CN114273543A - Control method of stamping manipulator - Google Patents
Control method of stamping manipulator Download PDFInfo
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- CN114273543A CN114273543A CN202111319153.9A CN202111319153A CN114273543A CN 114273543 A CN114273543 A CN 114273543A CN 202111319153 A CN202111319153 A CN 202111319153A CN 114273543 A CN114273543 A CN 114273543A
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 239000002184 metal Substances 0.000 claims abstract description 63
- 230000009467 reduction Effects 0.000 claims abstract description 11
- 230000000694 effects Effects 0.000 claims abstract description 5
- 230000005540 biological transmission Effects 0.000 claims description 70
- 230000007306 turnover Effects 0.000 claims description 17
- 238000012546 transfer Methods 0.000 claims description 13
- 230000007246 mechanism Effects 0.000 claims description 8
- 230000000994 depressogenic effect Effects 0.000 claims description 4
- 239000011435 rock Substances 0.000 claims description 3
- 239000003638 chemical reducing agent Substances 0.000 claims description 2
- 230000003068 static effect Effects 0.000 claims description 2
- 230000008569 process Effects 0.000 abstract description 2
- 238000004080 punching Methods 0.000 description 38
- 239000000463 material Substances 0.000 description 21
- 238000004891 communication Methods 0.000 description 12
- 238000004519 manufacturing process Methods 0.000 description 11
- 238000007599 discharging Methods 0.000 description 10
- 230000002159 abnormal effect Effects 0.000 description 9
- 230000009471 action Effects 0.000 description 7
- 238000003825 pressing Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000003466 welding Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
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- 238000005096 rolling process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
A method for controlling a press robot by first starting a first drive motor which drives a drive shaft at an output end to effect a lateral movement of an actuating rod relative to a second drive rod and simultaneously swinging a housing in one direction or the other in its bearings in a support with the raising or lowering of a finger, in order to effect a lateral movement of a metal workpiece on a feed roll for positioning it into a desired reduction table, an outer guide plate and an inner guide plate are selected and the feed roll is moved laterally by means of the first drive rod and the second drive rod respectively, and when the lateral movement of the metal workpiece relative to the feed roll is effected, the second drive motor and a third drive motor are started to effect a lateral movement of the inner guide plate. The manipulator can overturn the metal workpiece through the overturning device, the overturning is stable, other tools are not needed, and the metal workpiece is not abraded in the overturning process.
Description
Technical Field
The invention relates to the technical field of stamping equipment, in particular to a control method of a stamping manipulator.
Background
In recent years, industrial robots, which are one of important basic devices for implementing automatic production lines, industrial 4.0, intelligent manufacturing plants, and digital factories, have been widely used. In the field of stamping and manufacturing, a traditional stamping manipulator generally consists of a linear guide rail and has small load capacity, for example, chinese patent CN202011497940.8 discloses a stamping manipulator control system based on TCP/IP communication, which comprises a master controller, a plurality of stamping manipulator controllers and a plurality of punch controllers, wherein the master controller, the plurality of stamping manipulator controllers and the plurality of punch controllers communicate in a TCP/IP communication mode; the master controller is used for sending a state query command to all the manipulator controllers and all the punch controllers in a polling mode to obtain working state information of all the punching manipulators and all the punch machines, generating a manipulator control command and a punch machine control command according to the obtained working state information, and respectively sending the manipulator control command and the punch machine control command to the punching manipulator controllers and the punch machines to control the actions of the punching manipulators and the punch machines When all the punching machines are abnormal and are in a single punching mode and at the top dead center position, sending a material taking command to the punching machine with the material and the punching mechanical arm controller corresponding to the feeding machine with the material so as to enable the punching machine with the material and the punching mechanical arm corresponding to the feeding machine with the material to execute material taking action; when detecting that all the stamping manipulators are abnormal, all the punches are abnormal and are in a single stamping mode and a top dead center position, sending a discharging command to a stamping manipulator controller which corresponds to the non-material punches and the non-material blanking machines and is connected with the stamping manipulator at a discharging waiting point position, and enabling the stamping manipulator which corresponds to the non-material punches and the non-material blanking machines and is at the discharging waiting point position to execute a discharging action; when detecting that all the stamping manipulators are abnormal, all the punches are abnormal and are in a single stamping mode and a top dead center position, sending a stamping command to the punches which are charged and corresponding to the stamping manipulators are in a discharging safety point position so as to enable the punches to execute stamping actions, wherein the master controller is used for sending a running stopping command to all the stamping manipulator controllers and all the punch controllers when detecting that any one of the stamping manipulator controllers and the punch controllers have a state error or a communication fault so as to stop running of all the stamping manipulators and all the punches; each manipulator controller and each punch controller are used for immediately stopping the corresponding movement of the corresponding stamping manipulator and punch when detecting that the master controller has communication faults, and the master controller is used for judging that the stamping manipulator controller and the punch controller have communication faults if the master controller does not receive reply messages of the stamping manipulator controller and the punch controller within preset time when sending a state query command to any stamping manipulator controller and punch controller; each