CN112247001A - Automatic feeding and discharging device of punching machine - Google Patents

Automatic feeding and discharging device of punching machine Download PDF

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Publication number
CN112247001A
CN112247001A CN202011013485.XA CN202011013485A CN112247001A CN 112247001 A CN112247001 A CN 112247001A CN 202011013485 A CN202011013485 A CN 202011013485A CN 112247001 A CN112247001 A CN 112247001A
Authority
CN
China
Prior art keywords
robot
vacuum generator
vacuum
gripping apparatus
punching machine
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.)
Pending
Application number
CN202011013485.XA
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Chinese (zh)
Inventor
赵威
徐世夺
王立爽
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Changchun Sanyou Automobile Parts Manufacture Co ltd
Original Assignee
Changchun Sanyou Automobile Parts Manufacture Co ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Changchun Sanyou Automobile Parts Manufacture Co ltd filed Critical Changchun Sanyou Automobile Parts Manufacture Co ltd
Priority to CN202011013485.XA priority Critical patent/CN112247001A/en
Publication of CN112247001A publication Critical patent/CN112247001A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21DWORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/02Advancing work in relation to the stroke of the die or tool
    • B21D43/18Advancing work in relation to the stroke of the die or tool by means in pneumatic or magnetic engagement with the work
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21DWORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D45/00Ejecting or stripping-off devices arranged in machines or tools dealt with in this subclass
    • B21D45/02Ejecting devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/06Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators

Abstract

The invention relates to an automatic loading and unloading device of a punching machine, which comprises a PLC (programmable logic controller) control system, a loading robot and an unloading robot, wherein the loading robot and the unloading robot are arranged on the left side and the right side of a punching machine, the PLC control system is respectively and electrically connected with the loading robot, the punching machine and the unloading robot, a vacuum generator and a loading gripping apparatus are arranged on a robot arm of the loading robot, the loading robot is connected with the vacuum generator through an electric connection wire, the loading gripping apparatus is indirectly controlled to grip and place a workpiece by controlling the vacuum generator, the loading gripping apparatus and the unloading gripping apparatus respectively comprise end pick-ups with suckers, and the suckers are respectively connected with the vacuum generator through air pipes. The device is suitable for automatic feeding and discharging of thin sheet products, realizes a lean production mode of automatic and unmanned stamping, enables stamping equipment to continuously and stably work for 24 hours, improves the production efficiency, saves the labor cost, realizes an automatic production mode of unmanned operation of a stamping machine, and eliminates the personal safety hidden danger.

Description

Automatic feeding and discharging device of punching machine
Technical Field
The invention belongs to the technical field of stamping, and particularly relates to an automatic loading and unloading device of a stamping machine.
Background
Stamping is a process of making sheet metal into various sheet-shaped parts, shells, containers and other workpieces or making pipe fittings into various tubular workpieces on a press by using a die. Compared with castings and forgings, the stamping part has the characteristics of thinness, uniformity, lightness and strength. Stamping can produce workpieces with reinforcing ribs, stamped ribs, undulations or flanges that are otherwise difficult to produce, to increase their rigidity. The stamping processing has high production efficiency, convenient operation, no generation of chips and crushed materials, less material consumption, no need of other heating equipment, material saving and energy saving processing method, lower cost of the stamping part and wide application.
However, in the use of the press, in the case of a thin sheet-like product, the product needs to be separated at the time of manual feeding. The manual separation not only needs to spend more time, reduces production efficiency, but also is difficult to place accurately for the manual positioning of thin sheet products, and leads to the quality state of the products to be difficult to control. In addition, people are easy to fatigue after working for a long time, so that the working production efficiency is low, the equipment utilization rate is low, and the waste of water, electricity and gas is caused. Meanwhile, personal safety hazards exist in manual feeding and discharging, and along with continuous improvement of production labor cost of enterprises, most stamping posts with high labor intensity have the problem of difficulty in recruitment.
