description 8
- 238000003780 insertion Methods 0.000 claims description 6
- 230000037431 insertion Effects 0.000 claims description 6
- 230000002787 reinforcement Effects 0.000 claims description 6
- 239000007787 solid Substances 0.000 claims 1
- 238000005520 cutting process Methods 0.000 abstract description 17
- 239000000463 material Substances 0.000 description 13
- 238000007599 discharging Methods 0.000 description 8
- 230000009471 action Effects 0.000 description 6
- 230000006872 improvement Effects 0.000 description 6
- 239000002994 raw material Substances 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000007789 gas Substances 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000009835 boiling Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000002309 gasification Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 239000011295 pitch Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
- B23K26/38—Removing material by boring or cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Laser Beam Processing (AREA)
Abstract
The invention discloses a kind of laser cutting machine loading and unloading robot in haulage equipment field, including moving beam, drive mechanism one is provided with moving beam, elevating lever is connected with moving beam, elevating lever lower end is provided with lifting seat, lifting seat is provided with a pair of sidesway supports, prong support is connected with the sidesway support, prong is provided with prong support, drive mechanism two is provided with lifting seat, lifting seat bottom is provided with a pair of baffle plate bearings, baffle plate is hinged with baffle plate bearing, baffle plate is corresponding with prong, baffle plate is provided with gear tooth, the teeth groove of gear tooth and prong is mutually staggered, lifting seat is provided with drive mechanism three；Lifting seat underside is connected with sucker disk seat, the position that the fixing sucking disk that sucker disk seat bottom is disposed with some fixing sucking disks, sucker disk seat can be risen to above prong, the position that sucker disk seat can drop to below prong.The present invention can carry out feeding and blanking for laser cutting machine, improve cutting efficiency.
Description
Technical field
The invention belongs to haulage equipment technical field, more particularly to a kind of loading and unloading robot for cutting machine.
Background technology
Laser cutting machine is the laser beam for launching high power density using laser, and laser beam is irradiated to workpiece surface,
Workpiece is set to reach fusing point or boiling point, while the gases at high pressure coaxial with laser beam will melt or the metal of gasification is blown away, with sharp
Light beam and the change of workpiece relative position, finally make workpiece formation joint-cutting, reach the purpose of cutting.Cut using laser cutting machine
, it is necessary to manually be transported to plate to be cut on pallet changer from raw material area during plate, laser cutting machine is carried out to plate
After cutting, in addition it is also necessary to the plate of well cutting manually is transported into discharging area, artificial carry is wasted time and energy, and cutting efficiency is low, leads
Cause the processing efficiency of enterprise relatively low.
In the prior art, there are a kind of loading and unloading robot, its number of patent application：201520470795.2；The applying date：
2015.06.25；Its structure includes base, lift cylinder, rotary cylinder, cylinder mounting plate, counterweight, horizontal air cylinder, finger peace
Fill plate, pneumatic-finger；Pneumatic-finger is arranged on finger mounted plate, and finger mounted plate is arranged on the horizontal air cylinder, level
Cylinder is arranged on cylinder mounting plate, and counterweight is arranged on the cylinder mounting plate, and cylinder mounting plate is arranged on the revolution gas
On cylinder, rotary cylinder is arranged on the lift cylinder, and lift cylinder is arranged on the base.Lift cylinder, rotary cylinder
With the independent or resultant motion of horizontal air cylinder, the clamp on pneumatic-finger is controlled to complete the crawl and release of part, it is possible to increase
The production efficiency of loading and unloading, reduces labor strength.It is disadvantageous in that：The clamp of pneumatic-finger can only be used for capturing width
The narrower workpiece of degree, the wider width of plate, pneumatic-finger can not capture plate and be transported to specified location, it is impossible to be cut with laser
Cutting mill, which coordinates, quickly and efficiently cuts plate.
The content of the invention
It is an object of the invention to provide a kind of laser cutting machine loading and unloading robot, can the wider plate of grasp width,
Crawl plate to be cut is sent on pallet changer, and after the completion of laser cutting machine cutting, the plate that can capture well cutting is sent
To discharging area, feeding and blanking process realize automation, time saving and energy saving, rapidly and efficiently, improve plate cutting efficiency.
The object of the present invention is achieved like this：A kind of laser cutting machine loading and unloading robot, including moving beam, it is mobile
The two ends of crossbeam are supported on corresponding longitudinal rail by back-up roller wheel, and at least two are equipped with below every longitudinal rail
Support and be provided with foundation, moving beam on the drive mechanism one that moving beam can be driven to be moved along longitudinal rail, moving beam
Elevating lever is connected with, the lower end of elevating lever is provided with left and right on lifting seat, lifting seat and is correspondingly arranged at least one pair of sidesway
Each sidesway support of correspondence is respectively equipped with guide pad on support, lifting seat, and the sidesway support includes horizontal part and vertical portion, sidesway
It is fixedly connected with support vertical portion on prong support, prong support and is provided with prong, each pair prong is set in correspondence with each other,
Being provided with the lifting seat can drive each pair sidesway support opposite or reverse movement drive mechanism two, the lifting seat bottom
Left and right, which is correspondingly arranged at least one pair of baffle plate bearing, each baffle plate bearing, is hinged with baffle plate, and the baffle plate is with being located at baffle plate
The prong of lower section is corresponding to be set, and is provided with gear tooth on the baffle plate, the gear tooth is mutually staggered with the teeth groove of corresponding prong to be set
Put, the drive mechanism three of driving correspondence swung is provided with the lifting seat；The lifting seat underside is connected with can
The sucker disk seat moved up and down, the fixing sucking disk that sucker disk seat bottom is disposed with some fixing sucking disks, sucker disk seat can rise to
Position above prong, the position that sucker disk seat can drop to below prong.
