CN109079848A - A kind of punching press picks and places material wu-zhi-shan pig and its control method - Google Patents
A kind of punching press picks and places material wu-zhi-shan pig and its control method Download PDFInfo
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- CN109079848A CN109079848A CN201810908494.1A CN201810908494A CN109079848A CN 109079848 A CN109079848 A CN 109079848A CN 201810908494 A CN201810908494 A CN 201810908494A CN 109079848 A CN109079848 A CN 109079848A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J13/00—Details of machines for forging, pressing, or hammering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J13/00—Details of machines for forging, pressing, or hammering
- B21J13/08—Accessories for handling work or tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Control Of Presses (AREA)
Abstract
The present invention discloses a kind of punching press and picks and places material wu-zhi-shan pig and its control method, is related to machinery equipment field.It includes control cabinet, support base, fuselage rotating mechanism, forearm telescoping mechanism, upper arm hoisting mechanism, forearm turnover mechanism, gripper rotating mechanism, paw mechanism and control panel, and control panel, control cabinet and each mechanism are respectively positioned in support base；Upper arm hoisting mechanism vertically moves up and down；The telescopic moving in the horizontal direction of forearm telescoping mechanism；Forearm turnover mechanism is spun upside down around horizontal direction axis；Gripper rotating mechanism is rotated around vertical direction axis；Paw mechanism picks up or release workpiece.The present invention can meet in plate stamping production, and workpiece is moved to next die cavity from a upper die cavity, and various placement requirements realize that workpiece fast moves and high accuracy positioning, the device are a kind of important equipments for realizing punching automation production.
Description
Technical field
The present invention relates to machinery equipment field, especially a kind of punching press picks and places material wu-zhi-shan pig and its control method.
Background technique
Traditional punching press or forging and stamping production, mostly uses be accomplished manually die cavity loading and unloading work greatly, there are large labor intensity, certainly
The problems such as dynamicization degree is low, safety accident is more, working environment noise is big and quality stability is not good enough.Current workforce cost is not
Disconnected soaring, recruitment and recruitment difficulty become the problem that punching production enterprise faces, and there is an urgent need to can replace artificial advanced automation
Equipment.
Press Automatic Produce Line can be constructed using loading and unloading robot cooperation punching machine, workpiece is moved to down from a upper die cavity
One die cavity, generally requires the orientation adjustment of workpiece, and may usually need four kinds of evolutions: original position, front and back are exchanged, up and down
Overturning and front and back are exchanged up and down.The robot for meeting above-mentioned workpiece movement requirement generally has there are four freedom degree or more, general
Six-shaft industrial robot because volume is big, costly, freedom degree is more than needed and needs secondary development etc., it is difficult to directly application, four axis
First three location of workpiece adjustment requirement may be implemented in loading and unloading robot, and five axis loading and unloading robots may be implemented in workpiece transmission
Front and back upper and lower position adjustment.Therefore, five axis loading and unloading robots are a kind of important equipments for constructing Press Automatic Produce Line, right
In the efficiency for improving punching production, production cost is reduced, Improving The Quality of Products stability improves punching production environment, improves punching
Production technology is pressed, punching production level is promoted and is of great significance.
Summary of the invention
The existing above problem is produced to solve traditional punching press or forging and stamping, the present invention provides a kind of punching press pick-and-place five axis of material
Robot and its control method, when being transmitted between the die cavity of front and back for the occasions such as punching press and forging and stamping workpiece, it is desirable that before and after workpiece
With the position adjustment and accurate positioning of upper and lower both direction, meet the position tune of the overturning of workpiece upper and lower surface and front and back sides exchange
Whole requirement.
To achieve the above object, the present invention adopts the following technical solutions:
A kind of punching press picks and places material wu-zhi-shan pig, it includes that control cabinet, support base, fuselage rotating mechanism, forearm are flexible
Mechanism, upper arm hoisting mechanism, forearm turnover mechanism, gripper rotating mechanism, paw mechanism and control panel, control panel and control
The connection of case electric signal；Control cabinet and fuselage rotating mechanism, forearm telescoping mechanism, upper arm hoisting mechanism, forearm turnover mechanism and hand
The servo motor and its driver and inductive switch signal of pawl rotating mechanism are electrically connected, and are electrically connected with paw mechanism；Manipulation
Panel, control cabinet and each mechanism are respectively positioned in support base；Fuselage rotating mechanism is connected with the upper surface of support base, around vertical
Straight axis of orientation left-right rotation；Upper arm hoisting mechanism is connected with fuselage rotating mechanism, vertically moves up and down；Forearm telescopic machine
Structure is connected with upper arm hoisting mechanism, in the horizontal direction telescopic moving；Forearm turnover mechanism is connected with forearm telescoping mechanism, around level
Axis of orientation is spun upside down；Gripper rotating mechanism is connected with forearm turnover mechanism, rotates around vertical direction axis；Paw mechanism and gripper
Rotating mechanism is connected, and picks up or discharge workpiece by negative pressure or electromagnetic adsorption mode；Support base adjusts water by anti-skidding footed glass
Pingdu passes through universal caster wheel and direction-caster cooperation movement.
