CN107804021A - A kind of pressing robot loading and unloading handling system - Google Patents
A kind of pressing robot loading and unloading handling system Download PDFInfo
- Publication number
- CN107804021A CN107804021A CN201711245403.2A CN201711245403A CN107804021A CN 107804021 A CN107804021 A CN 107804021A CN 201711245403 A CN201711245403 A CN 201711245403A CN 107804021 A CN107804021 A CN 107804021A
- Authority
- CN
- China
- Prior art keywords
- handling system
- frock
- feeding
- truss
- feeding end
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000003825 pressing Methods 0.000 title claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 70
- 238000007599 discharging Methods 0.000 claims abstract description 41
- 230000003028 elevating effect Effects 0.000 claims abstract description 37
- 238000004080 punching Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B30—PRESSES
- B30B—PRESSES IN GENERAL
- B30B15/00—Details of, or accessories for, presses; Auxiliary measures in connection with pressing
- B30B15/30—Feeding material to presses
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B30—PRESSES
- B30B—PRESSES IN GENERAL
- B30B15/00—Details of, or accessories for, presses; Auxiliary measures in connection with pressing
- B30B15/32—Discharging presses
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to automation equipment,Specific field is a kind of pressing robot loading and unloading handling system,Including feeding end handling system,Discharging end handling system and transfer robot,Feeding end handling system includes feeding end and carries truss,First retaining mechanism,Feeding frock heap truck and feeding end positioning guardrail,Feeding end positioning guardrail interior parallel is placed with two feeding frock heap trucks,The first retaining mechanism is provided with below each feeding frock heap truck,Carry truss and be located at feeding end positioning guardrail rear in feeding end,Discharging end handling system includes discharging end and carries truss,Blanking tool elevating mechanism,Blanking tool heap truck,Second retaining mechanism and discharging end positioning guardrail,Blanking tool heap truck is placed with inside discharging end positioning guardrail,The second retaining mechanism is provided with below blanking tool heap truck,Discharging end positions and is provided with blanking tool elevating mechanism between guardrail and transfer robot,The present invention can solve the problems, such as that the artificial loading and unloading of prior art are dangerous.
Description
Technical field
The present invention relates to automation equipment, specific field is a kind of pressing robot loading and unloading handling system.
Background technology
Punching press is that depended on pressure machine and mould apply external force to sheet material, band, tubing and section bar etc., is allowed to produce plastic deformation
Or separation, so as to obtain the forming and machining method of the workpiece (stamping parts) of required shape and size, in process of production, use punching
Pressure technique has been very universal phenomenon, it is necessary to feeding and blanking in punching course, most manufacturer uses artificial at present
There is necessarily dangerous and less efficient in loading and unloading, artificial loading and unloading, prolonged machinery work easily causes human-body fatigue,
Tired human body loading and unloading further increase the danger of loading and unloading.
The content of the invention
It is an object of the invention to provide a kind of pressing robot loading and unloading handling system, with solve prior art it is artificial on
The problem of blanking is dangerous.
To achieve the above object, the present invention provides following technical scheme：A kind of pressing robot loading and unloading handling system, bag
Include feeding end handling system, discharging end handling system and the transfer robot in front of punch press, feeding end handling system
It is located at the both sides of transfer robot respectively with discharging end handling system, feeding end handling system includes feeding end and carries truss, the
One retaining mechanism, feeding frock heap truck and feeding end positioning guardrail, the feeding end positioning guardrail interior parallel are placed with two
Feeding frock heap truck, be provided with the first retaining mechanism, the feeding end carrying truss position below each feeding frock heap truck
In feeding end positioning guardrail rear, the discharging end handling system include discharging end carry truss, blanking tool elevating mechanism, under
Expect frock heap truck, the second retaining mechanism and discharging end positioning guardrail, blankers are placed with inside the discharging end positioning guardrail
Fill heap truck, be provided with the second retaining mechanism below blanking tool heap truck, the discharging end positioning guardrail and transfer robot it
Between be provided with blanking tool elevating mechanism, discharging end carries truss and is located at blanking tool elevating mechanism rear.