When the loading and unloading robot of the present invention does not work, lifting seat is located at one on the top of pallet changer, lifting seat
Closure state is in prong, sucker disk seat is located above prong, gear tooth is in open configuration, and raw material area is stacked with some blocks of plates
Material；During feeding, drive mechanism one drives moving beam to be moved to along longitudinal rail above raw material area, and elevating lever, which declines to drive, to be risen
Drop seat is moved adjacent to the position of plate, and drive mechanism two drives each pair sidesway support reverse movement, and a pair of prongs open, sucker
Seat drops to the position that fixing sucking disk againsts the plate of the top, and drive mechanism two drives each pair sidesway support to move towards,
A pair of prong closures, fixing sucking disk sucks up plate, and elevating lever, which rises, lifts plate, and moving beam is traversing to send plate
Onto pallet changer, feeding is completed, laser cutting machine is cut to plate；During blanking, moving beam is moved to exchange work
Make above platform, drive mechanism two drives a pair of prongs to open, elevating lever drops to the position of the plate close to excision forming, driving
Mechanism two drives a pair of prong closures, and prong forks the plate of excision forming, and the plate of excision forming is come above prong, is risen
The plate of excision forming is sent to discharging area by drop bar and moving beam interoperation, and drive mechanism three drives swung, baffle plate
On gear tooth put in the teeth groove of prong, gear tooth block excision forming plate side, drive mechanism two drive a pair of prongs
It is gradually opened, the plate of excision forming slowly falls in discharging area under the guide effect of gear tooth, completes blanking.With prior art phase
Than, the beneficial effects of the present invention are：Plate to be cut can be captured to be sent on pallet changer, allow laser cutting machine to carry out
Cutting, after the completion of cutting, robot can capture the plate of excision forming, integrally be transported to discharging area, improve feeding with
The efficiency of material, feeding and blanking process realize automation, time saving and energy saving；Both can be with feeding, again can be with blanking, feeding and blanking are dynamic
It does not interfere with each other, more convenience and high-efficiency；Baffle plate gear tooth can switch between backgauge and the not state of backgauge, fork material when keep off tooth position in
The teeth groove that tooth puts in prong is kept off above prong, during blanking, fork material and blanking action are independent of each other；Loading and unloading robot and laser are cut
Cutting mill cooperating, because feeding and the efficiency of blanking are improved, the efficiency of plate cutting is also improved.
In order to improve the stability of moving beam so that more steady, every longitudinal rail when moving beam is moved
Lower section, which is provided between being arranged at intervals with below 3 support foundation, two longitudinal rails under 2 upper web beams and 3, to be strengthened
Reinforcement longeron is provided between crossbeam, 2 adjacent support foundation.Upper web beam, lower web beam, reinforcement longeron, support
A framework is integrally formed in foundation and longitudinal rail, and structure is more stablized.
As a further improvement on the present invention, the drive mechanism one includes the motor being arranged on moving beam
One, the output shaft of motor one is connected through transmission case with power transmission shaft one, the diameter parallel of power transmission shaft one and moving beam, transmission
The two ends of axle one are provided with motor sprocket, and the two ends of moving beam are provided with reversing sprocket one, reversing sprocket two and commutation
The wheel shaft of sprocket wheel three, reversing sprocket one and reversing sprocket three is generally aligned in the same plane, and reversing sprocket two is located at the top of reversing sprocket one,
Chain is engaged with the motor sprocket, one end of chain, which bypasses to be fixedly connected on behind the right side of reversing sprocket one in correspondence, strengthens horizontal
Liang Shang, the other end of chain first bypasses the upside of reversing sprocket two, is corresponded to further around being fixedly connected on behind the left side of reversing sprocket three excessively
On web beam, the two ends of the chain are provided with chain stretching device.Motor one drives power transmission shaft one to rotate, motor
Sprocket wheel drives reversing sprocket one, reversing sprocket two and reversing sprocket three to be rolled along chain, the back-up roller wheel of moving beam along
Longitudinal rail is rolled, and moving beam is realized and moved freely along longitudinal rail, it is only necessary to which the chain of a level just realizes movement
The horizontal shifting of crossbeam, it is not necessary to end to end chain, compact conformation, transmission is convenient.
