CN107804021B - Stamping robot goes up unloading handling system - Google Patents
Stamping robot goes up unloading handling system Download PDFInfo
- Publication number
- CN107804021B CN107804021B CN201711245403.2A CN201711245403A CN107804021B CN 107804021 B CN107804021 B CN 107804021B CN 201711245403 A CN201711245403 A CN 201711245403A CN 107804021 B CN107804021 B CN 107804021B
- Authority
- CN
- China
- Prior art keywords
- tool
- discharging
- feeding
- robot
- truss
- 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.)
- Active
Links
- 238000007599 discharging Methods 0.000 claims abstract description 61
- 230000003028 elevating effect Effects 0.000 claims description 10
- 238000000034 method Methods 0.000 claims description 7
- 238000004080 punching Methods 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000006467 substitution reaction 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 invention relates to an automatic device, in particular to a feeding and discharging conveying system of a stamping robot, which comprises a feeding end conveying system, a discharging end conveying system and a conveying robot, wherein the feeding end conveying system comprises a feeding end conveying truss, a first locking mechanism, a feeding tool stacking vehicle and a feeding end positioning guardrail, two feeding tool stacking vehicles are parallelly arranged in the feeding end positioning guardrail, the first locking mechanism is arranged below each feeding tool stacking vehicle, the feeding end conveying truss is positioned behind the feeding end positioning guardrail, the discharging end conveying system comprises a discharging end conveying truss, a discharging tool lifting mechanism, a discharging tool stacking vehicle, a second locking mechanism and a discharging end positioning guardrail, the discharging tool stacking vehicle is arranged inside the discharging end positioning guardrail, and the discharging tool lifting mechanism is arranged between the discharging end positioning guardrail and the conveying robot.
Description
Technical Field
The invention relates to an automatic device, in particular to a loading and unloading conveying system of a stamping robot.
Background
The stamping is a forming processing method for obtaining a workpiece (stamping part) with a required shape and size by applying external force to plates, strips, pipes, sectional materials and the like by a press machine and a die so as to generate plastic deformation or separation.
Disclosure of Invention
The invention aims to provide a loading and unloading conveying system of a stamping robot, which aims to solve the problem that the manual loading and unloading in the prior art is dangerous.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a stamping robot goes up unloading handling system, includes material loading end handling system, unloading end handling system and the handling robot that are located the punch press the place ahead, material loading end handling system and unloading end handling system are located the both sides of handling robot respectively, and material loading end handling system includes material loading end transport truss, first locking mechanism, material loading frock stack car and material loading end location guardrail, two material loading frock stack cars have been placed to the inside parallel of material loading end location guardrail, and every material loading frock stack car below is equipped with first locking mechanism, material loading end transport truss is located material loading end location guardrail rear, unloading end handling system includes unloading end transport truss, unloading frock stack car, second locking mechanism and unloading end location guardrail, unloading frock stack car has been placed to unloading end location guardrail inside, unloading frock stack car below is equipped with second locking mechanism, be equipped with unloading frock elevating system between unloading end location guardrail and the handling robot, unloading end transport truss is located unloading frock elevating system rear.
Preferably, the first locking mechanism comprises a first lifting mechanism and a lifting plate, a positioning pin is arranged on the lifting plate, a positioning hole is formed in the tool, the positioning pin is matched with the positioning hole, and the second locking mechanism has the same structure as the first locking mechanism.
Preferably, the loading end carrying truss comprises a loading truss robot and a first gripper, a first cylinder for controlling the first gripper to open and close is arranged on the first gripper, and the first gripper is matched with a notch on the tool.
Preferably, the discharging end carrying truss comprises a discharging truss robot and a second gripper, and a second cylinder for controlling the second gripper to open and close is arranged on the second gripper.
Preferably, the unloading frock elevating system includes bearing support and installs the second elevating system on bearing support, second elevating system's lift end is connected with bearing plate of bearing frock.