Further, fuselage rotating mechanism includes column, RV mounting plate, the first limit base, cushion, the first inductor
Frame, the first sensing chip, first servo motor, RV speed reducer, sealing ring and the first inductive switch, first servo motor connection RV subtract
One end of fast machine；The other end of RV speed reducer is connected on RV mounting plate, and is sealed by sealing ring；RV mounting plate passes through bolt
It is fixed on column；Column is fixed on the bottom plate of support base；First limit base and the first inductor frame are connected to RV installation
On plate；The erection of first inductor is placed in fuselage rotating range；First inductive switch is connected on the first inductor frame；First sense
It answers piece to be fixed on the shaft coupling between first servo motor and RV speed reducer, is rotated with shaft coupling；Cushion is fixed on first
On limit base；
Control cabinet is electrically connected with first servo motor and its driver；Control cabinet is left and right with setting fuselage rotary motion
The electrical connection of first inductive switch of the limit and dead-center position；Control cabinet controls the driver of first servo motor, driver control
First servo motor rotation, realizes the accurate control of rotational angle.
Further, X-axis mould group and Z axis mould group is respectively adopted in forearm telescoping mechanism and upper arm hoisting mechanism；Z axis mould group is logical
It crosses Z axis mounting plate and L-type connecting plate is connected；The side of L-type connecting plate connection RV connecting plate；The other side of RV connecting plate connects machine
The RV speed reducer of body rotating mechanism drives Z axis mould group to rotate together when fuselage rotates；X-axis mould group passes through X-axis mounting plate and Z axis
The travelling nut of mould group is connected；
Control cabinet is electrically connected with the servo motor of Z axis mould group and its driver；Control cabinet is moved in the vertical direction with setting
Upper and lower limits and dead-center position Z axis mould group inductive switch electrical connection；Control cabinet controls the servo motor of Z axis mould group
The servo motor of driver, driver control Z axis mould group moves up and down, and realizes the accurate control of vertical direction upper and lower displacement；
Control cabinet is electrically connected with the servo motor of X-axis mould group and its driver；Control cabinet moves in the horizontal direction with setting
It is close, remote limit and dead-center position X-axis mould group inductive switch electrical connection；Control cabinet controls the servo motor of X-axis mould group
The accurate control of horizontal direction telescopic displacement is realized in driver, the servo motor telescopic moving of driver control X-axis mould group.
Further, forearm turnover mechanism includes the 4th servo motor, the 4th speed reducer, overturning connecting plate, motor cabinet, the
Four axis snap ring, the 4th shaft, the 4th limit base, the 4th cushion, fourth bearing usher to seat, positioning seat, pin, the 4th inductor
Frame, the 4th sensing chip and the 4th inductive switch overturn the lower end connection forearm telescoping mechanism of connecting plate；Overturn the upper end of connecting plate
Connection fourth bearing is usherd to seat；One end of 4th speed reducer connects the 4th servo motor；The other end of 4th speed reducer connects motor
Seat；Motor cabinet is fixed on fourth bearing ushers to seat；4th limit base is fixed on fourth bearing ushers to seat by pin；4th inductor
Frame is connected on the 4th limit base；4th inductive switch is fixed on the 4th inductor frame；4th cushion is installed on the 4th limit
On the seat of position；4th shaft of the 4th speed reducer connects positioning seat；4th sensing chip is fixed in the 4th shaft；4th axis snap ring
It is placed on the both ends of the 4th shaft, limitation axial movement；
Control cabinet is electrically connected with the 4th servo motor and its driver；The left and right limit of control cabinet and setting flip-flop movement
It is electrically connected with the 4th inductive switch of dead-center position；Control cabinet controls the driver of the 4th servo motor, driver control the 4th
Servo motor or so overturning, realizes the accurate control of left and right flip angle in the horizontal direction.
Further, gripper rotating mechanism include the 5th servo motor, the 5th speed reducer, returning face plate, motor plate, nut,
Main synchronizing wheel, sensor block, the 5th inductive switch, the 5th inductor frame, connecting rod, synchronous belt and from synchronizing wheel, gripper rotating mechanism
It is fixed in the 4th shaft of forearm turnover mechanism by returning face plate；One end of 5th speed reducer is fixed on the 5th servo motor；
The other end of 5th speed reducer is fixed on motor plate；Motor plate and returning face plate are connected by nut；Main synchronizing wheel and sensor block are solid
Due on the output shaft of the 5th speed reducer；Main synchronizing wheel passes through synchronous band connection with from synchronizing wheel；Gripper machine is placed on from synchronizing wheel
In 5th shaft of structure；The 5th inductive switch is passed through in sensor block turnover；5th inductive switch is fixed on the 5th inductor frame；The
Five inductor framves are fixed on one end of connecting rod；
Control cabinet is electrically connected with the 5th servo motor and its driver；The left and right limit and zero of control cabinet and setting rotation
The 5th inductive switch electrical connection of point position；Control cabinet controls the driver of the 5th servo motor, the 5th servo of driver control
Motor left-right rotation realizes the accurate control of vertically left-right rotation angle.