As a further improvement on the present invention, the elevating lever is slided through upright guide rail slide block mechanism and moving beam and connected
Connect, two lift cylinders are symmetrically arranged with moving beam, lift cylinder axis is parallel with elevating lever, is symmetrical arranged on elevating lever
There are two hinged seats, the piston rod external part of lift cylinder is hinged with corresponding hinged seat.Lift cylinder is driven above and below elevating lever
Mobile, lifting seat, which is realized, moves up and down lifting.
As a further improvement on the present invention, two pairs of sidesway supports, the drive are symmetrically set with the lifting seat
Motivation structure two includes the motor two being arranged on lifting seat, and motor two is connected through transmission case with power transmission shaft two, is driven
Axle two and the axis perpendicular in sidesway support level portion, power transmission shaft two are located at the side of lifting seat, and the two ends of power transmission shaft two are all provided with
It is equipped with opposite side relative with power transmission shaft two on synchronous pulley, lifting seat and is symmetrically arranged with two synchronous belt wheel bases, synchronous pulley
Synchronous pulley is rotatably connected on seat, along synchronized between two corresponding synchronous pulleys of sidesway support level portion axis direction
Band is connected, and the upper and lower part of every timing belt is provided with pressure zone support, two pressure zone supports respectively with corresponding sidesway support
It is fixedly connected.Motor two drives power transmission shaft two to rotate, the synchronized band driving timing belt of synchronous pulley of the end of power transmission shaft two
Synchronous pulley on wheel seat is rotated, and when motor two is rotated forward, timing belt is rotated counterclockwise, and the two of above respectively and lower section
Away from each other, two pressure zone supports drive sidesway support reverse movement to individual pressure zone support, and a pair of prongs, which are gradually disengaged, to be opened；Driving
When motor two is inverted, timing belt is rotated clockwise, and above respectively and lower section two pressure zone supports are drawn close mutually, two pressures
Belt supporting frame drives sidesway support to move towards, and a pair of prongs gradually draw close closure；A pair of prongs can be closed and opened automatically.
As a further improvement on the present invention, described two prongs are symmetrically distributed in the left side and right side of sucker disk seat, lifting
The front side and rear side of seat are symmetrically arranged with two sucker disk seat cylinders, and the piston rod of sucker disk seat cylinder is parallel with elevating lever, each
The piston rod external part of sucker disk seat cylinder is hinged with sucker disk seat, and it is right on some guide holders, sucker disk seat to be provided with lifting seat
Each guide holder is answered to be provided with some guide rods, each guide rod coordinates in insertion correspondence guide holder.Sucker disk seat cylinder drives sucker
Seat is moved up and down, and feeding action is carried out after fixing sucking disk material grasping, and guide rod is oriented to for sucker disk seat so that when sucker disk seat is moved up and down
More smooth, feeding action is more steady.
As a further improvement on the present invention, the lifting seat bottom is symmetrically set with two pairs of baffle plate bearings, baffle plate
It is hinged through moving block with baffle plate bearing, the cross section of baffle plate is L-shaped, the drive mechanism three includes being arranged on lifting seat
Baffle plate cylinder, the piston rod external part of baffle plate cylinder, which is provided with U-shaped connecting seat, connecting seat, is provided with bearing pin, fixed on baffle plate
Oscillating rod is connected with, the upper end of oscillating rod is provided with mounting hole, and bearing pin coordinates in insertion mounting hole.The piston rod of baffle plate cylinder is stretched
Go out, drive oscillating rod to swing, when oscillating rod is in vertical state, the gear tooth of baffle plate is put in the teeth groove of prong, gear tooth blocks plate
Material, plate realizes positioning, prevents plate from moving, more steady during blanking；Baffle plate gear tooth can be in backgauge and the not state of backgauge
Between switch, gear tooth position keeps off the teeth groove that tooth puts in prong above the prong, during blanking during fork material, the mutual not shadow of fork material and blanking action
Ring；Two pairs of baffle plate bearings are set so that more steady during swung.
During in order to prevent that fixing sucking disk from capturing plate, upper strata plate and lower floor's plate are sticked together, it is difficult to separated, described
The side of sucker disk seat, which is arranged at intervals with some support bases, support base, is provided with rotating shaft, and rotating shaft and power transmission shaft two are perpendicular, rotating shaft
On be arranged at intervals with some rotation sucker stands, rotate to be provided with the inside of Universal sucker, sucker disk seat on sucker stand and be provided with
At least one pair of Universal sucker cylinder, the piston rod external part of Universal sucker cylinder passes outwards through frame and the company of being hinged with of sucker disk seat
Bar, the other end of connecting rod is connected with rotating shaft, rotates correspondence Universal sucker on sucker stand and is provided with air nozzle.Fixing sucking disk and ten thousand
Plate to be cut is first held to sucker, Universal sucker cylinder drivening rod is swung, connecting rod, which drives, rotates sucker stand swing, universal
The side that sucker holds plate is pulled up, and the side of plate is tilted, and the multiple reciprocal telescopic of cylinder piston rod drives Universal sucker many
The secondary side for pullling plate, air nozzle is to the gap jet between top plate material and lower floor's plate, upper strata plate and lower floor's plate
Separated, it is ensured that one piece of plate is only captured during robot feeding, fast hierarchical is realized；It is pendulum by the transform linear motion of cylinder
Dynamic, cylinder piston is not subject to thrust, it is not easy to wear and tear；Cylinder is arranged on inner side, and the piston rod stroke of cylinder is longer, arrangement side
Just, compact conformation.