Preferably, first retaining mechanism includes the first elevating mechanism and lifter plate, and the lifter plate is provided with positioning
Pin, frock are provided with positioning hole, and the alignment pin coordinates with positioning hole, second retaining mechanism and the first locking mechanism structure
It is identical.
Preferably, truss is carried at the feeding end includes feeding truss robot and the first handgrip, on first handgrip
Provided with the first cylinder for controlling the first handgrip opening and closing, first handgrip matches with the recess in frock.
Preferably, the discharging end, which carries truss, includes blanking truss robot and the second handgrip, on second handgrip
The second cylinder provided with the second handgrip opening and closing of control.
Preferably, the blanking tool elevating mechanism includes prop and the second lift on prop
Structure, the lift side of second elevating mechanism are connected with the supporting plate of support frock.
Compared with prior art, the beneficial effects of the invention are as follows：Transfer robot captures in the frock at feeding end automatically
Workpiece, it is put into punch press and carries out stamping press, then captures the workpiece for completing punching press again, be put within the frock of discharging end, when
Workpiece is all taken out in the frock at feeding end, and the frock at feeding end can be transported to the feeding frock heap positioned at left side by system automatically
On truck, and when the frock of discharging end is filled, the frock of discharging end also can be transported to blanking tool windrow by system automatically
Che Shang, whole process are all automatically performed, efficiently neat, convenient management, without manual operation, cause to damage in the absence of to human body
Dangerous reduce human cost simultaneously.
Brief description of the drawings
Fig. 1 is a kind of structural representation of pressing robot loading and unloading handling system provided by the invention；
Fig. 2 is the structural representation of the first retaining mechanism in the present invention；
Fig. 3 is the structural representation that truss is carried at feeding end in the present invention；
Fig. 4 is the structural representation that discharging end carries truss in the present invention；
Fig. 5 is the structural representation of blanking tool elevating mechanism in the present invention.
In figure：1 feeding end carrying truss, 2 first retaining mechanisms, 21 lifter plates, 22 first elevating mechanisms, 23 alignment pins,
2 ' second retaining mechanisms, 3 feeding frock heap trucks, 4 feeding ends positioning guardrail, 5 transfer robots, 6 blanking tool elevating mechanisms,
61 supporting plates, 62 second elevating mechanisms, 63 props, 7 blanking tool heap trucks, 8 discharging ends positioning guardrail, 9 discharging ends are removed
Fortune truss, 10 punch presses, 11 feeding truss robots, 12 first handgrips, 13 first cylinders, 14 blanking truss robots, 15 second
Handgrip, 16 second cylinders, 17 connecting rods, 18 grapples.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Fig. 1-5 are referred to, the present invention provides a kind of technical scheme：A kind of pressing robot loading and unloading handling system, including
Feeding end handling system, discharging end handling system and transfer robot 5 positioned at the front of punch press 10, feeding end handling system is with
Expect that end handling system is located at the both sides of transfer robot 5 respectively, feeding end handling system includes feeding end and carries truss 1, first
Retaining mechanism 2, feeding frock heap truck 3 and feeding end positioning guardrail 4, the feeding end positioning interior parallel of guardrail 4 are placed with two
Feeding frock heap truck 3, each lower section of feeding frock heap truck 3 are provided with the first retaining mechanism 2, and feeding end is carried truss 1 and is located at
Feeding end positioning guardrail 4 rear, discharging end handling system include discharging end and carry truss 9, blanking tool elevating mechanism 6, blanking
Frock heap truck 7, the second retaining mechanism 2 ' and discharging end positioning guardrail 8, discharging end position and are placed with blanking tool inside guardrail 8
Heap truck 7, the lower section of blanking tool heap truck 7 are provided with the second retaining mechanism 2 ', discharging end positioning guardrail 8 and transfer robot 5 it
Between be provided with blanking tool elevating mechanism 6, discharging end carries truss 9 and is located at the rear of blanking tool elevating mechanism 6.