stamping manipulator controller and each punching machine controller are used for judging that the master controller has a communication fault if a state query command of the master controller is not received within a preset time when the stamping manipulator controller and the master controller are connected, and each stamping manipulator controller is used for immediately controlling a corresponding stamping manipulator to stop moving and sending a collision signal to the master controller when detecting that the current of any one driving motor corresponding to the stamping manipulator is greater than a preset manipulator collision current threshold; the master controller is used for sending an operation stopping instruction to all the stamping manipulator controllers and all the punching machine controllers when receiving the collision signal so as to stop the operation of all the stamping manipulators and all the punching machines, and the master controller, the multiple stamping manipulator controllers and the multiple punching machine controllers form a tree network; the control method of the stamping manipulator control system based on TCP/IP communication is applied to a stamping production line, and the stamping production line comprises a feeding machine, a blanking machine, a plurality of stamping manipulators and a plurality of stamping machines; a plurality of punching machines are arranged between the feeding machine and the blanking machine, and one punching manipulator is arranged between the feeding machine and the adjacent punching machine, between the blanking machine and the adjacent punching machine and between every two adjacent punching machines; the control method is characterized by comprising the following steps: when detecting that all the stamping manipulators are positioned at the material taking waiting points and have no abnormity, and all the stamping machines have no abnormity and are positioned at a single stamping mode and a top dead center position, the master controller sends material taking commands to the stamping machines with materials and the stamping manipulator controllers corresponding to the feeding machines with materials so as to enable the stamping machines with materials and the stamping manipulators corresponding to the feeding machines with materials to execute material taking actions; when detecting that all the stamping manipulators are abnormal, all the punches are abnormal and are in a single stamping mode and a top dead center position, the master controller sends a discharging command to a stamping manipulator controller which corresponds to the non-material punches and the non-material blanking machines and is connected with the stamping manipulator at a discharging waiting point position, so that the stamping manipulators which correspond to the non-material punches and the non-material blanking machines and are at the discharging waiting point position execute discharging actions; when detecting that all the punching manipulators are abnormal and all the punching machines are abnormal and are positioned at a single punching mode and a top dead center position, the master controller sends punching commands to the punching machines which are charged and corresponding to the punching manipulators are positioned at a discharging safety point position so as to enable the punching machines to execute punching actions, the application organically connects the master controller, the punching machines and the punching manipulators, compared with the traditional communication modes such as RS485/SocketCAN and the like, the TCP/IP communication mode has the advantages of simple connection, stable communication, high transmission rate and the like, the communication of the master controller, a plurality of punching manipulator controllers and a plurality of punching machine controllers is realized by utilizing the TCP/IP communication mode, various information of the punching machines can be timely obtained, including punching machine top dead center signals, punching machine alarm, stroke information and the like, and the linkage control of the master controller on the punching manipulators and the punching machines is realized, and can ensure the high-efficiency punching of the punch production line; for example, chinese patent CN201721004154.3 discloses a stretching end cap multi-station manipulator, which structurally comprises: punching press manipulator (1), tensile end cover organism (2), triangle support piece (3), manipulator chain belt (4), end cover organism base (5), support riser (6), tensile end cover saddle (7), left branch strut standing foot piece (8), tensile end cover organism base (9), right branch strut standing foot piece (10), tensile end cover organism (2) vertical fixation is on end cover organism base (5), triangle support piece (3) are equipped with two and equal vertical welding on end cover organism base (5), end cover organism base (5) horizontal welding is on supporting riser (6), its characterized in that: the stamping manipulator (1) is horizontally welded on the triangular support piece (3), the stamping manipulator (1) is mechanically connected with a manipulator chain belt (4), the supporting vertical plate (6) and the stretching end cover saddle (7) are vertically fixed on a stretching end cover machine body base (9), the left supporting foot block (8) and the right supporting foot block (10) are respectively vertically fixed on the left side and the right side of the stretching end cover machine body base (9), and the stamping manipulator (1) is electrically connected with the stretching end cover machine body (2); the stamping manipulator (1) comprises a stamping manipulator frame (100), a manipulator slide rail (101), a stamping manipulator baffle (102) and a stamping manipulator support block (103), wherein the stamping manipulator frame (100) is horizontally arranged on the manipulator slide rail (101) and is mechanically connected with the manipulator slide rail (101), the manipulator slide rail (101) and the stamping manipulator baffle (102) are respectively horizontally and vertically welded on the stamping manipulator support block (103), and the stamping manipulator support block (103) is horizontally welded on a triangular support member (3): the stretching end cover supporting platform (7) is composed of an end cover supporting platform (700), end cover supporting platform pillars (701), a pillar base (702) and supporting platform pillars (703), the end cover supporting platform (700) is horizontally fixed on the four end cover supporting platform pillars (701), the end cover supporting platform pillars (701) are more than two and are respectively and vertically fixed on four corners of the pillar base (702), and the pillar base (702) is horizontally welded on the supporting platform pillars (703).