As a further improvement on the present invention, the robot is corresponding with laser cutting machine is set, laser cutting machine
Pallet changer is located at two parallel positions strengthened between longeron.Pallet changer is located at two positions strengthened between longeron
Put, more facilitate when robot charge, laser cutting machine cutting plate, will not be with web beam, reinforcement longeron or support
Foundation collides.
Brief description of the drawings
Fig. 1 is structural representation of the invention.
Fig. 2 is another structural representation of the invention.
Fig. 3 is the partial structural diagram of elevating lever.
Fig. 4 is the structural representation of moving beam.
Fig. 5 is the transmission principle figure of moving beam.
Fig. 6 is the structural representation of fixed seat and sucker disk seat frock.
Fig. 7 is the enlarged drawing at A in Fig. 6.
Fig. 8 is the structural representation of fixed seat frock.
Fig. 9 is timing belt, the transmission principle figure of synchronous pulley.
Figure 10 is the structural representation of sucker disk seat frock.
Figure 11 is the partial structural diagram of sucker disk seat.
Structural scheme of mechanism when Figure 12 is absorption plate.
Figure 13 is the enlarged drawing at B in Figure 12.
Figure 14 is structural representation when loading and unloading robot and laser cutting machine are used cooperatively.
Figure 15 is the original state figure of fixed seat and sucker disk seat frock.
Structural representation when Figure 16 opens for prong.
Figure 17 is structural representation when sucker disk seat declines.
Figure 18 is structural representation when prong pitches material.
Structural representation when Figure 19 is blanking.
Wherein, 1 moving beam, 2 back-up roller wheels, 3 longitudinal rails, 4 support foundation, 5 elevating levers, 6 lifting seats, 7 sidesway branch
Frame, 7a sidesway support levels portion, 7b sidesway supports vertical portion, 8 guide pads, 9 prong supports, 10 prongs, 11 baffle plate bearings, 12 gears
Plate, 12a gear teeth, 13 sucker disk seats, 13a fixing sucking disks, web beam on 14,15 time web beams, 16 strengthen longerons, and 17 drivings are electric
Machine one, 18 power transmission shafts one, 18a motor sprockets, 19a reversing sprockets one, 19b reversing sprockets two, 19c reversing sprockets three, 20 chains,
21 chain stretching devices, 22 guide rail slide block mechanisms, 23 lift cylinders, 24 hinged seats, 25 motors two, 26 power transmission shafts two, 27
Synchronous pulley, 27a synchronous belt wheel bases, 28 timing belts, 28a pressure zone supports, 29 sucker disk seat cylinders, 30 guide rods, 31 guide holders, 32
Moving block, 33 baffle plate cylinders, 34 connecting seats, 35 bearing pins, 36 oscillating rods, 36a mounting holes, 37 support bases, 38 rotating shafts, 39 rotate suction
Disc carrier, 40 Universal suckers, 41 Universal sucker cylinders, 42 connecting rods, 43 air nozzles, 44 laser cutting machines, 44a pallet changers,
45 plates.
Embodiment
It is a kind of laser cutting machine loading and unloading robot such as Fig. 1-14, including moving beam 1, the two ends of moving beam 1 are equal
It is supported on by back-up roller wheel 2 on corresponding longitudinal rail 3, the lower section of every longitudinal rail 3 is equipped with least two support foundation
4, it is movable on the drive mechanism one that moving beam 1 can be driven to be moved along longitudinal rail 3, moving beam 1 to be provided with moving beam 1
Elevating lever 5 is connected with, the lower end of elevating lever 5 is provided with left and right on lifting seat 6, lifting seat 6 and is correspondingly arranged at least one pair of sidesway
Each sidesway support 7 of correspondence is respectively equipped with guide pad 8 on support 7, lifting seat 6, and sidesway support 7 includes horizontal part 7a and vertical portion
It is fixedly connected with 7b, sidesway support vertical portion 7b on prong support 9, prong support 9 and is provided with prong 10, each pair prong 10 is mutual
Corresponding to set, being provided with lifting seat 6 can drive each pair sidesway support 7 opposite or reverse movement drive mechanism two, lifting
6 bottoms of seat or so, which are correspondingly arranged at least one pair of baffle plate bearing 11, each baffle plate bearing 11, is hinged with baffle plate 12, baffle plate 12
It is corresponding with the prong 10 positioned at the lower section of baffle plate 12 to set, gear tooth 12a, gear tooth 12a and corresponding prong 10 are provided with baffle plate 12
Teeth groove be mutually staggered setting, the drive mechanism three that driving correspondence baffle plate 12 is swung is provided with lifting seat 6；The lower section of lifting seat 6
Sucker disk seat 13 moving up and down is connected with, the bottom of sucker disk seat 13 is disposed with some fixing sucking disk 13a, sucker disk seat 13
On fixing sucking disk 13a can rise to the position positioned at the top of prong 10, sucker disk seat 13 can drop to positioned at the lower section of prong 10
Position.Every lower section of longitudinal rail 3 is arranged at intervals between 3 support foundation 4, two lower sections of longitudinal rail 3 and is provided with 2