Further, paw mechanism includes sucker, sucker disk seat, sucking disc arm, micro connector, fixed ring, the 5th shaft, the 5th
Bearing is usherd to seat, the 5th axis snap ring, end cap and swivel base plate, paw mechanism are fixed in the 5th shaft；5th bearing is usherd to seat connected
In swivel base plate；Swivel base plate is fixed on the other end of connecting rod；Sucking disc arm is fixed in the 5th shaft by fixed ring；5th axis card
It is located on the both ends of the 5th shaft, limitation axial movement；Sucker disk seat is fixed on sucking disc arm；Sucker is connected with sucker disk seat；It is miniature
Connector is fixed on sucker disk seat；End cap is fixed on the end of connecting rod；
Control cabinet is electrically connected with the solenoid valve of paw mechanism or vacuum generator；Control cabinet with for controlling solenoid valve or true
Empty generator crawl or the controller electrical connection of release workpiece；Control cabinet controls controller, and controller controls solenoid valve or vacuum
Generator crawl or release workpiece, realize movement of the workpiece between die cavity.
Further, control cabinet includes AS322T PLC controller, I/O interfacing expansion module circuit and Ethernet interface electricity
Road；Control panel uses Dop-B07S411 touch screen.
A kind of punching press picks and places the control method of material wu-zhi-shan pig, includes the following steps:
S1, initialization check, carry out system initialization, including abnormality detection, state instruction and parameter to wu-zhi-shan pig
Setting, it is abnormal if it exists, then enter alert program；If normal, then S2 is entered step；
S2, judge whether reset is completed, if not completing, each axis carries out clear point setting；If completing, enter step
Rapid S3；
S3, selection automatic control or its control control model, automatic control mode enter step S4, its control mode enters step S7；
S4, selection MANUAL CONTROL mode or automatic control mode, MANUAL CONTROL mode enter step S5, automatic control mode
Enter step S6；
S5, selection MANUAL CONTROL mode select crawl operation, fixed length displacement operation or uniaxial manual clear point operation；
S6, selection automatic control mode, system selects single step, monocycle and continuous operation according to condition, and executes correspondence
Operation.
Whether S7, control panel issue execution motion command, if issuing, enter step S8, otherwise wait for control panel
Order；
S8, the operation program for executing setting continuously perform the movement if not completing, if completing, enter step S9；
S9, instruction is completed to control panel feedback action, waited, into subsequent cycle.
The utility model has the advantages that
1. fuselage rotation can be achieved in the present invention, upper arm is promoted, forearm is flexible, forearm overturning and five directions of gripper rotation are only
Vertical exact position movement can meet in plate stamping production to realize five-axle linkage, and robot hand is by workpiece from upper one
Die cavity is moved to next die cavity, and space any position, which is placed, to be required, and realization workpiece fast moves and high accuracy positioning, meets product
Stamping quality and durability requirements.
2. the present invention has automatic control and its two kinds of control model of control, the achievable robot motion of automatic control mode and parameter are set
It sets；Its control mode can control robot convenient for external control panel；It is to realize punching that the punching press, which picks and places material wu-zhi-shan pig,
A kind of important equipment of automated production is pressed, the building punching press such as four axis robots of material, punching machine and feeder can be picked and placed with punching press
Automatic assembly line can meet a variety of Sheet Metal Forming Technology requirements.
Detailed description of the invention
Fig. 1 is the front view that punching press of the invention picks and places material wu-zhi-shan pig；
Fig. 2 is the left view that punching press of the invention picks and places material wu-zhi-shan pig；
Fig. 3 is the structural schematic diagram of Fig. 1 middle fuselage rotating mechanism；
Fig. 4 is the structural schematic diagram of Fig. 2 middle fuselage rotating mechanism；
Fig. 5 is the structural schematic diagram of upper arm hoisting mechanism and forearm telescoping mechanism in Fig. 2；
Fig. 6 is the structural schematic diagram of upper arm hoisting mechanism and forearm telescoping mechanism in Fig. 1；
Fig. 7 is the structural schematic diagram of forearm turnover mechanism in Fig. 1；
Fig. 8 is the structural schematic diagram of forearm turnover mechanism in Fig. 2；
Fig. 9 is the structural schematic diagram of gripper rotating mechanism and paw mechanism in Fig. 1；
Figure 10 is the control flow chart that punching press of the invention picks and places material wu-zhi-shan pig；
In figure: 1- control cabinet, 2- support base, 3- fuselage rotating mechanism, 4- forearm telescoping mechanism, 5- upper arm elevator
Structure, 6- forearm turnover mechanism, 7- gripper rotating mechanism, 8- paw mechanism, 11- bottom plate, 12- column, 13-RV mounting plate, 14-
One limit base, 15- cushion, the first inductor of 16- frame, the first sensing chip of 17-, the anti-skidding footed glass of 18-, 19- universal caster wheel, 20-
Direction-caster, 21- first servo motor, 22-RV speed reducer, 23- sealing ring, the first inductive switch of 24-, 30-RV connecting plate,
31-L type connecting plate, 32-Z Axle mould group, 33-Z axle installing plate, 34-X axle installing plate, 35-X Axle mould group, the 4th servo motor of 41-,
The 4th speed reducer of 42-, 43- overturning connecting plate, 44- motor cabinet, the 4th axis snap ring of 45-, the 4th shaft of 46-, 47- the 4th are limited
Seat, the 4th cushion of 48-, 49- fourth bearing usher to seat, 50- positioning seat, 51- pin, the 4th inductor frame of 52-, 53- the 4th induction
Piece, the 4th inductive switch of 54-, the 5th servo motor of 58-, the 5th speed reducer of 59-, 60- returning face plate, 61- motor plate, 62- nut,
The main synchronizing wheel of 63-, 65- sensor block, the 5th inductive switch of 66-, the 5th inductor frame of 67-, 68- connecting rod, 69- synchronous belt, 70- inhale
Disk, 71- sucker disk seat, 72- sucking disc arm, 73- micro connector, 74- fixed ring, the 5th shaft of 75-, 76- 5th bearing usher to seat, 77-
5th axis snap ring, 78- are from synchronizing wheel, 79- end cap, 80- swivel base plate.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples.