However, certain deficiencies exist in the prior art, in the production of the stamping production line, the workpiece is often placed on the dies of different procedures manually, a large number of workers are occupied during production, the labor intensity of the workers is high, the fatigue of the workers is easily caused, and production accidents are caused. Some manufacturers want to replace manual operation with a manipulator, but the design of the mold is limited, and the shape and parameters of the product cause the manipulator for the mold to be different. The manipulator needs to set for according to the mould of difference, be difficult to accomplish unified and many types be suitable for, the debugging to the earlier stage input of mould and later stage production has very big limitation, cause the manipulator hardly to popularize in the mould trade, and among the prior art and when overturning the work piece, there are the upset unstability, the shortcoming such as security is not high, cause the problem of wearing and tearing to the work piece easily at the in-process of upset, and there is its higher problem of the expense of arranging and part, in order to solve such as this type of problem, it is necessary to carry out deep research and exploration.
To solve such problems, intensive research and development are necessary.
Disclosure of Invention
In order to solve the technical problems, the invention designs a control method of a stamping manipulator, and also provides the manipulator using the control method, which comprises a feeding table, a driving device, an actuating device and a turnover device, wherein the upper end of the feeding table is provided with a feeding roller and a reducing roller, the turnover device is arranged on the feeding table, the actuating device comprises an actuating rod and a transmission mechanism, the turnover device comprises a finger piece and a first lever, and the finger piece is provided with a hook-shaped part and a joint part.
The technical scheme adopted by the invention is as follows: a control method of a stamping manipulator comprises the following steps: first of all, a first drive motor is activated, which drives the drive shaft of the output to effect a transverse movement of the actuating rod relative to the second drive rod, while the housing can be made to rock in its bearings in the seats in one direction or the other, with the raising or lowering of the fingers, in order to move the metal piece transversely on the feed roll in order to position it into the desired reduction table, the outer and inner guide plates being selected and the feed roll being moved transversely by means of the first and second drive rods, respectively, and, when a transverse movement of the metal piece relative to the feed roll is effected, the second and third drive motors being activated to move the inner guide plate transversely, the hooks of the fingers being able to be raised stepwise so that the lifting engagement of the hooks of the fingers with the metal piece will take place at the edges of the hooks, the fingers are vertically movable within the slots and, when depressed, are positioned such that the engaging portions of the fingers are below the level of the top of the feed roll to disengage from the path of the metal workpiece on the feed roll.
Further, before the finger is lifted, the inner side guide plate is close to the metal workpiece, the second driving motor is started to move the inner side guide plate to one side of the metal workpiece, the stepped engaging part of the lifting finger is engaged below the metal workpiece and close to the edge of the metal workpiece to incline the metal workpiece, after the metal workpiece is inclined, the metal workpiece can be further operated by pushing the metal workpiece through the outer side guide plate and the side plate until the outer side guide plate or the side plate is in a static state, the actuating shaft of the finger is lifted, and the actuating rod moves together with the inner side guide plate during the adjustment of the position of the inner side guide plate, so that the metal workpiece is turned over.
The stamping manipulator adopting the control method comprises a feeding table, a driving device, an actuating device and a turnover device, wherein the upper end of the feeding table is provided with a feeding roller and a reducing roller, the turnover device is arranged on the feeding table, the driving device and the actuating device are both arranged on one side of the feeding table, the driving device and the actuating device are in mutual driving connection, and the actuating device and the turnover device are in mutual driving connection.