Compared with the prior art, the invention has the beneficial effects that: the transfer robot automatically grabs the workpiece on the tooling of the feeding end, the workpiece is placed in the punch press to carry out punching operation, then grabs the punched workpiece, the workpiece is placed in the tooling of the discharging end, when the workpiece in the tooling of the feeding end is completely taken out, the system can automatically transport the tooling of the feeding end to the tooling stacking vehicle positioned on the left side, and when the tooling of the discharging end is filled, the system can also automatically transport the tooling of the discharging end to the tooling stacking vehicle of the discharging end, the whole process is completely and automatically completed, the management is efficient and neat, the management is convenient, the manual operation is not needed, the risk of damage to a human body is avoided, and meanwhile, the labor cost is reduced.
Drawings
Fig. 1 is a schematic structural diagram of a loading and unloading handling system of a stamping robot provided by the invention;
FIG. 2 is a schematic view of a first locking mechanism according to the present invention;
FIG. 3 is a schematic view of a loading end handling truss according to the present invention;
FIG. 4 is a schematic view of a structure of a carrying truss at a feeding end of the present invention;
fig. 5 is a schematic structural diagram of a lifting mechanism of a blanking tool in the invention.
In the figure: the feeding end conveying truss, the first locking mechanism, the lifting plate, the first lifting mechanism, the 23 locating pin, the second locking mechanism, the 3 feeding tool stacking vehicle, the 4 feeding end locating guardrail, the 5 conveying robot, the 6 discharging tool lifting mechanism, the 61 supporting plate, the 62 second lifting mechanism, the 63 supporting bracket, the 7 discharging tool stacking vehicle, the 8 discharging end locating guardrail, the 9 discharging end conveying truss, the 10 punch press, the 11 feeding truss robot, the 12 first gripper, the 13 first cylinder, the 14 discharging truss robot, the 15 second gripper, the 16 second cylinder, the 17 connecting rod and the 18 gripper hook.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-5, the present invention provides a technical solution: the utility model provides a stamping robot goes up unloading handling system, including the material loading end handling system that is located punch press 10 the place ahead, material discharging end handling system and transfer robot 5, material loading end handling system and material discharging end handling system are located the both sides of transfer robot 5 respectively, material loading end handling system includes material loading end handling truss 1, first locking mechanism 2, material loading frock stack car 3 and material loading end location guardrail 4, two material loading frock stack cars 3 have been placed to material loading end location guardrail 4 inside parallel, every material loading frock stack car 3 below is equipped with first locking mechanism 2, material loading end handling truss 1 is located material loading end location guardrail 4 rear, material discharging end handling system includes material discharging end handling truss 9, material discharging frock elevating system 6, material discharging frock stack car 7, second locking mechanism 2 'and material discharging end location guardrail 8, material discharging frock stack car 7 has been placed to the inside of material discharging end location guardrail 8, material discharging frock stack car 7 below is equipped with second locking mechanism 2', be equipped with material discharging frock stack 6 between material discharging end location guardrail 8 and the robot 5, material discharging frock truss 9 is located material discharging frock stack 6 below the elevating system.
As shown in fig. 2, the first locking mechanism 2 includes a first lifting mechanism 22 and a lifting plate 21, a positioning pin 23 is arranged on the lifting plate 21, a positioning hole is arranged on the tool, the positioning pin 23 is matched with the positioning hole, after the feeding tool stacking vehicle 3 is in place, the first lifting mechanism 22 is started to push the lifting plate 21 to move upwards until the positioning pin 23 is clamped into the positioning hole on the tool, the feeding tool stacking vehicle 3 is prevented from moving, the second locking mechanism 2 'has the same structure as the first locking mechanism 2, after the discharging tool stacking vehicle 7 is in place, the first lifting mechanism 22 in the second locking mechanism 2' is started, and then the lifting plate 21 in the second locking mechanism 2 'is pushed to move upwards until the positioning pin 23 in the second locking mechanism 2' is clamped into the positioning hole on the tool, so that the discharging tool stacking vehicle 7 is prevented from moving, and the first lifting mechanism 22 can be realized through screw lifting or through a lifting cylinder.