As shown in Fig. 2 the first retaining mechanism 2 includes the first elevating mechanism 22 and lifter plate 21, lifter plate 21 is provided with fixed
Position pin 23, frock are provided with positioning hole, and alignment pin 23 coordinates with positioning hole, after feeding frock heap truck 3 is in place, the first lifting
Mechanism 22 starts, and promotes lifter plate 21 to move upwards, until alignment pin 23 is sticked into the positioning hole in frock, prevents feeding frock
Heap truck 3 moves, and the second retaining mechanism 2 ' is identical with the structure of the first retaining mechanism 2, after blanking tool heap truck 7 is in place, second
The first elevating mechanism 22 in retaining mechanism 2 ' starts, and then promotes the lifter plate 21 in the second retaining mechanism 2 ' to move upwards,
Until the alignment pin 23 in the second retaining mechanism 2 ' is sticked into the positioning hole in frock, so as to prevent blanking tool heap truck 7 from moving
Dynamic, first elevating mechanism 22 can lift to realize by screw mandrel, can also be realized by lift cylinder.
As shown in figure 3, truss 1 is carried at feeding end includes the handgrip 12 of feeding truss robot 11 and first, the first handgrip 12
The first cylinder 13 of the control opening and closing of the first handgrip 12 is provided with, the first handgrip 12 matches with the recess in frock, when right side feeding
After workpiece in frock on frock heap truck 3 all captures, the first cylinder 13 controls the first handgrip 12 to open, and first grabs
After mating recesses in hand 12 and frock are good, feeding truss robot 11 is moved to the left, by right side feeding frock heap truck 3
Frock through vacating is carried on the feeding frock heap truck 3 in left side.
As shown in figure 4, discharging end, which carries truss 9, includes the handgrip 15 of blanking truss robot 14 and second, the second handgrip 15
The second cylinder 16 of the control opening and closing of the second handgrip 15 is provided with, the second handgrip 15 utilizes the controls connecting rod 17 of the second cylinder 16 and grapple
The frock of 18 crawl discharging ends, when the frock on blanking tool elevating mechanism 6 fills workpiece, the second cylinder 16 control second is grabbed
Hand 15 opens, and the second handgrip 15 catches the frock that workpiece is filled on blanking tool elevating mechanism 6, and blanking truss robot 14 is to the right
It is mobile, the frock for filling workpiece is carried on the blanking tool heap truck 7 on right side.
As shown in figure 5, the blanking tool elevating mechanism 6 include prop 63 and on prop 63 the
Two elevating mechanisms 62, the lift side of second elevating mechanism 62 are connected with the supporting plate 61 of support frock, when blanking truss machine
After the frock that workpiece is filled in blanking tool elevating mechanism 6 is transported on blanking tool heap truck 7 by device people 14, the second lift
Structure 62 rises, and the empty frock of support on supporting plate 61 is pushed into specified location, second elevating mechanism 62 can be passed through
Screw mandrel lifting is realized, can also be realized by lift cylinder.
Operation principle：Feeding frock heap truck 3 is pushed in feeding end positioning guardrail 4, the in the first retaining mechanism 2
One elevating mechanism 22 promotes lifter plate 21 to rise, and the alignment pin 23 on lifter plate 21 coordinates with the positioning hole in frock, by feeding
Frock heap truck 3 is fixed, and blanking tool heap truck 7 is pushed in discharging end positioning guardrail 8, the in the second retaining mechanism 2 '
One elevating mechanism 22 promotes lifter plate 21 to rise, and the alignment pin 23 on lifter plate 21 coordinates with the positioning hole in frock, by blanking
Frock heap truck 7 is fixed；
Transfer robot 5 starts, and will be rushed in workpiece handling to the punch press 10 on the feeding frock heap truck 3 on right side
Pressure, then transfer robot 5 is by the frock on the workpiece handling after punching press to blanking tool elevating mechanism 6；
After workpiece all captures in the frock of the superiors on the feeding frock heap truck 3 positioned at right side, feeding purlin
Frame robot 11 starts, and the empty frock of the right side the superiors is carried to the feeding frock heap truck 3 in left side；
When the frock of the superiors on blanking tool elevating mechanism 6 fills workpiece, blanking truss robot 14 starts, will most
The frock for filling workpiece on upper strata is removed to the blanking tool heap truck 7 on right side, while the second elevating mechanism 62 rises, and promotion is held
Supporting plate 61 rises, so as to which the empty frock of support on supporting plate 61 is pushed into specified location.