Further, actuating device is including actuating lever and drive mechanism, drive mechanism is including first transfer line, second transfer line, first transmission shaft and second transmission shaft, the lower extreme of second transfer line is provided with first rack, and mutual fixed connection between first rack and the second transfer line, the lower extreme of second transfer line is provided with the support, is provided with second drive gear, third drive gear and fourth drive gear on the support, second drive gear fixed mounting is on the second transmission shaft, intermeshing is connected between second drive gear and the first rack, the feed roll has the extension, at the lower extreme fixedly connected with third rack of extension, intermeshing is connected between third drive gear and the third rack.
Furthermore, a closed guide part is arranged between the actuating rod and the second transmission rod, a roller and a fifth transmission gear are arranged in the closed guide part, the roller is arranged at the upper end of the fifth transmission gear, the fifth transmission gear and the fourth transmission gear are meshed and connected with each other, a second rack is arranged at the lower end of the actuating rod, and the second rack is meshed and connected with the fifth transmission gear.
Furthermore, one end of the actuating rod is provided with a head, the actuating rod and the head are of an integral connecting structure, a second lever is arranged on one side of the head, the head of the actuating rod and the second lever are in mutual pivoting connection through a rotating shaft, a bearing is arranged at the rear end of the second lever, and the second lever and the bearing are in mutual pivoting connection through an actuating shaft.
Further, two racks are fixedly connected to the upper end of the support, a first pressing roller and a second pressing roller are mounted on the two racks respectively, a crank disc is arranged between the first rack and the support, the crank disc and the support are connected in a mutual rotating mode through a driving shaft, a first connecting rod is arranged at the rear end of the crank disc, and one end of the first connecting rod is connected with the crank disc in a mutual pivoting mode through a crank pin.
Further, one side of second lever is provided with inboard baffle, and the cavity has been seted up to inboard baffle, the second lever is located inside the cavity of inboard baffle, the outside fixedly connected with curb plate of inboard baffle, one side of curb plate is provided with the outside baffle, at one side fixedly connected with extension rod of outside baffle, vertical parallel arrangement each other between curb plate and the outside baffle.
Further, the side plate is provided with a slot, a groove is formed in the slot, the overturning device comprises a finger piece and a first lever, the first lever is fixedly connected to the upper end of the finger piece, the first lever is fixedly connected to the actuating shaft, the groove is used for accommodating the finger piece, the finger piece is provided with a hook part and an engaging part, and the hook part can be driven by the first lever to lift.
Furthermore, the driving device comprises a first driving motor, a second driving motor and a third driving motor, the output end of the first driving motor is provided with a speed reducer and a driving shaft, the driving shaft is connected with the actuating rod, the output shaft of the second driving motor is connected with the second transmission shaft, and the output shaft of the third driving motor is connected with the first transmission shaft.
The invention has the beneficial effects that: the invention designs a control method of a stamping manipulator, and also provides a manipulator using the control method, which comprises a feeding table, a driving device, an actuating device and a turnover device, wherein the upper end of the feeding table is provided with a feeding roller and a reducing roller, the turnover device is arranged on the feeding table, the driving device and the actuating device are both arranged on one side of the feeding table, the driving device and the actuating device are mutually connected in a driving way, the actuating device and the turnover device are mutually connected in a driving way, the actuating device comprises an actuating rod and a transmission mechanism, the turnover device comprises a finger-shaped piece and a first lever, the first lever is fixedly connected at the upper end of the finger-shaped piece, the first lever is fixedly connected on an actuating shaft, the finger-shaped piece is provided with a hook-shaped part and a joint part, and the hook-shaped part can be driven by the first lever to be lifted, and the invention has the advantages of higher safety and lower cost, the manipulator can overturn the metal workpiece through the overturning device, the overturning is stable, other tools are not needed, and the metal workpiece is not abraded in the overturning process.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic top view of a press robot according to the present invention.
Fig. 2 is a schematic diagram of a right-view structure of a press manipulator according to the present invention.
Fig. 3 is a front view partially enlarged schematic view of a press manipulator according to the present invention.
Fig. 4 is a right-view structural diagram of fig. 2.
Fig. 5 is a schematic structural diagram of a third embodiment of the present invention.