As shown in fig. 3, the loading end carrying truss 1 comprises a loading truss robot 11 and a first gripper 12, a first cylinder 13 for controlling the first gripper 12 to open and close is arranged on the first gripper 12, the first gripper 12 is matched with a notch on a tool, after all workpieces in the tool on the right loading tool stacking vehicle 3 are grabbed, the first cylinder 13 controls the first gripper 12 to open, after the first gripper 12 is matched with the notch on the tool, the loading truss robot 11 moves leftwards, and the tool which is already vacated on the right loading tool stacking vehicle 3 is carried to the left loading tool stacking vehicle 3.
As shown in fig. 4, the conveying truss 9 at the blanking end comprises a robot 14 for the blanking truss and a second gripper 15, a second cylinder 16 for controlling the second gripper 15 to open and close is arranged on the second gripper 15, the second gripper 15 utilizes the second cylinder 16 to control a connecting rod 17 and a gripper hook 18 to grasp the tooling at the blanking end, when the tooling on the lifting mechanism 6 of the blanking tooling is full of workpieces, the second cylinder 16 controls the second gripper 15 to open, the second gripper 15 grips the tooling on the lifting mechanism 6 of the blanking tooling full of workpieces, the robot 14 of the blanking truss moves rightwards, and the tooling full of workpieces is conveyed to the stacker 7 of the blanking tooling on the right side.
As shown in fig. 5, the unloading tool lifting mechanism 6 includes a support bracket 63 and a second lifting mechanism 62 mounted on the support bracket 63, where the lifting end of the second lifting mechanism 62 is connected with the support plate 61 of the support tool, and when the unloading truss robot 14 carries the tool filled with the workpiece in the unloading tool lifting mechanism 6 onto the unloading tool stacking cart 7, the second lifting mechanism 62 is lifted, and pushes the empty tool supported on the support plate 61 to a specified position, and the second lifting mechanism 62 can be realized by lifting a screw rod or by lifting a lifting cylinder.
Working principle: pushing the feeding tooling stacking vehicle 3 into the feeding end positioning guardrail 4, pushing the lifting plate 21 to ascend by a first lifting mechanism 22 in the first locking mechanism 2, matching a positioning pin 23 on the lifting plate 21 with a positioning hole on a tooling, fixing the feeding tooling stacking vehicle 3, pushing the discharging tooling stacking vehicle 7 into the discharging end positioning guardrail 8, pushing the lifting plate 21 to ascend by a first lifting mechanism 22 in the second locking mechanism 2', matching a positioning pin 23 on the lifting plate 21 with a positioning hole on the tooling, and fixing the discharging tooling stacking vehicle 7;
The transfer robot 5 is started to transfer the workpiece on the feeding tool stacker 3 on the right side into the punch press 10 for punching, and then the transfer robot 5 transfers the punched workpiece into the tool on the discharging tool lifting mechanism 6;
After all workpieces in the uppermost layer of the tools on the right feeding tool stacker truck 3 are grabbed, starting a feeding truss robot 11, and conveying the empty tools on the uppermost layer on the right to the left feeding tool stacker truck 3;
When the uppermost tooling on the unloading tooling lifting mechanism 6 is full of workpieces, the unloading truss robot 14 is started to carry the uppermost tooling full of workpieces to the unloading tooling stacker 7 on the right side, and meanwhile, the second lifting mechanism 62 is lifted to push the bearing plate 61 to lift, so that empty tooling supported on the bearing plate 61 can be pushed to a designated position.