Reinforcement longeron 16 is provided between web beam 14 and 3 lower web beams 15,2 adjacent support foundation 4.The driving machine
Structure one includes the motor 1 being arranged on moving beam 1, and the output shaft of motor 1 is through transmission case and power transmission shaft
One 18 are connected, and the diameter parallel of power transmission shaft 1 and moving beam 1, the two ends of power transmission shaft 1 are provided with motor sprocket 18a,
The two ends of moving beam 1 are provided with the 19a of reversing sprocket one, the 19b of reversing sprocket two and the 19c of reversing sprocket three, reversing sprocket one
19a and the 19c of reversing sprocket three wheel shaft are generally aligned in the same plane, and the 19b of reversing sprocket two is located above the 19a of reversing sprocket one, motor
Chain 20 is engaged with sprocket wheel 18a, one end of chain 20, which is fixedly connected on after bypassing on the right side of the 19a of reversing sprocket one in correspondence, to be strengthened
On crossbeam 14, the other end of chain 20 is first bypassed on the upside of the 19b of reversing sprocket two, further around fixed after crossing on the left of the 19c of reversing sprocket three
It is connected on the upper web beam 14 of correspondence, the two ends of chain 20 are provided with chain stretching device 21.Elevating lever 5 is through upright guide rail
Slide block mechanism 22 is slidably connected with moving beam 1, and two lift cylinders 23, lift cylinder 23 are symmetrically arranged with moving beam 1
Axis is parallel with elevating lever 5, is symmetrically arranged with two hinged seats 24 on elevating lever 5, the piston rod external part of lift cylinder 23 with
Correspondence hinged seat 24 is hinged.Two pairs of sidesway supports 7 are symmetrically set with lifting seat 6, the drive mechanism two includes peace
Motor 2 25 on lifting seat 6, motor 2 25 is connected through transmission case with power transmission shaft 2 26, power transmission shaft 2 26 with
Sidesway support level portion 7a axis perpendicular, power transmission shaft 2 26 is located at the side of lifting seat 6, and the two ends of power transmission shaft 2 26 are all provided with
It is equipped with opposite side relative with power transmission shaft 2 26 on synchronous pulley 27, lifting seat 6 and is symmetrically arranged with two synchronous belt wheel base 27a,
Synchronous pulley 27 is rotatably connected on synchronous belt wheel base 27a, it is same along sidesway support level portion 7a axis directions corresponding two
Synchronized band 28 is connected between walking belt wheel 27, and the upper and lower part of every timing belt 28 is provided with pressure zone support 28a, two pressures
Belt supporting frame 28a is fixedly connected with corresponding sidesway support 7 respectively.Two prongs 10 are symmetrically distributed in the left side and the right side of sucker disk seat 13
Side, the front side of lifting seat 6 and rear side are symmetrically arranged with two sucker disk seat cylinders 29, the piston rod and elevating lever of sucker disk seat cylinder 29
5 is parallel, and the piston rod external part of each sucker disk seat cylinder 29 is hinged with sucker disk seat 13, is provided with lifting seat 6 some
Each guide holder 31 of correspondence is provided with some guide rods 30 on guide holder 31, sucker disk seat 13, and each guide rod 30 coordinates insertion correspondence
In guide holder 31.The bottom of lifting seat 6 is symmetrically set with two pairs of baffle plate bearings 11, and baffle plate 12 is through moving block 32 and baffle plate bearing
11 are hinged, and the cross section of baffle plate 12 is L-shaped, and the drive mechanism three includes the baffle plate cylinder 33 being arranged on lifting seat 6, gear
The piston rod external part of plate cylinder 33, which is provided with U-shaped connecting seat 34, connecting seat 34, is provided with bearing pin 35, fixed on baffle plate 12 to connect
Oscillating rod 36 is connected to, the upper end of oscillating rod 36 is provided with mounting hole, and bearing pin 35 coordinates in insertion mounting hole.The side of sucker disk seat 13
It is arranged at intervals with some support bases 37, support base 37 and rotating shaft 38 is installed, rotating shaft 38 and power transmission shaft 2 26 is perpendicular, rotating shaft 38
On be arranged at intervals with some rotation sucker stands 39, rotate and be provided with Universal sucker 40 on sucker stand 39, sucker disk seat 13 it is interior
Side is provided with least one pair of Universal sucker cylinder 41, and the piston rod external part of Universal sucker cylinder 41 passes outwards through sucker disk seat 13
Frame is simultaneously hinged with connecting rod 42, and the other end of connecting rod 42 is connected with rotating shaft 38, rotates correspondence Universal sucker 40 on sucker stand 39
It is provided with air nozzle 43.The robot is corresponding with laser cutting machine 44 to be set, the pallet changer 44a of laser cutting machine 44
Positioned at two parallel positions strengthened between longeron 16.