Wherein:
1. a feed roll; 2. Reducing the diameter of the roller; 3. A side frame;
4. a support roller; 5. A first drive lever; 6. An extension rod;
7. an outer guide plate; 8. A second transmission rod; 9. An extension portion;
10. a bracket; 11. An inner guide plate; 12. A slot;
13. a finger member; 14. A hook portion; 15. A cavity;
16. a first lever; 17. A bearing; 18. A first rack;
19. a first drive gear; 20. A first drive shaft; 21. An actuation shaft;
22. a side plate; 23. A second lever; 24. An actuating lever;
25. a head portion; 26. A second rack; 27. A support;
28. a second transmission gear; 29. A first drive motor; 30. A drive shaft;
31. a reduction gear; 32. A second drive motor; 33. A third drive motor;
34. a first reduction gear; 35. A second reduction gear; 36. A second drive shaft;
37. a third transmission gear; 38. A third rack; 39. A joint portion;
40. a first pressure roller; 41. A second pressure roller; 42. A frame;
43. a fourth transmission gear; 44. A trunnion; 45. A fifth transmission gear;
46. a closing guide; 47. A roller; 48. A crank pin;
49. a crank disk; 50. A first link; 51. A paddle;
52. a groove; 53. A housing; 54. A cable;
55. a first pulley; 56. A second pulley; 57. A second link;
58. a mounting member; 59. A third link; 60. A fourth drive motor;
61. a crank; 62. A pivotal shaft; 63. feeding table
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Fig. 1 is a schematic top view of a press manipulator according to the present invention, fig. 2 is a schematic right view of the press manipulator according to the present invention, fig. 3 is a schematic front view of a partial enlarged structure of the press manipulator according to the present invention, fig. 4 is a schematic right view of fig. 2, and fig. 5 is a schematic structural view of a third embodiment of the present invention.
The first embodiment is as follows:
as shown in fig. 1, 2, 3 and 4, the press manipulator includes a feeding table 63, a driving device, an actuating device and a turnover device, the feeding table 63 has a feeding roller 1 and a reducing roller 2 mounted at an upper end thereof, the turnover device is mounted on the feeding table 63, the driving device and the actuating device are both mounted at one side of the feeding table 63, the driving device and the actuating device are mutually connected in a driving manner, the actuating device and the turnover device are mutually connected in a driving manner, the actuating device includes an actuating rod 24 and a transmission mechanism, the transmission mechanism includes a first transmission rod 5, a second transmission rod 8, a first transmission shaft 20 and a second transmission shaft 36, a first rack 18 is disposed at a lower end of the second transmission rod 8, the first rack 18 and the second transmission rod 8 are mutually fixedly connected, a bracket 27 is disposed at a lower end of the second transmission rod 8, a second transmission gear 28, a third transmission gear 37 and a fourth transmission gear 43 are arranged on the bracket 27, the second transmission gear 28 is fixedly arranged on a second transmission shaft 36, the second transmission gear 28 is meshed with the first rack 18, the feed roller 1 is provided with an extension part 9, a plurality of support rollers 4 are arranged at the lower ends of the feed roller 1 and the extension part 9, a third rack 38 is fixedly connected at the lower end of the extension part 9, the third transmission gear 37 is fixedly arranged on the first transmission shaft 20, the third transmission gear 37 is meshed with the third rack 38, the fourth transmission gear 43 is arranged on the bracket 27 through a trunnion 44, a closed guide 46 is arranged between the actuating lever 24 and the second transmission rod 8, a roller 47 and a fifth transmission gear 45 are arranged in the closed guide 46, and the roller 47 is arranged at the upper end of the fifth transmission gear 45, the fifth transmission gear 45 and the fourth transmission gear 43 are engaged with each other, the lower end of the actuating lever 24 is provided with a second rack 26, the actuating lever 24 and the second rack 26 are fixedly connected with each other, the second rack 26 and the fifth transmission gear 45 are engaged with each other, one end of the actuating lever 24 is provided with a head 25, the actuating lever 24 and the head 25 are in an integral connecting structure, one side of the head 25 is provided with a second lever 23, the head 25 of the actuating lever 24 and the second lever 23 are pivotally connected with each other through a rotating shaft, the rear end of the second lever 23 is provided with a bearing 17, the second lever 23 and the bearing 17 are pivotally connected with each other through an actuating shaft 21, the upper end of the bracket 27 is fixedly connected with two frames 42, the first pressing roller 40 and the second pressing roller 41 are respectively mounted on the two frames 42, and a crank disc 49 is arranged between the first rack 18 and the bracket 27, the crank disk 49 is rotatably connected with the bracket 27 through the driving shaft 30, a first connecting rod 50 is arranged at the rear end of the crank disk 49, one end of the first connecting rod 50 is pivotally connected with the crank disk 49 through the crank pin 48, a paddle 51 is arranged at the upper end of the crank disk 49, the paddle 51 is meshed with the first rack 18, and the other end of the first connecting rod 50 is pivotally connected with the paddle 51. In order to move the actuating rod 24, a second rack 26 is fixedly connected to the lower end of the actuating rod 24, at the inner end of the second rack 26, the second rack 26 engages a fifth transfer gear 45, the fifth transfer gear 45 being carried by the first transfer shaft 20 mounted in a bearing 17 on the bearing 17, and can be rotated from the third driving motor through the second reduction gear 35, the first rack 18 fixedly connected to the lower end of the second driving lever 8 is engaged with the paddle 51, the second driving shaft 36 is driven from the second driving motor 32 through the first reduction gear 34, and, in order to swing the actuating shaft 21, two second levers 23 are respectively connected to both sides of the head 25 of the actuating shaft 21, the two second levers 23 and the enlarged head 25 of the actuating lever 24 are pivoted with each other, so that the two second levers 23 can perform a reciprocating movement which will cause the actuating shaft 21 to perform a lateral horizontal movement in one direction or the other.