The present invention proposes that a kind of punching press picks and places material wu-zhi-shan pig, and as shown in Figure 1, 2, it includes control cabinet 1, support base
2, fuselage rotating mechanism 3, forearm telescoping mechanism 4, upper arm hoisting mechanism 5, forearm turnover mechanism 6, gripper rotating mechanism 7, gripper
Mechanism 8 and control panel 9, control panel 9 are connect with 1 electric signal of control cabinet；Control cabinet 1 and fuselage rotating mechanism 3, forearm are flexible
Mechanism 4, upper arm hoisting mechanism 5, the servo motor and its driver of forearm turnover mechanism 6 and gripper rotating mechanism 7 and induction are opened
OFF signal electrical connection, and be electrically connected with paw mechanism 8；Control panel 9, control cabinet 1 and each mechanism are respectively positioned on support base 2
On；Fuselage rotating mechanism 3 is connected with the upper surface of support base 2, around vertical direction axis left-right rotation；Upper arm hoisting mechanism 5 with
Fuselage rotating mechanism 3 is connected, and vertically moves up and down；Forearm telescoping mechanism 4 is connected with upper arm hoisting mechanism 5, along level
Direction telescopic moving；Forearm turnover mechanism 6 is connected with forearm telescoping mechanism 4, spins upside down around horizontal direction axis；Gripper whirler
Structure 7 is connected with forearm turnover mechanism 6, rotates around vertical direction axis；Paw mechanism 8 is connected with gripper rotating mechanism 7, can be by negative
Workpiece is picked up or discharged to the modes such as pressure or electromagnetic adsorption；As shown in figure 3, support base 2 is by four anti-skidding footed glasses 18 convenient for solid
Determine the operating position of robot device, and adjust levelness, robot is convenient for by universal caster wheel 19 and the cooperation of direction-caster 20
The movement of device.
It is instructed using 9 input control of control panel, by control cabinet 1 to fuselage rotating mechanism 3, upper arm hoisting mechanism 5, forearm
Telescoping mechanism 4, forearm turnover mechanism 6 and gripper rotating mechanism 7 carry out motion control, both can carry out self-movement to each mechanism
Control, and part body or whole mechanism implementations can be jointly controlled, meet paw mechanism 8 in the meta position of space any two points
The track set between accurate control and two o'clock accurately controls.Wherein, control cabinet 1 connects including AS322T PLC controller, I/O
Mouth expansion module circuit and ethernet interface circuit；Control panel 9 uses Dop-B07S411 touch screen.
As shown in Figure 3,4, fuselage rotating mechanism 3 include column 12, RV mounting plate 13, the first limit base 14, cushion 15,
First inductor frame 16, the first sensing chip 17, first servo motor 21, RV speed reducer 22, sealing ring 23 and the first inductive switch
24, first servo motor 21 connects one end of RV speed reducer 22；The other end of RV speed reducer 22 is connected on RV mounting plate 13, and
It is sealed by sealing ring 23；RV mounting plate 13 is fixed in four columns 12 by bolt；Four columns 12 are fixed on support bottom
On the bottom plate 11 of seat 2；Two the first limit bases 14 and three the first inductor framves 16 are connected on RV mounting plate 13；Three first
Inductor frame 16 is set in fuselage rotating range；Three the first inductive switches 24 are connected to three the first inductor framves 16
On；First sensing chip 17 is fixed on the shaft coupling between first servo motor 21 and RV speed reducer 22, is rotated with shaft coupling；It is slow
Pad 15 is rushed to be fixed on the first limit base 14；
Control cabinet 1 is electrically connected with first servo motor 21 and its driver；Control cabinet 1 and setting fuselage rotary motion
The electrical connection of three the first inductive switches 24 of the left and right limit and dead-center position；The driving of the control first servo motor 21 of control cabinet 1
Device, driver control first servo motor 21 rotate, and realize the accurate control of rotational angle；By two the first limit bases 14 into
The mechanical damping of row fuselage rotary motion and limit；Pass through three the first inductive switches 24 of setting and two the first limit bases 14
Position, the range and extreme rotational position of automatic adjustment rotation angle.