Transfer robot 5 captures feeding end automatically in a kind of pressing robot loading and unloading handling system provided by the invention
Workpiece in frock, it is put into punch press 10 and carries out stamping press, then capture the workpiece for completing punching press again, is put into the work of discharging end
Within dress, when workpiece all takes out in the frock at feeding end, the frock at feeding end can be transported to positioned at left side by system automatically
On feeding frock heap truck 3, and when the frock of discharging end is filled, the frock of discharging end can be also transported to down by system automatically
Expect on frock heap truck 7, whole process is all automatically performed, efficiently neat, convenient management, without manual operation, in the absence of pair
Human body causes the danger of damage while reduces human cost.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of changes, modification can be carried out to these embodiments, replace without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (5)
1. a kind of pressing robot loading and unloading handling system, including feeding end handling system in front of punch press (10), blanking
Hold handling system and transfer robot (5), it is characterised in that：Feeding end handling system and discharging end handling system difference position
In the both sides of transfer robot (5), feeding end handling system include feeding end carry truss (1), the first retaining mechanism (2), on
Expect frock heap truck (3) and feeding end positioning guardrail (4), described feeding end positioning guardrail (4) interior parallel is placed with two
Expect frock heap truck (3), the first retaining mechanism (2) is provided with below each feeding frock heap truck (3), purlin is carried at the feeding end
Frame (1) is located at feeding end positioning guardrail (4) rear, and the discharging end handling system includes discharging end and carries truss (9), blankers
Fill elevating mechanism (6), blanking tool heap truck (7), the second retaining mechanism (2 ') and discharging end positioning guardrail (8), the blanking
Blanking tool heap truck (7) is placed with inside end positioning guardrail (8), the second locking machine is provided with below blanking tool heap truck (7)
Structure (2 '), blanking tool elevating mechanism (6), discharging end are provided between the discharging end positioning guardrail (8) and transfer robot (5)
Carry truss (9) and be located at blanking tool elevating mechanism (6) rear.
A kind of 2. pressing robot loading and unloading handling system according to claim 1, it is characterised in that：First locking
Mechanism (2) includes the first elevating mechanism (22) and lifter plate (21), and the lifter plate (21) is provided with alignment pin (23), in frock
Provided with positioning hole, the alignment pin (23) coordinates with positioning hole, and second retaining mechanism (2 ') is tied with the first retaining mechanism (2)
Structure is identical.
A kind of 3. pressing robot loading and unloading handling system according to claim 2, it is characterised in that：Remove at the feeding end
Fortune truss (1) includes feeding truss robot (11) and the first handgrip (12), and first handgrip (12) is provided with described in control
First cylinder (13) of the first handgrip (12) opening and closing, first handgrip (12) match with the recess in frock.
A kind of 4. pressing robot loading and unloading handling system according to claim 2, it is characterised in that：The discharging end is removed
Fortune truss (9) includes blanking truss robot (14) and the second handgrip (15), and second handgrip (15) is provided with control second
Second cylinder (16) of handgrip (15) opening and closing.