Example two:
referring to fig. 1, 2, 3 and 4, in a press manipulator, an inner guide plate 11 is disposed on one side of a second lever 23, the inner guide plate 11 defines a cavity 15, the second lever 23 is disposed inside the cavity 15 of the inner guide plate 11, the second lever 23 is fixedly connected to a side wall of the inner guide plate 11, a side plate 22 is fixedly connected to an outer side of the inner guide plate 11, an outer guide plate 7 is disposed on one side of the side plate 22, an extension rod 6 is fixedly connected to one side of the outer guide plate 7, the side plate 22 and the outer guide plate 7 are vertically parallel to each other, a slot 12 is formed in the side plate 22, a groove 52 is formed in the slot 12, the flipping device includes a finger 13 and a first lever 16, the first lever 16 is fixedly connected to an upper end of the finger 13, the first lever 16 is fixedly connected to an actuating shaft 21, the groove 52 is used for accommodating the finger 13, the finger 13 has a hook 14 and an engaging part 39, the hook 14 can be lifted by the first lever 16, the driving device includes a first driving motor 29, a second driving motor 32 and a third driving motor 33, the output end of the first driving motor 29 is provided with a speed reducing device 31 and a driving shaft 30, the driving shaft 30 is connected with the actuating rod 24, the output shaft of the second driving motor 32 is connected with a second transmission shaft 36, the output shaft of the second driving motor 32 is provided with a first speed reducing gear 34, the output shaft of the third driving motor 33 is connected with a first transmission shaft 20, the output shaft of the third driving motor 33 is provided with a second speed reducing gear 35, the hook 14 of the finger 13 can be lifted in a step shape (as shown in the description of figure 2 and the description of figure 3), so that the lifting engagement of the hook 14 of the finger 13 and the metal workpiece can be generated near the edge of the hook 14, they are vertically movable within the slot 12 and, when the fingers 13 are depressed, are positioned so that the engaging portions 39 of the fingers 13 are slightly below the level of the top of the feed roll to disengage from the path of the metal work pieces on the feed roll 1. In order to raise and lower the lifting finger 13, the end of the first lever 16 may be pivoted at a recess 52 provided in the slot 12, the outer end of the first lever 16 being pivoted in this recess 52 and fixed at its inner end to the actuating shaft 21 and being swingably mounted in a bearing 17 supported by the carriage 10, the lifting finger 13 being raised to a determined extent when the actuating shaft 21 is rotated in the clockwise direction (as shown in the description of figure 2), depending on the amount of swinging movement of this actuating shaft 21, the inner guide 11 will be brought close to the metal workpiece before the lifting of the finger 13, and if necessary, moved to the vicinity of the metal workpiece by operation of the second drive motor 32, so that the stepped engaging portion 39 pointed by the lifting finger 13 will engage under the metal workpiece and close to the edge of the metal workpiece and will tilt the metal workpiece (as shown by the dashed line on the side of the side plate 22 in the description of figure 2), when the metal piece is tilted, it can be further manipulated by pushing it through the outer guide 7 or side plate 22 until the outer guide 7 or side plate 22 is in a rest condition until it rests on an edge other than the edge on which it was previously resting, lifting the actuating shaft 21 of the finger 13, actuating rod 24 and other related parts all moving with the inner guide 11 during various adjustments of the position of the inner guide 11 and ensuring that the movement of the inner guide 11 does not cause any substantial movement of the lifting finger 13 relative to it, in order to maintain this condition the fifth transmission gear 45 is in meshing connection with the second rack 26, the fifth transmission gear 45 is mounted in a housing 53 in which a trunnion 