As shown in Figure 5,6, upper arm hoisting mechanism 5 and forearm telescoping mechanism 4 are all made of linear movement mould group, wherein along level
The mobile upper arm hoisting mechanism 5 in direction is X-axis mould group 35, and the forearm telescoping mechanism 4 moved in the vertical direction is Z axis mould group 32；Z
Axle mould group 32 is connected by Z axis mounting plate 33 and L-type connecting plate 31；The side of the connection RV connecting plate 30 of L-type connecting plate 31；RV connects
The RV speed reducer 22 of the other side connection fuselage rotating mechanism 3 of fishplate bar 30, drives Z axis mould group 32 to rotate together when fuselage rotates；X
Axle mould group 35 is connected by X-axis mounting plate 34 and the travelling nut of Z axis mould group 32；
Control cabinet 1 is electrically connected with the servo motor of Z axis mould group 32 and its driver；Control cabinet 1 and setting are vertically
Three inductive switches of the Z axis mould group 32 of mobile upper and lower limits and dead-center position are electrically connected；Control cabinet 1 controls Z axis mould group 32
Servo motor driver, the servo motor of driver control Z axis mould group 32 moves up and down, and realizes vertical direction upper and lower displacement
Accurate control；
Control cabinet 1 is electrically connected with the servo motor of X-axis mould group 35 and its driver；Control cabinet 1 and setting are in the horizontal direction
Three inductive switches electrical connection of the X-axis mould group 35 of mobile close, remote limit and dead-center position；Control cabinet 1 controls X-axis mould group 35
Servo motor driver, the servo motor telescopic moving of driver control X-axis mould group 35, realize horizontal direction telescopic displacement
Accurate control；Wherein, X-axis mould group 35 and Z axis mould group 32 are general module, by servo motor, shaft coupling, ball screw,
Guide rail, screw rod affixed side support base, screw rod support side support base, feed screw nut, nutplate, guide-rail plate, the second inductor frame, the
Two inductive switches, cushion and buffing pad etc. are constituted.
As shown in Figure 7,8, forearm turnover mechanism 6 includes the 4th servo motor 41, the 4th speed reducer 42, overturning connecting plate
43, motor cabinet 44, the 4th axis snap ring 45, the 4th shaft 46, the 4th limit base 47, the 4th cushion 48, fourth bearing are usherd to seat
49, positioning seat 50, pin 51, the 4th inductor frame 52, the 4th sensing chip 53 and the 4th inductive switch 54 are overturn under connecting plate 43
End connection forearm telescoping mechanism 4；The upper end connection fourth bearing of overturning connecting plate 43 ushers to seat 49；One end of 4th speed reducer 42 connects
Connect the 4th servo motor 41；The other end of 4th speed reducer 42 connects motor cabinet 44；Motor cabinet 44 is fixed on fourth bearing and ushers to seat
On 49；Two the 4th limit bases 47 are respectively and fixedly connected with by pin 51 and are usherd to seat on 49 in fourth bearing；Three the 4th inductor framves 52 connect
It is connected on two the 4th limit bases 47；Three the 4th inductive switches 54 are fixed on three the 4th inductor framves 52；Two the 4th
Cushion 48 is respectively arranged on two the 4th limit bases 47；4th shaft 46 of the 4th speed reducer 42 connects positioning seat 50；The
Four sensing chips 53 are fixed in the 4th shaft 46；4th axis snap ring 45 is placed on the both ends of the 4th shaft 46, limitation axial movement；
Control cabinet 1 is electrically connected with the 4th servo motor 41 and its driver；Control cabinet 1 is left and right with setting flip-flop movement
Three the 4th inductive switches 54 of limit and dead-center position are electrically connected；Control cabinet 1 controls the driver of the 4th servo motor 41, drives
Dynamic device controls the overturning of the 4th servo motor 41 or so, realizes the accurate control of left and right flip angle in the horizontal direction；Pass through two
4th limit base 47 carries out the buffering and limit that forearm turnover mechanism 6 moves.
As shown in figure 9, gripper rotating mechanism 7 is synchronous tape transport, gripper rotating mechanism 7 includes the 5th servo motor
58, the 5th speed reducer 59, returning face plate 60, motor plate 61, nut 62, main synchronizing wheel 63, sensor block 65, the 5th inductive switch 66,
5th inductor frame 67, connecting rod 68, synchronous belt 69 and from synchronizing wheel 78, before gripper rotating mechanism 7 is fixed on by returning face plate 60
In 4th shaft 46 of arm turnover mechanism 6；One end of 5th speed reducer 59 is fixed on the 5th servo motor 58；5th speed reducer 59
The other end be fixed on motor plate 61；Motor plate 61 and returning face plate 60 are connected by nut 62；Main synchronizing wheel 63 and sensor block 65
It is fixed on the output shaft of the 5th speed reducer 59；It main synchronizing wheel 63 and is connected from synchronizing wheel 78 by synchronous belt 69；From synchronizing wheel
78 are placed in the 5th shaft 75 of paw mechanism 8；Three the 5th inductive switches 66 are passed through in the turnover of sensor block 65；Three the 5th inductions
Switch 66 is fixed on three the 5th inductor framves 67；Three the 5th inductor framves 67 are both secured to one end of connecting rod 68；
Control cabinet 1 is electrically connected with the 5th servo motor 58 and its driver；The left and right limit of control cabinet 1 and setting rotation
It is electrically connected with three the 5th inductive switches 66 of dead-center position；Control cabinet 1 controls the driver of the 5th servo motor 58, driver
58 left-right rotation of the 5th servo motor is controlled, realizes the accurate control of vertically left-right rotation angle.