Prior art discloses unloader in automation of punching machine, includes: the frame is arranged on one side of the punching machine; the feeding table is arranged on the rack and used for stacking raw materials; the material taking mechanism is used for taking out the raw materials on the feeding platform; the feeding robot is connected with the material taking mechanism and is used for controlling the material taking mechanism to place the taken raw materials on the punching machine; and the blanking table is used for collecting the punched finished products punched by the punching machine. The automatic feeding and discharging device utilizes the vision positioning system to identify the position of the raw material, so that the positioning precision of the raw material is improved, the product percent of pass is improved, and meanwhile, the automatic feeding and discharging of the raw material are realized by utilizing the material taking mechanism and the feeding robot. However, the automatic loading and unloading device is not suitable for separating and accurately placing thin sheet products, and the quality of the products is not controllable.
Disclosure of Invention
The invention aims to provide an automatic loading and unloading device of a punching machine, which aims to solve the problems that the existing punching machine is not suitable for separating and placing thin sheet products, the manual loading and unloading production efficiency is low, potential safety hazards exist, and the quality is uncontrollable.
The purpose of the invention is realized by the following technical scheme:
an automatic loading and unloading device of a punching machine comprises a PLC control system 1, a loading robot 3 and an unloading robot 9; the feeding robot 3 and the blanking robot 9 are installed on the left side and the right side of the punching machine tool 6, and the PLC control system 1 is respectively and electrically connected with the feeding robot 3, the punching machine tool 6 and the blanking robot 9;
a vacuum generator I4 and a feeding gripping apparatus 5 are mounted on a robot arm of the feeding robot 3, the feeding robot 3 is connected with the vacuum generator I4 through an electric connection wire, the feeding gripping apparatus 5 is controlled to grip and place workpieces by controlling the opening and closing of the vacuum generator I4, and information of successful gripping and putting down is transmitted to the feeding robot 3 and the PLC control system 1 through the vacuum generator I4;
a vacuum generator II 7 and a blanking gripper 8 are mounted on a robot arm of the blanking robot 9, the blanking robot 9 is connected with the vacuum generator II 7 through an electric connection wire, the blanking gripper 8 is controlled to grab and place workpieces by controlling the opening and closing of the vacuum generator II 7, and information of successful grabbing and putting down is transmitted to the blanking robot 9 and the PLC control system 1 through the vacuum generator II 7;
feeding gripping apparatus 5 and unloading gripping apparatus 8 all include end effector 11, end effector 11 includes sucking disc 111, and sucking disc 111 passes through the trachea and links to each other with vacuum generator I4 and vacuum generator II 7 respectively.
Further, material loading gripping apparatus 5 still includes quick change plug self-lock device 12, quick change plug self-lock device 12 comprises gripping apparatus link 121 and stiff end 122, and stiff end 122 links to each other with the robot arm end of material loading robot 3, and gripping apparatus link 121 is fixed with end effector 11.
Further, unloading gripping apparatus 8 still includes quick change plug self-lock device 12, quick change plug self-lock device 12 comprises gripping apparatus link 121 and stiff end 122, and stiff end 122 links to each other with the robot arm end of material loading robot 3, and gripping apparatus link 121 is fixed with end effector 11.
Further, the end effector 11 further includes an aluminum profile on which a plurality of suction cups 111 are mounted.
Furtherly, vacuum generator I4 comprises air feed end I41, vacuum end I42, exhaust end I43 and signal transmission mouth I45, still is equipped with two on the vacuum generator I4 and is used for the installation fixed orifices I44 fixed with the robot arm, signal transmission interface I45 links to each other with material loading robot 3 through electric wiring, gives material loading robot 3 with the signal transmission, air feed end I41 is connected to the air feed end III 51 of material loading gripping apparatus 5 through the trachea, and material loading robot 3 controls the switch of air feed end I41 through control vacuum generator I4.
Furthermore, the sucking disc 111 is connected with the vacuum end I42 through an air pipe, when the vacuum generator I4 works, the sucking disc E can form vacuum, the sucking disc 111 forms suction force, when the vacuum generator I4 does not work, the vacuum state of the sucking disc 111 disappears, the sucking disc 111 does not have suction force, and the sucking disc 111 is controlled by the vacuum generator I4 to grab and put down a workpiece.
Further, when the compressed air is passed through the air supply port I41, the vacuum port I42 can be brought into a vacuum state, and after the vacuum state is achieved between the workpiece and the suction cup, the vacuum generator I4 sends a signal to the loading robot 3.
Further, vacuum generator II 7 comprises air feed end II 71, vacuum end II 72, exhaust end II 73 and signal transmission mouth II 75, is equipped with two on vacuum generator II 7 and is used for the installation fixed orifices II 74 fixed with the robot arm, signal transmission mouth II 75 links to each other with unloading robot 9 through electric wiring, air feed end II 71 is connected to on the air feed end IV 81 of unloading gripping apparatus 8 through the trachea, and when vacuum generator II 7 is absorbing the work piece successfully and putting down the work piece after successfully, signal transmission mouth II 75 gives unloading robot 9 with the signal transmission.
Furthermore, the sucker 111 is connected with the vacuum end II 72 through an air pipe, when the vacuum generator II 7 works, the sucker E can form vacuum, the sucker 111 forms suction force, when the vacuum generator II 7 does not work, the vacuum state of the sucker 111 disappears, the sucker 111 does not have suction force, and the sucker 111 is controlled by the vacuum generator II 7 to grab and put down a workpiece.
Further, when the compressed air passes through the air supply terminal II 71, the vacuum terminal II 72 can form a vacuum state, and after the vacuum state is achieved between the workpiece and the suction cup, the vacuum generator II 7 sends a signal to the blanking robot 9.
Compared with the prior art, the invention has the beneficial effects that: according to the automatic loading and unloading device of the punching machine, the machine replaces the manual work, the lean production mode of automatic and unmanned punching is realized, the punching equipment can continuously and stably work for 24 hours, the production efficiency is improved, the labor cost is saved, the automatic production mode of unmanned operation of the punching machine is realized, and the personal safety hidden danger is eliminated.
Drawings
FIG. 1 is a schematic structural diagram of a conventional manual production model;
FIG. 2 is a schematic structural view of an automatic loading and unloading device of the stamping press according to the present invention;
FIG. 3 is a schematic diagram of the electrical information control principle;
FIG. 4 is a schematic structural view of a loading and unloading gripper;
FIG. 5 is a schematic diagram of the construction of the vacuum generator;
FIG. 6 is a schematic structural view of a quick-change plug self-locking device connected to the tail end of a robot arm;
fig. 7 is a schematic view of the installation position of the fixed end connected to the end of the robot arm and the robot side.
In the figure, 1, a PLC control system 2, a feeding working platform 3, a feeding robot 4, a vacuum generator I5, a feeding gripping apparatus 6, a stamping machine tool 7, a vacuum generator II 8, a blanking gripping apparatus 9, a blanking robot 10, a blanking working platform 11, an end picking apparatus 12, a quick-change plug self-locking device 13, an air pipe connector 41, an air supply end I42, a vacuum end I43, an exhaust end I44, an installation fixing hole 45, a signal transmission interface 51, an air supply end III 71, an air supply end II 72, a vacuum end II 73, an exhaust end II 74, an installation fixing hole II 81, an air supply end IV 111, a sucker 121, a gripping apparatus connecting end 122 and a fixing end.
Detailed Description
The invention will now be further described, by way of example, with reference to the accompanying drawings in which:
the automatic loading and unloading device of the punching machine comprises a PLC control system 1, a loading robot 3 and an unloading robot 9; the feeding robot 3 and the blanking robot 9 are arranged on the left side and the right side of the punching machine 6, and the PLC control system 1 is respectively and electrically connected with the feeding robot 3, the punching machine 6 and the blanking robot 9;
a vacuum generator I4 and a feeding gripping apparatus 5 are mounted on a robot arm of the feeding robot 3, the feeding robot 3 is electrically connected with the vacuum generator I4, the feeding gripping apparatus 5 is indirectly controlled by controlling the vacuum generator I4 to grip and place workpieces, and information of successful gripping is transmitted to the feeding robot 3 and the PLC control system 1 by the vacuum generator I4;
a vacuum generator II 7 and a blanking gripper 8 are arranged on a robot arm of the blanking robot 9, the blanking robot 9 is electrically connected with the vacuum generator II 7, the blanking gripper 8 is indirectly controlled to grab and place workpieces by controlling the vacuum generator II 7, and information of successful grabbing is transmitted to the blanking robot 9 and the PLC control system 1 by the vacuum generator II 7;
the feeding gripping apparatus 5 and the discharging gripping apparatus 8 are composed of an end effector 11 and a quick-change plug self-locking device 12, the end effector 11 comprises a sucker 111, and the sucker 111 is connected with a vacuum generator I4 and a vacuum generator II 7 through air pipes respectively. The quick-change plug self-locking device 12 consists of a gripper connecting end 121 and a fixed end 122, the fixed end 122 is respectively connected with the tail ends of robot arms of the feeding robot 3 and the blanking robot 9, and the end effector 11 is fixedly connected with the gripper connecting end 121. The end effector 11 further comprises an aluminum profile on which a plurality of suction cups 111 are mounted.
When the end effector 11 reaches the designated position, the suction disc 111 starts to suck air after contacting with the part to reach a vacuum state, the vacuum generator I4 (the vacuum generator II 7) sends a signal to the mechanical arm, and the mechanical arm starts to carry. The aluminum profile of the end effector 11 needs to conform to the size and shape of the part, and different sizes and shapes of end effectors 11 may be used for different products.
Vacuum generator I4 comprises air feed end I41, vacuum end I42, exhaust end I43 and signal transmission mouth I45, is equipped with two installation fixed orificess I44 that are used for with the robot arm is fixed on vacuum generator I4. Sucking disc 111 passes through the trachea and links to each other with vacuum end I42, and when I4 during operation of vacuum generator, sucking disc 111 can form the vacuum, and sucking disc 111 forms the suction, and when I4 during operation of vacuum generator, the vacuum state of sucking disc 111 disappears, and sucking disc 111 does not have the suction, snatchs and puts down work to the work piece through I4 control sucking disc 111 of vacuum generator.
The vacuum generator II 7 is composed of an air supply end II 71 (not shown in the figure), a vacuum end II 72 (not shown in the figure), an air exhaust end II 73 (not shown in the figure) and a signal transmission port II 75 (not shown in the figure), and two mounting and fixing holes II 74 for fixing with a robot arm are formed in the vacuum generator II 7. Sucking disc 111 passes through the trachea and links to each other with vacuum end II 72, and when II 7 during operation of vacuum generator, sucking disc 111 can form the vacuum, and sucking disc 111 forms the suction, and when II 7 during operation of vacuum generator, the vacuum state of sucking disc 111 disappears, and sucking disc 111 does not have the suction, snatchs and puts down work to the work piece through II 7 control sucking disc 111 of vacuum generator.
As shown in fig. 2, the loading robot 3 is installed near the press machine 6, and the loading table 2 is installed near the loading robot 3 to ensure that the robot can grasp and place the workpiece to an appropriate working range. In the same regard, the blanking robot 9 and the blanking table 10 are mounted at appropriate positions near the press machine 6. Install vacuum generator I4, material loading gripping apparatus 5 on the robot arm of material loading robot 3 to satisfy material loading robot 3 through control vacuum generator I4, indirect control material loading gripping apparatus 5 snatchs and places the work piece. Similarly, the vacuum generator II 7 and the blanking gripper 8 are installed on a robot arm of the blanking robot 9, so that the blanking robot 9 indirectly controls the blanking gripper 8 to grab and place workpieces by controlling the vacuum generator II 7.
Compared with the drawing 1 and the drawing 2, the automatic loading and unloading device of the punching machine saves labor cost, eliminates personal safety accident risk, avoids uncontrollable conditions of manual work by applying a robot, improves the production efficiency of equipment and reduces the production cost.
As shown in fig. 3, the electrical system integrated layout is a function of establishing an information transfer function by electrical wiring between the PLC control system 1 and the feeding robot 3, the press machine tool 6, and the blanking robot 9, establishing an information transfer function by electrical wiring between the feeding robot 3 and the vacuum generator i 4, and establishing an information transfer function by electrical wiring between the vacuum generator ii 7 and the blanking robot 9, thereby realizing a control center with the PLC control system 1 as a core and collecting information in the entire electrical network to control the operation of corresponding mechanism units.
As shown in fig. 4, the quick-change plug self-locking device 12 is connected to the end of the robot arm in the feeding robot 3 and the blanking robot 9, respectively, and then the suction cups 111 are connected to the vacuum end i 42 (vacuum end ii 72) in fig. 5 through the air pipes, respectively. Like this when vacuum generator during operation, sucking disc 111 can form the vacuum, and sucking disc 111 will form the suction, and when vacuum generator was out of work, sucking disc 111's vacuum state disappeared, and sucking disc 111 will not have the suction to this comes to control sucking disc 111 through vacuum generator and snatchs and put down work to the work piece.
The feeding gripping apparatus 5 and the discharging gripping apparatus 8 both comprise an end effector 11 (the gripping apparatus needs to be designed into different gripping structures according to the requirements of workpieces) made of aluminum type materials by self and a quick-change plug self-locking device 12 connected with the tail end of a robot arm. The end effector 11 and gripper attachment end 121 are fixedly coupled together.
The mounting fixing holes i 44 (mounting fixing holes ii 74) shown in fig. 5 are respectively mounted on the robot arm, and the signal transmission interface i 45 (signal transmission interface ii 75) is respectively connected to the loading robot 3 and the unloading robot 9 through electrical wiring. When the vacuum generator I4 and the vacuum generator II 7 successfully suck and put down the workpiece, corresponding signals are transmitted to the feeding robot 3 and the blanking robot 9 on the signal transmission interface I45 (the signal transmission interface II 75). Then the air supply end I41 (air supply end II 71) is respectively connected to the air supply end III 51 of the feeding gripping device 5 and the air supply end IV 81 (not shown in the figure) of the blanking gripping device 8 through air pipes, thus, the feeding robot 3 and the blanking robot 9 can control the on and off of the air supply end A by controlling the vacuum generator I4 and the vacuum generator II 7, when the air supply end I41 (air supply end II 71) is in an open state, the vacuum end I42 (vacuum end II 72) is in a vacuum state (the state of grabbing a workpiece by adsorption force), when the air supply end I41 (air supply end II 71) is in the closing state, the vacuum end I42 (vacuum end II 72) is in the non-vacuum state (no adsorption force is in the releasing state), with this realization material loading robot 3, unloading robot 9 realize material loading gripping apparatus 5 through control vacuum generator I4, vacuum generator II 7, unloading gripping apparatus 8 snatchs and puts a work.
When compressed air passes through the air supply end I41 (air supply end II 71), the vacuum end I42 (vacuum end II 72) forms a vacuum state to absorb the workpiece, and the generator feeds back a signal to the robot after the vacuum is achieved between the workpiece and the sucker. When the air supply port I41 (air supply port II 71) does not pass the compressed air, the vacuum port I42 (vacuum port II 72) does not form a vacuum state, the ability to suck the workpiece is lost, and the workpiece is released.
In fig. 7, the air pipe joint 13 is used for connecting the vacuum generator i 4 and the vacuum generator ii 7 with the feeding gripper 5 and the discharging gripper 8.
The workflow method of the present invention is described below with reference to fig. 2:
1. a workpiece required for punching is manually placed in a designated area of the loading table 2.
2. And manually confirming that the working area of the equipment can work normally, starting the equipment to be ready, and then starting the equipment to work (a debugged equipment program needs to be arranged in the PLC control system 1).
3. After the two-step equipment on through the top begins work, material loading robot 3 can move to the appointed region of material loading workstation 2 automatically, then material loading robot 3 can open vacuum generator I4, and control material loading gripping apparatus 5 snatchs the work piece.
4. In the process of grabbing a workpiece, the feeding grabbing tool 5 transmits grabbing success information to the feeding robot 3 and the PLC control system 1 through the vacuum generator I4 (if the PLC control system 1 fails to grab, an alarm prompt is given).
5. After the material loading robot 3 receives the grabbing success signal of the vacuum generator 4, the material loading robot 3 can carry the workpiece to a designated working area of the punching machine tool 6, then the material loading robot 3 can turn off the vacuum generator I4, and the material loading gripping device 5 is controlled to place the workpiece on the designated working area.
6. After the workpiece is placed, the feeding robot 3 receives information that the workpiece is placed by the feeding gripper 5 through the vacuum generator I4, and then the feeding robot 3 automatically runs to the position of the working origin. After the feeding robot 3 returns to the working original position, the punching machine 6 is started to work through the PLC control system 1, and meanwhile, the raw materials are waited to be grabbed for the second time, and the circular operation is performed according to the above.
7. The stamping machine tool 6 receives the information of starting work of the PLC control system 1, then carries out one-time stamping work and returns to the original point to be ready, the stamping machine tool 6 transmits the information to the PLC control system 1 to complete the stamping work while returning to the original point to be ready, and the PLC control system 1 calls the blanking robot 9 to take the workpiece through the information transmission at the moment.
8. The blanking robot 9 receives the pickup information of the PLC control system 1 and then automatically moves to the designated pickup position of the punching machine 6, then the blanking robot 9 opens the vacuum generator II 7 to control the blanking gripper 8 to grab the workpiece (if the PLC control system 1 fails in grabbing, an alarm prompt is given).
9. After the blanking robot 9 receives the grabbing success signal of the vacuum generator II 7, the blanking robot 9 can convey the workpiece to a designated workpiece placing working area of the blanking workbench 10, then the vacuum generator II 7 is turned off, and the blanking gripper 8 puts the workpiece down.
10. And the blanking robot 9 runs to the position of the working original point after receiving a signal that the workpiece of the vacuum generator II 7 is put down, simultaneously transmits the information to the PLC control system 1, informs that the workpiece is put down and is finished, waits for the next work, and works circularly according to the information.

Claims (10)

1. The utility model provides a unloader in automation of punching machine which characterized in that: the automatic feeding device comprises a PLC control system (1), a feeding robot (3) and a discharging robot (9); the feeding robot (3) and the blanking robot (9) are arranged on the left side and the right side of the punching machine tool (6), and the PLC control system (1) is electrically connected with the feeding robot (3), the punching machine tool (6) and the blanking robot (9) respectively;
a vacuum generator I (4) and a feeding gripping apparatus (5) are mounted on a robot arm of the feeding robot (3), the feeding robot (3) is connected with the vacuum generator I (4) through an electric connection wire, the feeding gripping apparatus (5) is controlled to grab and place workpieces by controlling the opening and closing of the vacuum generator I (4), and information of successful grabbing and putting down is transmitted to the feeding robot (3) and the PLC control system (1) through the vacuum generator I (4);
a vacuum generator II (7) and a blanking gripping apparatus (8) are arranged on a robot arm of the blanking robot (9), the blanking robot (9) is connected with the vacuum generator II (7) through an electric connection wire, the blanking gripping apparatus (8) is controlled to grab and place a workpiece by controlling the opening and closing of the vacuum generator II (7), and information of successful grabbing and putting down is transmitted to the blanking robot (9) and the PLC control system (1) through the vacuum generator II (7);
feeding gripping apparatus (5) and unloading gripping apparatus (8) all include end effector (11), end effector (11) include sucking disc (111), and sucking disc (111) link to each other with vacuum generator I (4) and vacuum generator II (7) respectively through the trachea.
2. The automatic loading and unloading device of the punching machine according to claim 1, wherein: the feeding gripping apparatus (5) further comprises a quick-change plug self-locking device (12), the quick-change plug self-locking device (12) is composed of a gripping apparatus connecting end (121) and a fixed end (122), the fixed end (122) is connected with the tail end of a robot arm of the feeding robot (3), and the gripping apparatus connecting end (121) is fixed with the end picking device (11).
3. The automatic loading and unloading device of the punching machine according to claim 1, wherein: unloading gripping apparatus (8) still include quick change plug self-lock device (12), quick change plug self-lock device (12) comprise gripping apparatus link (121) and stiff end (122), and stiff end (122) link to each other with the robot arm end of material loading robot (3), and gripping apparatus link (121) are fixed with end effector (11).
4. The automatic loading and unloading device of the punching machine according to claim 1, wherein: the end effector (11) further comprises an aluminum profile on which a plurality of suction cups (111) are mounted.
5. The automatic loading and unloading device of the punching machine according to claim 1, wherein: vacuum generator I (4) comprise air feed end I (41), vacuum end I (42), exhaust end I (43) and signal transmission mouth I (45), still are equipped with two on vacuum generator I (4) and are used for the installation fixed orifices I (44) fixed with the robot arm, signal transmission interface I (45) link to each other with feed robot (3) through electric wiring, give feed robot (3) with the signal transmission, air feed end I (41) are connected to air feed end III (51) of material loading gripping apparatus (5) through the trachea, and feed robot (3) are through the switch of control vacuum generator I (4) control air feed end I (41).
6. The automatic loading and unloading device of the punching machine according to claim 5, wherein: sucking disc 111 passes through the trachea and links to each other with I (42) of vacuum end, and when I (4) during operation of vacuum generator, sucking disc E can form the vacuum, and sucking disc (111) form the power of absorbing, and when I (4) out of work of vacuum generator, the vacuum state of sucking disc (111) disappears, and sucking disc (111) do not have the power of absorbing, snatchs the work with putting down the work to the work piece through I (4) control sucking disc E of vacuum generator.
7. The automatic loading and unloading device of the punching machine according to claim 5, wherein: when compressed air passes through the air supply end I (41), the vacuum end I (42) can form a vacuum state, and after the vacuum state is achieved between the workpiece and the sucker, the vacuum generator I (4) sends a signal to the feeding robot (3).
8. The automatic loading and unloading device of the punching machine according to claim 1, wherein: vacuum generator II (7) comprises air feed end II (71), vacuum end II (72), exhaust end II (73) and signal transmission mouth II (75), is equipped with two on vacuum generator II (7) and is used for the installation fixed orifices II (74) fixed with the robot arm, signal transmission interface II (75) link to each other with unloading robot (9) through electric wiring, on air feed end II (71) are connected to the air feed end IV (81) of unloading gripping apparatus (8) through the trachea, when vacuum generator II (7) absorb the work piece succeed and put down the work piece after succeeding in, signal transmission interface II (75) give unloading robot (9) with the signal transmission.
9. The automatic loading and unloading device of the punching machine according to claim 8, wherein: sucking disc 111 passes through the trachea and links to each other with vacuum end II (72), and when vacuum generator II (7) during operation, sucking disc E can form the vacuum, and sucking disc) (111) form the power of absorbing, and when vacuum generator II (7) were out of work, the vacuum state of sucking disc (111) disappeared, and sucking disc (111) do not have the power of absorbing, snatchs and puts down the work to the work piece through vacuum generator II (7) control sucking disc (111).
10. The automatic loading and unloading device of the punching machine according to claim 8, wherein: when compressed air passes through the air supply end II (71), the vacuum end II (72) can form a vacuum state, and after the vacuum state is achieved between the workpiece and the sucking disc, the vacuum generator II (7) sends a signal to the blanking robot (9).
CN202011013485.XA 2020-09-24 2020-09-24 Automatic feeding and discharging device of punching machine Pending CN112247001A (en)

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CN111390956A (en) * 2020-04-10 2020-07-10 知行机器人科技(苏州)有限公司 Robot tong quick change device

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