A kind of 5. pressing robot loading and unloading handling system according to claim 1, it is characterised in that：The blanking tool
Elevating mechanism (6) includes prop (63) and the second elevating mechanism (62) on prop (63), and described second
The lift side of elevating mechanism (62) is connected with the supporting plate (61) of support frock.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711245403.2A CN107804021B (en) | 2017-12-01 | 2017-12-01 | Stamping robot goes up unloading handling system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711245403.2A CN107804021B (en) | 2017-12-01 | 2017-12-01 | Stamping robot goes up unloading handling system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107804021A true CN107804021A (en) | 2018-03-16 |
| CN107804021B CN107804021B (en) | 2024-06-21 |
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ID=61590326
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711245403.2A Active CN107804021B (en) | 2017-12-01 | 2017-12-01 | Stamping robot goes up unloading handling system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107804021B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108501442A (en) * | 2018-04-09 | 2018-09-07 | 常源科技（天津）有限公司 | Press automated system |
| CN109049137A (en) * | 2018-09-10 | 2018-12-21 | 上海申密机电设备有限公司 | A kind of weather strip for automobile automation post-processing system based on robot |
| CN111299791A (en) * | 2019-12-03 | 2020-06-19 | 广东诺巴特智能设备有限公司 | Automatic welding production line for special-shaped parts |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0890110A (en) * | 1994-09-19 | 1996-04-09 | Takada Kogyo Kk | Automatic working device for metal plate |
| CN104003201A (en) * | 2014-06-09 | 2014-08-27 | 扬州市天宝自动化工程有限公司 | Soft body packaging part unstacking device |
| CN203876283U (en) * | 2014-03-25 | 2014-10-15 | 湖北骐通机电工程有限公司 | Complete-set mechanism capable of automatically performing feeding and discharging for heavy-duty press |
| CN104289621A (en) * | 2014-08-01 | 2015-01-21 | 徐州德坤电气科技有限公司 | Air conditioner fin assembly automatic tube expansion system based on digital bus |
| CN204137914U (en) * | 2014-10-15 | 2015-02-04 | 金石机器人常州有限公司 | Servo code stack machine |
| CN105328929A (en) * | 2015-12-01 | 2016-02-17 | 苏州听毅华自动化设备有限公司 | Automatic feeding device for die forming |
| CN106111789A (en) * | 2016-06-30 | 2016-11-16 | 海安苏州大学先进机器人研究院 | A kind of multirobot work system for motor rotor punching sheet punching press and method |
| CN207842146U (en) * | 2017-12-01 | 2018-09-11 | 中国科学院合肥物质科学研究院 | A kind of pressing robot loading and unloading handling system |
-
2017
- 2017-12-01 CN CN201711245403.2A patent/CN107804021B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0890110A (en) * | 1994-09-19 | 1996-04-09 | Takada Kogyo Kk | Automatic working device for metal plate |
| CN203876283U (en) * | 2014-03-25 | 2014-10-15 | 湖北骐通机电工程有限公司 | Complete-set mechanism capable of automatically performing feeding and discharging for heavy-duty press |
| CN104003201A (en) * | 2014-06-09 | 2014-08-27 | 扬州市天宝自动化工程有限公司 | Soft body packaging part unstacking device |
| CN104289621A (en) * | 2014-08-01 | 2015-01-21 | 徐州德坤电气科技有限公司 | Air conditioner fin assembly automatic tube expansion system based on digital bus |
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| CN207842146U (en) * | 2017-12-01 | 2018-09-11 | 中国科学院合肥物质科学研究院 | A kind of pressing robot loading and unloading handling system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108501442A (en) * | 2018-04-09 | 2018-09-07 | 常源科技（天津）有限公司 | Press automated system |
| CN109049137A (en) * | 2018-09-10 | 2018-12-21 | 上海申密机电设备有限公司 | A kind of weather strip for automobile automation post-processing system based on robot |
| CN111299791A (en) * | 2019-12-03 | 2020-06-19 | 广东诺巴特智能设备有限公司 | Automatic welding production line for special-shaped parts |
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| Publication number | Publication date |
|---|---|
| CN107804021B (en) | 2024-06-21 |
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