Such as Figure 15, when loading and unloading robot does not work, lifting seat 6 is located on pallet changer 44a top, lifting seat 6
A pair of prongs 10 be in closure state, sucker disk seat 13 is located at the top of prong 10, and gear tooth 12a is in open configuration, raw material area heap
It is laminated with some pieces of plates 45；During feeding, motor 1 drives power transmission shaft 1 to rotate, and motor sprocket 18a drives commutation chain
Take turns a 19a, the 19b of reversing sprocket two and the 19c of reversing sprocket three to roll along chain 20, the back-up roller wheel 2 of moving beam 1 is along vertical
Direction guiding rail 3 is rolled, and moving beam 1 is moved to above raw material area along longitudinal rail 3, and lift cylinder 23 drives elevating lever 5 to decline,
Lifting seat 6 is moved adjacent to the position of plate, such as Figure 16, and when motor 2 25 is rotated forward, timing belt 28 is rotated counterclockwise, respectively
Away from each other, two pressure zone support 28a drive sidesway support 7 to move backward to two pressure zone support 28a of above and lower section,
A pair of prongs 10 open, such as Figure 17, and sucker disk seat 13 drops to the position that fixing sucking disk 13a againsts the plate 45 of the top, drives
When dynamic motor 2 25 is inverted, each pair sidesway support 7 is moved towards, and a pair of prongs 10 are closed, and fixing sucking disk 13a picks up plate 45
Come, elevating lever 5, which rises, lifts plate 45, and moving beam 1 is traversing to be sent to plate on pallet changer 44a, complete feeding,
Laser cutting machine 44 is cut to plate；Such as Figure 16, during blanking, moving beam 1 is moved to above pallet changer 44a, and one
Prong 10 is opened, such as Figure 18, elevating lever 5 drops to the position of the plate close to excision forming, and a pair of prongs 10 are closed, prong
10 fork the plate of excision forming, and the plate of excision forming comes the top of prong 10, and elevating lever 5 and moving beam 1 coordinate dynamic
Make the plate of excision forming being sent to discharging area, the piston rod of baffle plate cylinder 33 stretches out, and drives oscillating rod 36 to swing, oscillating rod 36
During in vertical state, the gear tooth 12a of baffle plate 12 is put in the teeth groove of prong 10, and gear tooth 12a blocks the plate of excision forming
Sideways, such as Figure 19, motor 2 25 drives a pair of prongs 10 to be gradually opened, and the plate of excision forming is keeping off tooth 12a guiding
Slowly fall under effect in discharging area, complete blanking.The advantage of robot is：Plate to be cut can be captured and be sent to exchange
On workbench, laser cutting machine is allowed to be cut, after the completion of cutting, robot can capture the plate of excision forming, integrally remove
Discharging area is transported to, the efficiency of feeding and blanking is improved, feeding and blanking process realize automation, time saving and energy saving；Both can more than
Material, can not interfere with each other, more convenience and high-efficiency with blanking, feeding and blanking action again；The gear of baffle plate 12 tooth 12a can in backgauge and not
Switch between the state of backgauge, gear tooth 12a is located at the top of prong 10 during fork material, the teeth groove that tooth 12a puts in prong 10 is kept off during blanking, fork
Material and blanking action are independent of each other；Loading and unloading robot and laser cutting machine cooperating, because feeding and the efficiency of blanking are carried
Gao Liao, the efficiency of plate cutting is also improved.
The invention is not limited in above-described embodiment, on the basis of technical scheme disclosed by the invention, the skill of this area
Art personnel are according to disclosed technology contents, it is not necessary to which performing creative labour just can make one to some of which technical characteristic
A little to replace and deform, these are replaced and deformed within the scope of the present invention.
Claims (9)
1. a kind of laser cutting machine loading and unloading robot, it is characterised in that including moving beam, the two ends of moving beam pass through
Back-up roller wheel is supported on corresponding longitudinal rail, and at least two support foundation are equipped with below every longitudinal rail, mobile horizontal
It is provided with beam on the drive mechanism one that moving beam can be driven to be moved along longitudinal rail, moving beam and is connected with lifting
Bar, the lower end of elevating lever be provided with left and right on lifting seat, lifting seat be correspondingly arranged on it is right at least one pair of sidesway support, lifting seat
Each sidesway support is answered to be respectively equipped with guide pad, the sidesway support includes solid on horizontal part and vertical portion, sidesway support vertical portion
Surely it is connected with prong support, prong support and is provided with prong, each pair prong is set in correspondence with each other, is set on the lifting seat
Being equipped with can drive each pair sidesway support opposite or reverse movement drive mechanism two, and described lifting seat bottom or so is correspondingly arranged on
Baffle plate is hinged with least one pair of baffle plate bearing, each baffle plate bearing, the baffle plate is relative with the prong below baffle plate
It should set, be provided with gear tooth on the baffle plate, the gear tooth and the teeth groove of corresponding prong are mutually staggered setting, on the lifting seat
It is provided with the drive mechanism three of driving correspondence swung；The lifting seat underside is connected with sucker moving up and down
Seat, the fixing sucking disk that sucker disk seat bottom is disposed with some fixing sucking disks, sucker disk seat can be risen to above prong
Position, the position that sucker disk seat can drop to below prong.