As shown in figure 9, paw mechanism 8 include sucker 70, sucker disk seat 71, sucking disc arm 72, micro connector 73, fixed ring 74,
5th shaft 75,5th bearing are usherd to seat the 76, the 5th axis snap ring 77, end cap 79 and swivel base plate 80, and paw mechanism 8 is fixed on the 5th
In shaft 75；5th bearing, which is usherd to seat, 76 is fixed on swivel base plate 80；Swivel base plate 80 is fixed on the other end of connecting rod 68；Sucking disc arm 72 is logical
Fixed ring 74 is crossed to be fixed in the 5th shaft 75；5th axis snap ring 77 is placed on the both ends of the 5th shaft 75, limitation axial movement；
Sucker disk seat 71 is fixed on sucking disc arm 72；Sucker 70 is connected with sucker disk seat 71；Micro connector 73 is fixed on sucker disk seat 71；End cap
79 are fixed on the end of connecting rod 68；The position of sucker disk seat 71 is adjusted radially and axially, or is inhaled using electromagnet structure
It is attached；
Control cabinet 1 is electrically connected with the solenoid valve of paw mechanism 8 or vacuum generator；Control cabinet 1 with for controlling solenoid valve
Or vacuum generator grabs or the controller electrical connection of release workpiece；Control cabinet 1 control controller, controller control solenoid valve or
Vacuum generator crawl or release workpiece, realize movement of the workpiece between die cavity.
As shown in Figure 10, a kind of punching press proposed by the present invention, which picks and places, expects that the control flow of wu-zhi-shan pig is as follows:
S1, initialization check, carry out system initialization, including abnormality detection, state instruction and parameter to wu-zhi-shan pig
Setting etc., it is abnormal if it exists, then enter alert program；If normal, then S2 is entered step；
S2, judge whether reset is completed, if not completing, each axis carries out clear point setting；If completing, enter step
Rapid S3；
S3, selection automatic control or its control control model, automatic control mode enter step S4, its control mode enters step S7；
S4, selection MANUAL CONTROL mode or automatic control mode, MANUAL CONTROL mode enter step S5, automatic control mode
Enter step S6；
S5, selection MANUAL CONTROL mode select crawl operation JOG, fixed length displacement operation STEP or uniaxial manual clear point
Operate ZERO；
S6, selection automatic control mode, system selects single step, monocycle and continuous operation according to condition, and executes correspondence
Operation.
Whether S7, control panel 9 issue execution motion command, if issuing, enter step S8, otherwise wait for control panel
9 orders；
S8, the operation program for executing setting continuously perform the movement if not completing, if completing, enter step S9；
S9, instruction is completed to 9 feedback action of control panel, waited, into subsequent cycle.
Limiting the scope of the invention, those skilled in the art should understand that, in technical solution of the present invention
On the basis of, the various modifications or variations that can be made by those skilled in the art with little creative work still of the invention
Within protection scope.
Claims (8)
1. a kind of punching press picks and places material wu-zhi-shan pig, which is characterized in that it includes control cabinet (1), support base (2), fuselage rotation
Rotation mechanism (3), forearm telescoping mechanism (4), upper arm hoisting mechanism (5), forearm turnover mechanism (6), gripper rotating mechanism (7), hand
Pawl mechanism (8) and control panel (9), the control panel (9) connect with the control cabinet (1) electric signal；The control cabinet (1)
With the fuselage rotating mechanism (3), the forearm telescoping mechanism (4), the upper arm hoisting mechanism (5), the forearm tipper
The servo motor and its driver and inductive switch signal of structure (6) and the gripper rotating mechanism (7) are electrically connected, and with it is described
Paw mechanism (8) electrical connection；The control panel (9), the control cabinet (1) and each mechanism are respectively positioned on the support base
(2) on；The fuselage rotating mechanism (3) is connected with the upper surface of the support base (2), around vertical direction axis left-right rotation；
The upper arm hoisting mechanism (5) is connected with the fuselage rotating mechanism (3), vertically moves up and down；The forearm is flexible
Mechanism (4) is connected with the upper arm hoisting mechanism (5), telescopic moving in the horizontal direction；The forearm turnover mechanism (6) with it is described
Forearm telescoping mechanism (4) is connected, and spins upside down around horizontal direction axis；The gripper rotating mechanism (7) and the forearm tipper
Structure (6) is connected, and rotates around vertical direction axis；The paw mechanism (8) is connected with gripper rotating mechanism (7), passes through negative pressure or electricity
Magnetic suck mode grabs or discharges workpiece；The support base (2) adjusts levelness by anti-skidding footed glass (18), passes through multi-axis foot
Take turns (19) and direction-caster (20) cooperation movement.