According to the conveying robot loading and unloading conveying system provided by the invention, the conveying robot 5 automatically grabs the workpiece on the tool at the loading end, the workpiece is placed into the punch 10 for punching operation, then the punched workpiece is grabbed and placed into the tool at the unloading end, when all the workpieces in the tool at the loading end are taken out, the system can automatically convey the tool at the loading end to the loading tool stacker 3 positioned at the left side, and when the tool at the unloading end is filled, the system can also automatically convey the tool at the unloading end to the unloading tool stacker 7, the whole process is automatically completed, the efficiency is high, the management is convenient, the manual operation is not needed, the risk of damage to a human body is avoided, and meanwhile, the labor cost is reduced.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (3)
1. The utility model provides a blanking conveying system in punching press robot, includes that the material loading that is located punch press (10) the place ahead holds conveying system, unloading end conveying system and transfer robot (5), its characterized in that: the feeding end conveying system and the discharging end conveying system are respectively located at two sides of the conveying robot (5), the feeding end conveying system comprises a feeding end conveying truss (1), a first locking mechanism (2), feeding tool stacking trucks (3) and feeding end positioning guardrails (4), two feeding tool stacking trucks (3) are placed in parallel inside the feeding end positioning guardrails (4), the first locking mechanism (2) is arranged below each feeding tool stacking truck (3), the feeding end conveying truss (1) is located behind the feeding end positioning guardrails (4), the discharging end conveying system comprises a discharging end conveying truss (9), a discharging tool lifting mechanism (6), a discharging tool stacking truck (7), a second locking mechanism (2 ') and a discharging end positioning guardrail (8), the discharging tool stacking trucks (7) are placed inside the discharging end positioning guardrails (8), the second locking mechanism (2') is arranged below the discharging tool stacking trucks (7), the discharging end positioning guardrails (8) and the conveying truss lifting mechanism (6) are arranged between the discharging end positioning guardrails (5) and the conveying robot (6), and the discharging end conveying truss lifting mechanism (6) is located behind the discharging tool truss lifting mechanism (6); the first locking mechanism (2) comprises a first lifting mechanism (22) and a lifting plate (21), wherein a positioning pin (23) is arranged on the lifting plate (21), a positioning hole is formed in the tool, the positioning pin (23) is matched with the positioning hole, and the second locking mechanism (2') has the same structure as the first locking mechanism (2); the feeding end conveying truss (1) comprises a feeding truss robot (11) and a first gripper (12), wherein a first air cylinder (13) for controlling the first gripper (12) to open and close is arranged on the first gripper (12), and the first gripper (12) is matched with a notch on a tool; the discharging end conveying truss (9) comprises a discharging truss robot (14) and a second gripper (15), and a second cylinder (16) for controlling the second gripper (15) to open and close is arranged on the second gripper (15); unloading frock elevating system (6) include bearing support (63) and install second elevating system (62) on bearing support (63), the lifting end of second elevating system (62) is connected with bearing board (61) of bearing frock.
2. The method for using the loading and unloading carrying system of the stamping robot according to claim 1, wherein the method comprises the following steps: pushing a feeding tool stacking vehicle (3) into a feeding end positioning guardrail (4), pushing a lifting plate (21) to ascend by a first lifting mechanism (22) in a first locking mechanism (2), matching a positioning pin (23) on the lifting plate (21) with a positioning hole on a tool, fixing the feeding tool stacking vehicle (3), pushing a discharging tool stacking vehicle (7) into a discharging end positioning guardrail (8), pushing the lifting plate (21) to ascend by a first lifting mechanism (22) in a second locking mechanism (2'), and matching the positioning pin (23) on the lifting plate (21) with the positioning hole on the tool to fix the discharging tool stacking vehicle (7); the transfer robot (5) is started, the workpiece on the feeding tool stacker truck (3) on the right side is transferred into the punch press (10) for punching, and then the transfer robot (5) transfers the punched workpiece into the tool on the discharging tool lifting mechanism (6); when all workpieces in the uppermost layer of tools on the feeding tool stacker (3) on the right side are grabbed, a feeding truss robot (11) is started to convey the empty tools on the uppermost layer on the right side to the feeding tool stacker (3) on the left side; when the upper-most tooling of the blanking tooling lifting mechanism (6) is filled with workpieces, the blanking truss robot (14) is started to move the upper-most tooling filled with workpieces to the right-side blanking tooling stacking vehicle (7), and meanwhile, the second lifting mechanism (62) is lifted to push the bearing plate (61) to lift, so that empty tooling supported on the bearing plate (61) can be pushed to a designated position.