2. a kind of laser cutting machine loading and unloading robot according to claim 1, it is characterised in that lead every longitudinal direction
It is provided with 2 upper web beams and 3 and adds between being arranged at intervals with below rail below 3 support foundation, two longitudinal rails
Reinforcement longeron is provided between deck transverse, 2 adjacent support foundation.
3. a kind of laser cutting machine loading and unloading robot according to claim 2, it is characterised in that the drive mechanism one
Including the motor one on moving beam, the output shaft of motor one is connected through transmission case with power transmission shaft one, passes
The diameter parallel of moving axis one and moving beam, the two ends of power transmission shaft one are provided with motor sprocket, and the two ends of moving beam are all provided with
It is equipped with reversing sprocket one, reversing sprocket two and reversing sprocket three, the wheel shaft of reversing sprocket one and reversing sprocket three is located at same flat
Face, reversing sprocket two, which is located on the top of reversing sprocket one, the motor sprocket, is engaged with chain, and one end of chain bypasses commutation chain
It is fixedly connected on behind the right side of wheel one on the upper web beam of correspondence, the other end of chain first bypasses the upside of reversing sprocket two, further around mistake
It is fixedly connected on behind the left side of reversing sprocket three on the upper web beam of correspondence, the two ends of the chain are provided with chain tension dress
Put.
4. a kind of laser cutting machine loading and unloading robot according to claim 1-3 any one, it is characterised in that described
Elevating lever is slidably connected through upright guide rail slide block mechanism and moving beam, and two lift cylinders are symmetrically arranged with moving beam,
Lift cylinder axis is parallel with elevating lever, and two hinged seats, the piston rod external part of lift cylinder are symmetrically arranged with elevating lever
It is hinged with corresponding hinged seat.
5. a kind of laser cutting machine loading and unloading robot according to claim 1-3 any one, it is characterised in that described
Two pairs of sidesway supports are symmetrically set with lifting seat, the drive mechanism two includes the motor being arranged on lifting seat
Two, motor two is connected through transmission case with power transmission shaft two, power transmission shaft two and the axis perpendicular in sidesway support level portion, transmission
Axle two is located at the side of lifting seat, and the two ends of power transmission shaft two are provided with relative with power transmission shaft two on synchronous pulley, lifting seat
Opposite side is symmetrically arranged with two synchronous belt wheel bases, synchronous belt wheel base and is rotatably connected to synchronous pulley, along sidesway support level
Synchronized band is connected between two corresponding synchronous pulleys of portion's axis direction, and the upper and lower part of every timing belt is provided with
Pressure zone support, two pressure zone supports are fixedly connected with corresponding sidesway support respectively.
6. a kind of laser cutting machine loading and unloading robot according to claim 5, it is characterised in that described two prongs pair
Claim the left side and right side for being distributed in sucker disk seat, the front side of lifting seat and rear side are symmetrically arranged with two sucker disk seat cylinders, sucker disk seat
The piston rod of cylinder is parallel with elevating lever, and the piston rod external part of each sucker disk seat cylinder is hinged with sucker disk seat, lifting
Each guide holder of correspondence on some guide holders, sucker disk seat is provided with seat and is provided with some guide rods, each guide rod coordinates insertion
In correspondence guide holder.
7. a kind of laser cutting machine loading and unloading robot according to claim 5, it is characterised in that the lifting seat bottom
Two pairs of baffle plate bearings are symmetrically set with, baffle plate is hinged through moving block with baffle plate bearing, and the cross section of baffle plate is L-shaped, institute
The baffle plate cylinder that drive mechanism three includes being arranged on lifting seat is stated, the piston rod external part of baffle plate cylinder is provided with U-shaped connection
It is provided with seat, connecting seat on bearing pin, baffle plate and is fixedly connected with oscillating rod, the upper end of oscillating rod is provided with mounting hole, and bearing pin is matched somebody with somebody
Close in insertion mounting hole.
8. a kind of laser cutting machine loading and unloading robot according to claim 5, it is characterised in that the one of the sucker disk seat
Side, which is arranged at intervals with some support bases, support base, is provided with rotating shaft, and rotating shaft and power transmission shaft two are perpendicular, is arranged at intervals in rotating shaft
Have some rotation sucker stands, rotate be provided with sucker stand on the inside of Universal sucker, sucker disk seat be provided with least one pair of ten thousand
To sucker cylinder, the piston rod external part of Universal sucker cylinder passes outwards through the frame of sucker disk seat and is hinged with connecting rod, connecting rod
The other end is connected with rotating shaft, rotates correspondence Universal sucker on sucker stand and is provided with air nozzle.