44 is mounted, on the support 27 there is formed an internal bearing 17 coaxial with the trunnion 44 for receiving the fourth transmission gear 43 in meshing connection with the fifth transmission gear 45, the fourth transmission gear 43 also intermeshes with the second transmission gear 28 fixed to the second transmission shaft 36, so as to actuate the closing guide 46, the housing 53 is coaxially and pivotally connected to the fifth transmission gear 45, the actuation rod 24 passes through the closing guide 46, the roller 47 is mounted in the closing guide member, the roller 47 is supported on the top of the actuation rod 24, the longitudinal movement of the actuation rod 24 is identical to the longitudinal movement on the second transmission shaft 8, so that, during the adjustment of the inner guide plate 11, no movement of the lifting finger 13 will occur, in order to move the finger 13 so as to cause tilting of the metal piece or return of the finger 13, the housing 53 swings in its bearing 17 inside the bracket 27, whereby the fifth transmission gear 45 performs a planetary movement around the fourth transmission gear 43, so as to cause a movement of the actuation rod 24 with respect to the second transmission shaft 8, so as to rotate the actuation shaft 21 in a clockwise or counterclockwise direction, so as to raise or lower the lifting finger 13, in order to achieve, when required, a swinging movement of the housing 53, a paddle 51 arranged in the housing 53 so as to pivot the upper end of the first connecting rod 50, the lower end of the first connecting rod 50 being pivoted to a crank pin 48 of a crank disk 49 fixed to the drive shaft 30, which crank disk 49 is actuated and connected to a first drive motor 29 through suitable reduction means 31, by operating the first drive motor 29, the housing 53 being able to swing in one direction or the other in its bearing 17 in the seat, with the raising or lowering of the finger 13, so as to move the actuating rod 24 transversely with respect to the second drive rod 8, in order to move the metal piece transversely on the feed roller 1, so as to position it into the desired reduction roller table, the outer 7 and inner 11 guides being selectively selected and the feed roller 1 being moved transversely by means of the first 5 and second 8 drive rod, respectively, in operation of the apparatus, when the transverse movement of the metal piece relative to the feed rollers is carried out, one or both of the second drive motor 32 and the third drive motor 33 are switched on to move the inner guide plate 11 in the desired direction, and when it is desired to invert the metal piece, the first drive motor 29 is switched on to actuate the lifting fingers 13.
Example three:
as shown in fig. 5 of the specification, in fig. 5, there is shown an improved device for actuating the lifting finger 13, according to which a second link 57 is pivotally mounted on a mounting 58 extending upwardly from the ground, a pulley is rotatably mounted on the second link 57, one end of a cable is wound around the pulley, the other end of the cable is wound around a second pulley 56, by which arrangement, when the second transmission lever 8 is moved in one direction or the other, the cable can be paid out or wound up to a corresponding extent, so that the lifting finger 13 will remain stationary and realign the inner guide 11, in order to achieve independent movement of the finger 13, the second lever 23 and the finger 13 are pivoted to each other, one end of the second link 57 is pivoted to a crank 61 fixed on the output shaft of a fourth drive motor 60, which, in operation, will cause the second link 57 to rock, pulling the cable 54 and thus raising the finger 13, in the description fig. 5, the operation of the second 32 and third 33 drive motors can be selectively performed under the control of the operator of the rolling mill, so as to rotate either motor in any direction, in such a way that either or both of the two side guides can be moved laterally of the feed roll in order to move the metal piece to the necessary position on the feed roll to enter the desired roller table.