2. punching press according to claim 1 picks and places material wu-zhi-shan pig, which is characterized in that the fuselage rotating mechanism (3)
Including column (12), RV mounting plate (13), the first limit base (14), cushion (15), the first inductor frame (16), the first induction
Piece (17), first servo motor (21), RV speed reducer (22), sealing ring (23) and the first inductive switch (24), described first watches
Take one end that motor (21) connect the RV speed reducer (22)；The other end of the RV speed reducer (22) is connected to the RV installation
On plate (13), and sealed by the sealing ring (23)；The RV mounting plate (13) is fixed on the column (12) by bolt
On；The column (12) is fixed on the bottom plate (11) of the support base (2)；First limit base (14) and described first
Inductor frame (16) is connected on the RV mounting plate (13)；The first inductor frame (16) is set to fuselage rotating range
It is interior；First inductive switch (24) is connected on the first inductor frame (16)；First sensing chip (17) is fixed on
On shaft coupling between the first servo motor (21) and the RV speed reducer (22), rotated with shaft coupling；The cushion
(15) it is fixed on first limit base (14)；
The control cabinet (1) is electrically connected with the first servo motor (21) and its driver；The control cabinet (1) and setting machine
The left and right limit of body rotary motion and first inductive switch (24) electrical connection of dead-center position；Control cabinet (1) control
The driver of the first servo motor (21), the rotation of first servo motor (21) described in driver control, realizes rotational angle
Accurate control.
3. punching press according to claim 1 picks and places material wu-zhi-shan pig, which is characterized in that the forearm telescoping mechanism (4)
X-axis mould group (35) and Z axis mould group (32) is respectively adopted with the upper arm hoisting mechanism (5)；The Z axis mould group (32) passes through Z axis
Mounting plate (33) and L-type connecting plate (31) are connected；The side of L-type connecting plate (31) connection RV connecting plate (30)；The RV
The other side of connecting plate (30) connects the RV speed reducer (22) of the fuselage rotating mechanism (3), and fuselage drives the Z axis when rotating
Mould group (32) rotates together；The X-axis mould group (35) passes through the travelling nut of X-axis mounting plate (34) and the Z axis mould group (32)
It is connected；
The control cabinet (1) is electrically connected with the servo motor of the Z axis mould group (32) and its driver；The control cabinet (1) with
The inductive switch electrical connection of the Z axis mould group (32) of the upper and lower limits and dead-center position moved in the vertical direction is set；It is described
Control cabinet (1) controls the driver of the servo motor of the Z axis mould group (32), and Z axis mould group (32) watches described in driver control
It takes motor to move up and down, realizes the accurate control of vertical direction upper and lower displacement；
The control cabinet (1) is electrically connected with the servo motor of the X-axis mould group (35) and its driver；The control cabinet (1) with
The inductive switch electrical connection of the X-axis mould group (35) of close, the remote limit and dead-center position moved in the horizontal direction is set；It is described
Control cabinet (1) controls the driver of the servo motor of the X-axis mould group (35), and X-axis mould group (35) watches described in driver control
Motor flexible movement is taken, realizes the accurate control of horizontal direction telescopic displacement.
4. punching press according to claim 1 picks and places material wu-zhi-shan pig, which is characterized in that the forearm turnover mechanism (6)
Including the 4th servo motor (41), the 4th speed reducer (42), overturning connecting plate (43), motor cabinet (44), the 4th axis snap ring
(45), the 4th shaft (46), the 4th limit base (47), the 4th cushion (48), fourth bearing usher to seat (49), positioning seat (50),
(51), the 4th inductor frame (52), the 4th sensing chip (53) and the 4th inductive switch (54) are sold, overturning connecting plate (43)
Lower end connects the forearm telescoping mechanism (4)；The upper end of overturning connecting plate (43) connects the fourth bearing and ushers to seat (49)；
One end of 4th speed reducer (42) connects the 4th servo motor (41)；The other end of 4th speed reducer (42) connects
Connect the motor cabinet (44)；The motor cabinet (44) is fixed on the fourth bearing and ushers to seat on (49)；4th limit base
(47) fourth bearing is fixed in by the pin (51) to usher to seat on (49)；The 4th inductor frame (52) is connected to described
On 4th limit base (47)；4th inductive switch (54) is fixed on the 4th inductor frame (52)；Described 4th is slow
Punching pad (48) is installed on the 4th limit base (47)；The 4th shaft (46) connection of 4th speed reducer (42) is described fixed
Position seat (50)；4th sensing chip (53) is fixed on the 4th shaft (46)；4th axis is placed on snap ring (45)
The both ends of 4th shaft (46), limitation axial movement；
The control cabinet (1) is electrically connected with the 4th servo motor (41) and its driver；The control cabinet (1) is turned over setting
The 4th inductive switch (54) electrical connection of the dynamic left and right limit of transhipment and dead-center position；Described in control cabinet (1) control
The driver of 4th servo motor (41), the left and right of the 4th servo motor (41) described in driver control overturning, is realized along level side
The accurate control of flip angle to the left and right.