9. a kind of laser cutting machine loading and unloading robot according to claim 1-3 any one, it is characterised in that described
Robot is corresponding with laser cutting machine to be set, and the pallet changer of laser cutting machine is located between two parallel reinforcement longerons
Position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710391426.8A CN107097003A (en) | 2017-05-27 | 2017-05-27 | A kind of laser cutting machine loading and unloading robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710391426.8A CN107097003A (en) | 2017-05-27 | 2017-05-27 | A kind of laser cutting machine loading and unloading robot |
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| CN107097003A true CN107097003A (en) | 2017-08-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710391426.8A Pending CN107097003A (en) | 2017-05-27 | 2017-05-27 | A kind of laser cutting machine loading and unloading robot |
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| CN (1) | CN107097003A (en) |
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| CN109093258A (en) * | 2018-11-07 | 2018-12-28 | 广州金汉自动化科技有限公司 | Laser soldering device |
| WO2019039994A1 (en) * | 2017-12-14 | 2019-02-28 | Tomologic Ab | A method and a system for handling beam-cut parts by the provision of a gripper |
| CN109434308A (en) * | 2018-11-07 | 2019-03-08 | 合肥福春机械有限公司 | A kind of complete mechanism of comprehensive laser cutting machine loading and unloading of multipurpose and its operating process |
| CN109659263A (en) * | 2019-01-10 | 2019-04-19 | 江苏汇成光电有限公司 | A kind of wafer patch counterdie device |
| CN111195785A (en) * | 2020-03-25 | 2020-05-26 | 扬州恒佳自动化设备有限公司 | Laser prong prevents fish tail device |
| CN111604604A (en) * | 2020-06-28 | 2020-09-01 | 安徽富信半导体科技有限公司 | Forming equipment for processing semiconductor element and using method thereof |
| CN112440298A (en) * | 2019-09-05 | 2021-03-05 | 杭州特点智能科技有限公司 | Numerical control flat plate cutting machine capable of automatically receiving materials and control method thereof |
| CN113182706A (en) * | 2021-05-11 | 2021-07-30 | 广东宏石激光技术股份有限公司 | Automatic unloading laser cutting machine of going up of two crossbeams |
| CN113579528A (en) * | 2021-09-28 | 2021-11-02 | 江苏威扬重工科技有限公司 | Material guiding device of laser cutting machine and implementation method thereof |
| CN113857696A (en) * | 2021-11-17 | 2021-12-31 | 广东铭鑫机电装配科技有限公司 | Thin metal plate laser cutting device and blanking method thereof |
| CN114289894A (en) * | 2021-12-17 | 2022-04-08 | 中建材浚鑫科技有限公司 | Laser cutting device of colored dual glass assembly battery piece |
| CN114619160A (en) * | 2022-05-13 | 2022-06-14 | 济南森峰激光科技股份有限公司 | Fork tooth and sucker composite loading and unloading device and method |
| CN108213397B (en) * | 2018-03-12 | 2023-10-31 | 中国计量大学 | Molten iron forging feeding and discharging robot |
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| US11752624B2 (en) | 2017-12-14 | 2023-09-12 | Tomologic Ab | Method and a system for handling beam-cut parts by the provision of a gripper |
| EP3723936B1 (en) | 2017-12-14 | 2022-07-20 | Tomologic AB | Method of and system for handling beam-cut parts by the provision of a gripper |
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| CN112440298B (en) * | 2019-09-05 | 2024-04-16 | 杭州特点智能科技有限公司 | Numerical control flat plate cutting machine capable of automatically receiving materials and control method thereof |
| CN111195785A (en) * | 2020-03-25 | 2020-05-26 | 扬州恒佳自动化设备有限公司 | Laser prong prevents fish tail device |
| CN111604604A (en) * | 2020-06-28 | 2020-09-01 | 安徽富信半导体科技有限公司 | Forming equipment for processing semiconductor element and using method thereof |
| CN113182706A (en) * | 2021-05-11 | 2021-07-30 | 广东宏石激光技术股份有限公司 | Automatic unloading laser cutting machine of going up of two crossbeams |
| CN113579528A (en) * | 2021-09-28 | 2021-11-02 | 江苏威扬重工科技有限公司 | Material guiding device of laser cutting machine and implementation method thereof |
| CN113579528B (en) * | 2021-09-28 | 2021-11-30 | 江苏威扬重工科技有限公司 | Material guiding device of laser cutting machine and implementation method thereof |
| CN113857696A (en) * | 2021-11-17 | 2021-12-31 | 广东铭鑫机电装配科技有限公司 | Thin metal plate laser cutting device and blanking method thereof |
| CN114289894A (en) * | 2021-12-17 | 2022-04-08 | 中建材浚鑫科技有限公司 | Laser cutting device of colored dual glass assembly battery piece |
| CN114289894B (en) * | 2021-12-17 | 2023-10-17 | 中建材浚鑫科技有限公司 | Laser cutting device for color double-glass assembly battery piece |
| CN114619160A (en) * | 2022-05-13 | 2022-06-14 | 济南森峰激光科技股份有限公司 | Fork tooth and sucker composite loading and unloading device and method |
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Application publication date: 20170829 |