3. The method for using the loading and unloading carrying system of the stamping robot according to claim 2, wherein the method comprises the following steps: the automatic workpiece grabbing and stamping device is characterized in that a transfer robot (5) in a stamping robot loading and unloading transfer system automatically grabs workpieces on a tool at a loading end, the workpieces are placed in a punch press (10) to be subjected to stamping operation, then the punched workpieces are grabbed and placed in a tool at a unloading end, when all the workpieces in the tool at the loading end are taken out, the system can automatically transfer the tool at the loading end to a loading tool stacker (3) positioned at the left side, and when the tool at the unloading end is filled, the system can also automatically transfer the tool at the unloading end to a unloading tool stacker (7), and the whole process is automatically completed.
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 CN107804021A (en) | 2018-03-16 |
| CN107804021B true CN107804021B (en) | 2024-06-21 |
Family
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) |
Families Citing this family (2)
| 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 |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN204137914U (en) * | 2014-10-15 | 2015-02-04 | 金石机器人常州有限公司 | Servo code stack machine |
| 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 |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2890291B2 (en) * | 1994-09-19 | 1999-05-10 | 高田工業株式会社 | Automatic plate processing equipment |
| CN104289621B (en) * | 2014-08-01 | 2018-05-01 | 徐州德坤电气科技有限公司 | A kind of air conditioner fin assembly automatic expanding guard system based on number bus |
| 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 |
| CN106111789B (en) * | 2016-06-30 | 2018-05-01 | 海安苏州大学先进机器人研究院 | A kind of multirobot method of work for motor rotor punching sheet punching press |
-
2017
- 2017-12-01 CN CN201711245403.2A patent/CN107804021B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN204137914U (en) * | 2014-10-15 | 2015-02-04 | 金石机器人常州有限公司 | Servo code stack machine |
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107804021A (en) | 2018-03-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101386046B (en) | U-shaped beam three-face punching technique and production device using the technique | |
| US5036736A (en) | Method and apparatus for mar free handling of sheet steel | |
| CN205341711U (en) | Stamping feeding and discharging workstation | |
| CN107804021B (en) | Stamping robot goes up unloading handling system | |
| CN110395547B (en) | Automatic material conveying, positioning and grabbing system | |
| CN106734701B (en) | A kind of machining station conversion automatic member withdrawing device | |
| CN107052185A (en) | Numerical control press metal plate automatic loading and unloading device | |
| CN216097320U (en) | Production equipment for press-fitting coil | |
| CN207026335U (en) | Numerical control press metal plate automatic loading and unloading device | |
| CN112407099A (en) | Machine shell processing production line and method based on robot feeding and discharging | |
| CN210305424U (en) | Automatic punching press assembly line | |
| CN207842146U (en) | A kind of pressing robot loading and unloading handling system | |
| CN215591974U (en) | Feeding and discharging mechanical arm for aluminum profile | |
| CN107716947A (en) | A kind of automatic loading/unloading vertical lathe | |
| CN209969322U (en) | Turret punch press convenient to material loading | |
| CN210498050U (en) | Automatic feeding and discharging production device of single robot for stamping thick plates | |
| CN107052181A (en) | Numerical control press metal plate automatic loading and unloading manipulator | |
| CN207026336U (en) | Numerical control press metal plate automatic loading and unloading mechanism | |
| WO2020192133A1 (en) | Production line for thermal forming of aluminum alloy plates | |
| CN218695945U (en) | Integrative production line device of container goose back of body roof beam | |
| CN207026327U (en) | Numerical control press metal plate automatic loading and unloading manipulator | |
| CN111517084A (en) | Automatic production line for flexible metal plates | |
| CN113936909B (en) | Production equipment for press-fitting coil | |
| CN217838284U (en) | Electric die changing trolley device for forging production line | |
| CN113954337B (en) | Full-automatic plastic uptake all-in-one |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant |