CN112296141B - Narrow steel plate processing equipment and method - Google Patents
Narrow steel plate processing equipment and method Download PDFInfo
- Publication number
- CN112296141B CN112296141B CN201910702562.3A CN201910702562A CN112296141B CN 112296141 B CN112296141 B CN 112296141B CN 201910702562 A CN201910702562 A CN 201910702562A CN 112296141 B CN112296141 B CN 112296141B
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- steel plate
- bending
- clamping jaw
- lower die
- clamping assembly
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- 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
- B21D5/00—Bending sheet metal along straight lines, e.g. to form simple curves
- B21D5/02—Bending sheet metal along straight lines, e.g. to form simple curves on press brakes without making use of clamping means
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- 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
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
- B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
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- 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
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/18—Advancing work in relation to the stroke of the die or tool by means in pneumatic or magnetic engagement with the work
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Bending Of Plates, Rods, And Pipes (AREA)
Abstract
The invention provides processing equipment and a method for a narrow steel plate, and relates to the field of cold bending forming processing of a metal sheet plate, wherein the equipment comprises a mechanical arm and a bending machine, the bending machine comprises an upper beam and a lower die of the bending machine, the bottom of the upper beam of the bending machine is provided with the upper die, and the mechanical arm clamps the steel plate and is arranged at the bending position of the lower die; the manipulator comprises a vacuum sucker group, a supporting beam and at least one clamping assembly, wherein the vacuum sucker group and the clamping assembly are fixedly connected with the supporting beam; the clamping assembly comprises a clamping jaw, a buffering device and a cylinder, the clamping jaw is connected with the buffering device through a rotating shaft screw rod, and the buffering device is connected with a telescopic rod of the cylinder. The bending machine is used for solving the technical problems that the mechanical arm is easily damaged by hard force generated in the bending process of a steel plate in the prior art, and the obtained finished product is difficult to reach the standard.
Description
Technical Field
The invention relates to the field of cold roll forming processing of sheet metal plates, in particular to processing equipment and a method of a narrow steel plate.
Background
With the development of science and technology, more and more industries use industrial robots (manipulators) instead of human labor to perform some heavy and dangerous work, such as: the production process comprises the following industries of carrying, spraying, casting, welding, stamping, bending and the like. The industrial robot can assist a laser cutting machine, punching and shearing equipment and a plate bending machine to finish operations of transferring, blanking, bending and forming and the like of metal sheet plates.
In the automatic punching, cutting, folding and other operations of the manipulator, a vacuum chuck or a magnetic chuck device is adsorbed on the surface of a steel plate, and the procedures of feeding, processing and stacking of plate pieces are completed according to the procedures and teaching operation tracks. When a narrow steel plate with a plurality of holes on the surface needs to be machined, although the size of the vacuum sucker and the size of the magnetic sucker device are more, the hole positions are irregularly distributed, so that vacuum negative pressure cannot be built, or the magnetic sucker device cannot exert the advantages of the vacuum sucker and the magnetic sucker device when the material is changed, so that the narrow steel plate can be grabbed by the clamping jaw more conveniently.
When a steel plate (the steel plate with the thickness of more than or equal to 3mm is taken as an example) is placed on a lower die by a clamping jaw, a pre-pressing clamping state is generated on a workpiece when the upper die reaches the lower die, the clamping jaw cannot loosen the workpiece because the steel plate does not deviate, a cluster of extremely large hard force is generated between the steel plate and the upper die and between the steel plate and the lower die under the limitation of the coordinate pose value of a manipulator (note that the hard force is the deviation generated when the metal plate is bent and meets the requirement of a tolerance range), the hard force is transmitted to the clamping jaw through the steel plate to cause the clamping jaw to expand and deform outwards, so that the clamping jaw cannot effectively clamp the steel plate, the mechanical arm and the clamping jaw are easily damaged when the hard force is too large, and the bending precision can be influenced; and because the steel plate needs to be bent for many times, the deviation appears in each bending, and the finished product can not meet the requirement, so how to bend the steel plate quickly and the accuracy is not influenced, and a set of complete operation flow and equipment are needed.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, an object of the present invention is to provide a narrow steel plate processing apparatus and method for solving the above-mentioned problems.
In order to achieve the above and other related objects, the present invention provides a processing apparatus for a narrow steel plate, the apparatus comprising a manipulator and a bending machine, the bending machine comprising an upper beam and a lower die of the bending machine, the bottom of the upper beam of the bending machine being provided with the upper die, the manipulator clamping the steel plate at a bending position of the lower die;
the manipulator comprises a vacuum sucker group, a supporting beam and at least one clamping assembly, wherein the vacuum sucker group and the clamping assembly are fixedly connected with the supporting beam; the clamping assembly comprises a clamping jaw, a buffering device and a cylinder, the clamping jaw is connected with the buffering device through a rotating shaft screw rod, and the buffering device is connected with a telescopic rod of the cylinder.
Preferably, the bending position of the lower die is downwards sunken to form a right-angle groove, and the upper die is provided with a right-angle edge matched with the right-angle groove.
Preferably, the vacuum chuck group comprises a support arm, a connecting plate and a chuck, the chuck is fixed on the connecting plate through the support arm, and the connecting plate is fixedly connected with the support beam through a screw.
A method of processing a narrow steel plate, the method comprising:
s1: placing the first bending point of the steel plate at the bending position of the lower die by adopting a vacuum chuck group to finish feeding;
s2: the upper beam of the bending machine drives the upper die to move downwards to bend the steel plate for one time, and the vacuum sucker group loosens the steel plate in the bending process;
s3: clamping the steel plate after the primary bending by using a clamping assembly, and placing a second bending point of the steel plate at the bending position of the lower die;
s4: the upper die generates a cluster of hard force when contacting the steel plate, the upper die continues to move downwards to bend the steel plate for the second time after the hard force is eliminated by the buffer device, and the clamping assembly loosens the steel plate in the bending process;
s5: and repeating the steps S3 and S4 to bend the steel plate for multiple times, and then removing the steel plate by the vacuum suction cup group to return to the original position to finish blanking.
Preferably, in the step S3: the manipulator overturns to enable the clamping jaw of the clamping assembly to grab the steel plate, and the steel plate is overturned to enable the second bending point to be arranged at the bending position of the lower die.
Preferably, the step S4 specifically includes:
s41: the hard force is transmitted to the clamping assembly through the steel plate, so that the clamping jaw is expanded and deformed outwards;
s42: the clamping jaw takes the rotating shaft screw rod as a rotating center, the front end of the clamping jaw rotates outwards, and the tail end rotates inwards to do expansion movement, so that deformation caused by hard force is eliminated.
As described above, the present invention has the following advantageous effects:
1. according to the invention, through the matching use of the vacuum sucker group and the clamping component, the vacuum sucker group clamps the steel plate to the bending position of the lower die to complete the first-step size positioning and bending, the steel plate is narrow, the clamping component is required to operate for turning and transposition, and the bending machine bends for multiple times, so that the vacuum sucker group performs blanking after the steel plate reaches the set standard, and the grabbing problem in processing narrow steel plates is effectively solved.
2. In order to eliminate the hard force generated when the upper die and the lower die press the plate, and bend the workpiece, the buffer device is additionally arranged in the clamping assembly, the clamping jaw takes the rotating shaft screw rod as a rotating center, the front end of the clamping jaw rotates outwards, and the tail end rotates inwards to do expansion movement, so that the deformation caused by the hard force is eliminated.
Drawings
Fig. 1 shows a schematic structural diagram of the apparatus disclosed in the embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a robot disclosed in the embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a buffering device disclosed in the embodiment of the present invention.
Fig. 4 shows a schematic view of a structure of a clamping jaw disclosed in the embodiment of the invention.
Fig. 5 is a schematic view showing the operation of the cylinder disclosed in the embodiment of the present invention.
Fig. 6 is a schematic diagram illustrating an operation of the damping device disclosed in the embodiment of the present invention.
Fig. 7 is a graph showing the deviation range of the angle disclosed in the embodiment of the present invention.
FIG. 8 is a flowchart of a method disclosed in an embodiment of the present invention.
Description of the element reference numerals
1-a manipulator; 2-bending machine; 3-bending the upper beam of the bending machine; 4-lower mould; 5, mounting a mold; 6-vacuum chuck group; 7-a corbel; 8-a clamping assembly; 9-a clamping jaw; 10-a suction cup; 11-a buffer device; 12-a cylinder; 13-a spindle screw; 14-a telescopic rod; 15-a connecting plate; 16-a spring retention hole; 17-fixed column; 18-a collar; 19-spring ring; 20-clamp rubber head; 21-a cylinder holder; 22-arm.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.
Please refer to fig. 1 to 8. It should be understood that the structures, ratios, sizes, etc. shown in the drawings and attached to the description are only for understanding and reading the disclosure of the present invention, and are not intended to limit the practical conditions of the present invention, so that the present invention has no technical significance, and any modifications of the structures, changes of the ratio relationships, or adjustments of the sizes, should still fall within the scope of the technical contents of the present invention without affecting the efficacy and the achievable purpose of the present invention. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.
Referring to fig. 1, the invention provides a processing device for a narrow steel plate, the device comprises a manipulator 1 and a bending machine 2, the bending machine 2 comprises a bending machine upper beam 3 and a lower die 4, an upper die 5 matched with the lower die 4 is arranged at the bottom of the bending machine 2, and the manipulator 1 clamps the steel plate and is arranged at the bending position of the lower die 4;
referring to fig. 2, the robot 1 includes a vacuum chuck set 6, a support beam 7 and at least one clamping assembly 8, wherein the vacuum chuck set 6 and the clamping assembly 8 are both fixedly connected to the support beam 7; the clamping assembly 8 comprises a clamping jaw 9, a buffering device 11 and a cylinder 12, the clamping jaw 9 is connected with the buffering device 11 through a rotating shaft screw 13, and the buffering device 11 is connected with an expansion rod 14 of the cylinder 12.
Specifically, referring to fig. 3, the buffering device 11 includes a spring holding hole 16 and a fixing post 17, a screw thread is provided in the spring holding hole 16, the fixing post 17 is in threaded connection with the spring holding hole 16, referring to fig. 4, a sleeve ring 18 is provided at the end of the clamping jaw 9, a spring ring 19 is fixedly connected below the sleeve ring 18, and the sleeve ring 18 and the spring ring 19 are sleeved outside the fixing post 17.
The diameter of the fixed column 17 is smaller than that of the spring holding hole 16 and extends out of the spring holding hole 16, and the spring ring 19 is also positioned in the spring holding hole 16 because the lantern ring 18 and the spring ring 19 are sleeved outside the fixed column 17; referring to fig. 6, when the front end of the clamping jaw 9 is subjected to a hard force, the front end is expanded outwards with the rotating shaft screw 13 as the rotating center, and the spring ring 19 has elasticity, so that the tail end presses the spring ring 19 to rotate inwards, and the spring ring 19 is compressed in the spring holding hole 16, thereby realizing the expansion movement of the clamping jaw 9.
Specifically, the cylinder 12 is provided with a cylinder holder 21, and the cylinder holder 21 is fixedly connected with the support beam 7 through a screw.
Specifically, the front end of the clamping jaw 9 is provided with a clamp body rubber head 20, which can prevent the surface of the steel plate from being damaged by clamping, can enhance the anti-skid force of the clamping jaw, and is beneficial to the elastic return of the spring ring 19 after the steel plate is released.
Based on above embodiment, the bending position undercut of bed die 4 forms the right angle recess, go up mould 5 and be provided with the right angle limit that matches with the right angle recess, place the steel sheet in the bending position department of bed die 4, go up mould 5 downstream under the effect of bender upper beam 3, make the steel sheet bend into 90.
Based on the above embodiment, the vacuum chuck set 6 includes the supporting arm 22, the connecting plate 15 and the plurality of suction cups 10, the suction cups 10 are fixed on the connecting plate 15 through the supporting arm 22, and the connecting plate 15 is fixedly connected with the supporting beam 7 through screws.
A method of processing a narrow steel plate, the method comprising:
s1: placing the first bending point of the steel plate at the bending position of the lower die 4 by adopting a vacuum chuck group 6 to finish feeding;
s2: the upper beam 3 of the bending machine drives an upper die 5 to move downwards to bend the steel plate for one time, and the vacuum sucker group 6 loosens the steel plate in the bending process;
s3: clamping the steel plate after the primary bending by using a clamping assembly 8, and placing a second bending point of the steel plate at the bending position of the lower die 4;
s4: when the upper die 5 is in contact with the steel plate, a cluster of hard force which enables the clamping assembly 8 to deform is generated, after the hard force is eliminated by the buffer device 11, the upper die 5 continues to move downwards to bend the steel plate for the second time, and in the bending process, the clamping assembly 8 loosens the steel plate;
s5: and repeating the steps S3 and S4 to bend the steel plate for multiple times, and then removing the steel plate by the vacuum suction cup group 6 to return to the original position to finish blanking.
Based on the above embodiment, in the step S3: the manipulator 1 is turned over to position the clamping assembly 8 near the steel plate, and referring to fig. 5, the telescopic rod 14 drives the clamping jaw 9 to move outwards, so that enough space is reserved for clamping the steel plate, and the steel plate is turned over to enable the second bending point to be placed at the bending position of the lower die 4.
Based on the above embodiment, the step S4 specifically includes:
s41: the hard force is transmitted to the clamping assembly 8 through the steel plate, so that the clamping jaw 9 is expanded and deformed outwards;
s42: the clamping jaw 9 takes a rotating shaft screw 13 as a rotating center, the front end of the clamping jaw 9 rotates outwards, and the tail end rotates inwards to do expansion movement, so that deformation caused by hard force is eliminated.
In this embodiment, when the clamping assembly 8 places the steel plate on the lower die 4, there is a certain angular deviation between the steel plate and the upper surface of the lower die 4, please refer to fig. 7, when the upper die 5 presses the steel plate downwards, the steel plate needs to be pressed to be parallel to the upper surface of the lower die 4, a hard force is generated during the pressing process, and under the condition that the buffering device 11, the collar 18 and the spring ring 19 are not installed, the hard force forcibly expands and deforms the clamping jaw 9 outwards, which is easy to damage devices such as the cylinder 12 and the clamping jaw 9.
According to the invention, through the matched use of the vacuum sucker group and the clamping assembly, the steel plate is clamped to the bending position of the lower die by the vacuum sucker group, the first-step size positioning and bending are completed, then the clamping assembly grabs the steel plate to turn over and replace, the steel plate is bent for multiple times, and then the vacuum sucker group performs blanking after the set standard is reached, so that the grabbing problem in narrow steel plate processing is effectively solved. Therefore, the invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (6)
1. The processing equipment for the narrow steel plate is characterized by comprising a manipulator (1) and a bending machine (2), wherein the bending machine (2) comprises an upper beam (3) and a lower die (4) of the bending machine, the bottom of the upper beam (3) of the bending machine is provided with an upper die (5), and the manipulator (1) clamps the steel plate and is arranged at the bending position of the lower die (4);
the manipulator (1) comprises a vacuum sucker group (6), a supporting beam (7) and at least one clamping assembly (8), wherein the vacuum sucker group (6) and the clamping assembly (8) are fixedly connected with the supporting beam (7); the clamping assembly (8) comprises a clamping jaw (9), a buffering device (11) and a cylinder (12), the clamping jaw (9) is connected with the buffering device (11) through a rotating shaft screw rod (13), and the buffering device (11) is connected with an expansion rod (14) of the cylinder (12).
2. The narrow steel plate processing equipment according to claim 1, wherein the bending position of the lower die (4) is downwards concave to form a right-angle groove, and the upper die (5) is provided with a right-angle edge matched with the right-angle groove.
3. The narrow steel plate processing equipment according to claim 1, wherein the vacuum suction cup set (6) comprises a support arm (22), a connecting plate (15) and a suction cup (10), the suction cup (10) is fixed on the connecting plate (15) through the support arm (22), and the connecting plate (15) is fixedly connected with the support beam (7) through a screw.
4. A method of processing a narrow steel plate, characterized by using the apparatus for processing a narrow steel plate according to any one of claims 1 to 3, the method comprising:
s1: a vacuum sucker group (6) is adopted to place a first bending point of the steel plate at the bending position of the lower die (4) to finish feeding;
s2: an upper beam (3) of the bending machine drives an upper die (5) to move downwards to bend the steel plate for one time, and a vacuum sucker group (6) loosens the steel plate in the bending process;
s3: clamping the steel plate after the primary bending by using a clamping assembly (8), and placing a second bending point of the steel plate at the bending position of the lower die (4);
s4: the upper die (5) generates a cluster of hard force when contacting with the steel plate, after the hard force is eliminated by the buffer device (11), the upper die (5) continues to rotate downwards to bend the steel plate for the second time, and the clamping assembly (8) loosens the steel plate in the bending process;
s5: and (5) repeating the steps S3 and S4 to bend the steel plate for a plurality of times, and then removing the steel plate by the vacuum suction disc group (6) to return to the original position to finish blanking.
5. The method of processing a narrow steel plate according to claim 4, wherein in step S3: the manipulator (1) turns over to enable the clamping jaw (9) to grab the steel plate, and turns over the steel plate to enable the second bending point to be placed at the bending position of the lower die (4).
6. The method for processing a narrow steel plate according to claim 4, wherein step S4 specifically includes:
s41: the hard force is transmitted to the clamping assembly (8) through the steel plate, so that the clamping jaw (9) expands and deforms outwards;
s42: the clamping jaw (9) takes the rotating shaft screw (13) as a rotating center, the front end of the clamping jaw (9) rotates outwards, and the tail end rotates inwards to do expansion movement, so that deformation caused by hard force is eliminated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910702562.3A CN112296141B (en) | 2019-07-31 | 2019-07-31 | Narrow steel plate processing equipment and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910702562.3A CN112296141B (en) | 2019-07-31 | 2019-07-31 | Narrow steel plate processing equipment and method |
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| CN112296141A CN112296141A (en) | 2021-02-02 |
| CN112296141B true CN112296141B (en) | 2022-09-02 |
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| CN112983314B (en) * | 2021-05-14 | 2021-09-03 | 胜利油田胜机石油装备有限公司 | Quick assembling and disassembling method for water faucet in workover operation and combined manipulator |
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| CN112296141A (en) | 2021-02-02 |
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