5. punching press according to claim 1 picks and places material wu-zhi-shan pig, which is characterized in that the gripper rotating mechanism (7)
Including the 5th servo motor (58), the 5th speed reducer (59), returning face plate (60), motor plate (61), nut (62), main synchronizing wheel
(63), sensor block (65), the 5th inductive switch (66), the 5th inductor frame (67), connecting rod (68), synchronous belt (69) with from synchronous
It takes turns (78), the gripper rotating mechanism (7) is fixed on the 4th turn of the forearm turnover mechanism (6) by the returning face plate (60)
On axis (46)；One end of 5th speed reducer (59) is fixed on the 5th servo motor (58)；5th speed reducer
(59) the other end is fixed on the motor plate (61)；The motor plate (61) and the returning face plate (60) pass through the nut
(62) it is connected；The main synchronizing wheel (63) and the sensor block (65) are fixed on the output shaft of the 5th speed reducer (59)；
The main synchronizing wheel (63) and it is described from synchronizing wheel (78) pass through synchronous belt (69) connect；It is described be placed on from synchronizing wheel (78) it is described
In 5th shaft (75) of paw mechanism (8)；The 5th inductive switch (66) is passed through in sensor block (65) turnover；Described
Five inductive switches (66) are fixed on the 5th inductor frame (67)；The 5th inductor frame (67) is fixed on the connecting rod
(68) one end；
The control cabinet (1) is electrically connected with the 5th servo motor (58) and its driver；The control cabinet (1) and setting turn
The 5th inductive switch (66) of dynamic left and right limit and dead-center position is electrically connected；Control cabinet (1) control the described 5th
The driver of servo motor (58), the 5th servo motor (58) left-right rotation described in driver control are realized vertically left
The accurate control of right rotational angle.
6. punching press according to claim 1 picks and places material wu-zhi-shan pig, which is characterized in that the paw mechanism (8) includes
Sucker (70), sucker disk seat (71), sucking disc arm (72), micro connector (73), fixed ring (74), the 5th shaft (75), 5th bearing
It ushers to seat (76), the 5th axis snap ring (77), end cap (79) and swivel base plate (80), the paw mechanism (8) are fixed on the described 5th
In shaft (75)；The 5th bearing usher to seat (76) be fixed on the swivel base plate (80)；The swivel base plate (80) is fixed on described
The other end of connecting rod (68)；The sucking disc arm (72) is fixed on the 5th shaft (75) by the fixed ring (74)；Institute
State the both ends that the 5th axis is placed on the 5th shaft (75) with snap ring (77), limitation axial movement；The sucker disk seat (71) is fixed
In on the sucking disc arm (72)；The sucker (70) is connected with the sucker disk seat (71)；The micro connector (73) is fixed on institute
It states on sucker disk seat (71)；The end cap (79) is fixed on the end of the connecting rod (68)；
The control cabinet (1) is electrically connected with the solenoid valve of the paw mechanism (8) or vacuum generator；The control cabinet (1) with
For controlling the controller electrical connection of solenoid valve or vacuum generator crawl or release workpiece；Control cabinet (1) the control control
Device, controller control solenoid valve or vacuum generator crawl or release workpiece, realize movement of the workpiece between die cavity.
7. punching press according to claim 1 picks and places material wu-zhi-shan pig, which is characterized in that the control cabinet (1) includes
AS322T PLC controller, I/O interfacing expansion module circuit and ethernet interface circuit；The control panel (9) uses Dop-
B07S411 touch screen.
8. punching press described in any one of -7 picks and places the control method of material wu-zhi-shan pig according to claim 1, which is characterized in that
Include the following steps:
S1, initialization check, carry out system initialization, including abnormality detection, state instruction and parameter setting to wu-zhi-shan pig,
It is abnormal if it exists, then enter alert program；If normal, then S2 is entered step；
S2, judge whether reset is completed, if not completing, each axis carries out clear point setting；If completing, enter step
S3；
S3, selection automatic control or its control control model, automatic control mode enter step S4, its control mode enters step S7；
S4, selection MANUAL CONTROL mode or automatic control mode, MANUAL CONTROL mode enter step S5, and automatic control mode enters
Step S6；
S5, selection MANUAL CONTROL mode select crawl operation, fixed length displacement operation or uniaxial manual clear point operation；
S6, selection automatic control mode, system selects single step, monocycle and continuous operation according to condition, and executes respective operations.
Whether S7, control panel (9) issue execution motion command, if issuing, enter step S8, otherwise wait for control panel
(9) it orders；
S8, the operation program for executing setting continuously perform the movement if not completing, if completing, enter step S9；
S9, instruction is completed to control panel (9) feedback action, waited, into subsequent cycle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810908494.1A CN109079848A (en) | 2018-08-10 | 2018-08-10 | A kind of punching press picks and places material wu-zhi-shan pig and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810908494.1A CN109079848A (en) | 2018-08-10 | 2018-08-10 | A kind of punching press picks and places material wu-zhi-shan pig and its control method |
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| Publication Number | Publication Date |
|---|---|
| CN109079848A true CN109079848A (en) | 2018-12-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810908494.1A Pending CN109079848A (en) | 2018-08-10 | 2018-08-10 | A kind of punching press picks and places material wu-zhi-shan pig and its control method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112371861A (en) * | 2021-01-18 | 2021-02-19 | 烟台壹恒智能新材料有限公司 | Stamping and overturning equipment for processing environment-friendly new energy building board |
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| CN102069492A (en) * | 2009-11-10 | 2011-05-25 | 株式会社安川电机 | Arm mechanism and vacuum robot with the mechanism |
| US20150239128A1 (en) * | 2014-02-24 | 2015-08-27 | Metalsa S.A. De C.V. | Pivoting tool for positioning automotive components |
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Application publication date: 20181225 |