The working mode is as follows:
the invention provides a control method of a punching manipulator, which can lift a metal workpiece through a finger piece 13 in a turnover device when the metal workpiece is turned over, so that the metal workpiece is turned over, and when the metal workpiece needs to be turned over, a first driving motor 29 is started, the first driving motor 29 drives a driving shaft 30 of an output end to realize the transverse movement of an actuating rod 24 relative to a second driving rod 8, simultaneously, a shell 53 can be swung in one direction or the other in a bearing 17 in a support, along with the lifting or descending of the finger piece 13, in order to transversely move the metal workpiece on a feeding roller 1 so as to position the metal workpiece to enter a required reduction roller way, an outer guide plate 7 and an inner guide plate 11 can be selectively selected and the feeding roller 1 can be transversely moved by means of the first driving rod 5 and the second driving rod 8 respectively, when the transverse movement of the metal piece relative to the feed roll is to be effected, the second drive motor 32 and the third drive motor 33 are switched on to cause the transverse movement of the inner guide plate 11, the hook 14 of the finger 13 may be stepped up so that the lifting engagement of the hook 14 of the finger 13 with the metal piece will take place near the edge of the hook 14, which may move vertically in the slot 12, and when the finger 13 is depressed, it is positioned so that the engaging portion 39 of the finger 13 is slightly below the level of the top of the feed roll so as to be out of the path of the metal piece on the feed roll 1, the inner guide plate 11 will be adjacent the metal piece before the finger 13 is raised, the second drive motor 32 is switched on to move the inner guide plate 11 to one side of the metal piece, the stepped engaging portion 39 of the lifting finger 13 will engage under the metal piece, and close to the edge of the metal piece, tilt the metal piece, after tilting the metal piece, can push the metal piece by the outer guide plate 7 and the side plate 22 to further manipulate the metal piece until the outer guide plate 7 or the side plate 22 is in a stationary state, lift the actuating shaft 21 of the finger 13, the actuating lever 24 moves together with the inner guide plate 11 during the adjustment of the position of the inner guide plate 11, thus realizing the turning over of the metal piece.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A control method of a stamping manipulator is characterized by comprising the following steps: first of all, a first drive motor is activated, which drives the drive shaft of the output to effect a transverse movement of the actuating rod relative to the second drive rod, while the housing can be made to rock in its bearings in the seats in one direction or the other, with the raising or lowering of the fingers, in order to move the metal piece transversely on the feed roll in order to position it into the desired reduction table, the outer and inner guide plates being selected and the feed roll being moved transversely by means of the first and second drive rods, respectively, and, when a transverse movement of the metal piece relative to the feed roll is effected, the second and third drive motors being activated to move the inner guide plate transversely, the hooks of the fingers being able to be raised stepwise so that the lifting engagement of the hooks of the fingers with the metal piece will take place at the edges of the hooks, the fingers are vertically movable within the slots and, when depressed, are positioned such that the engaging portions of the fingers are below the level of the top of the feed roll to disengage from the path of the metal workpiece on the feed roll.
2. The control method of a press robot according to claim 1, characterized in that: before the finger piece is lifted, the inner side guide plate is close to the metal workpiece, the second driving motor is started to move the inner side guide plate to one side of the metal workpiece, the stepped engaging part of the finger piece is lifted to be engaged below the metal workpiece and close to the edge of the metal workpiece to incline the metal workpiece, after the metal workpiece is inclined, the metal workpiece can be further operated by pushing the metal workpiece through the outer side guide plate and the side plate until the outer side guide plate or the side plate is in a static state, the actuating shaft of the finger piece is lifted, and the actuating rod moves together with the inner side guide plate during the adjustment of the position of the inner side guide plate, so that the metal workpiece is turned over.
3. A press manipulator using the control method according to claim 1, characterized in that: the feeding device comprises a feeding table, a driving device, an actuating device and a turnover device, wherein the upper end of the feeding table is provided with a feeding roller and a reducing roller, the turnover device is arranged on the feeding table, the driving device and the actuating device are arranged on one side of the feeding table, the driving device and the actuating device are in driving connection with each other, and the actuating device and the turnover device are in driving connection with each other.
4. A stamping manipulator according to claim 3, characterised in that: actuating device is including actuating lever and drive mechanism, drive mechanism is including first transfer line, second transfer line, first transmission shaft and second transmission shaft, the lower extreme of second transfer line is provided with first rack, mutual fixed connection between first rack and the second transfer line, the lower extreme of second transfer line is provided with the support, is provided with second drive gear, third drive gear and fourth drive gear on the support, second drive gear fixed mounting is on the second transmission line, intermeshing is connected between second drive gear and the first rack, the feed roll has the extension, at the lower extreme fixedly connected with third rack of extension, intermeshing is connected between third drive gear and the third rack.
5. A stamping manipulator according to claim 4, wherein: a closed guide part is arranged between the actuating rod and the second transmission rod, a roller and a fifth transmission gear are arranged in the closed guide part, the roller is arranged at the upper end of the fifth transmission gear, the fifth transmission gear and the fourth transmission gear are meshed and connected with each other, a second rack is arranged at the lower end of the actuating rod, and the second rack is meshed and connected with the fifth transmission gear.
6. A stamping manipulator according to claim 4, wherein: the head of the actuating rod is connected with the second lever in a pivoting mode through a rotating shaft, the rear end of the second lever is provided with a bearing, and the second lever is connected with the bearing in a pivoting mode through an actuating shaft.
7. A stamping manipulator according to claim 4, wherein: the upper end fixedly connected with two frames of support install first pinch roller and second pinch roller respectively in two frames, be provided with the crank dish between first rack and the support, be connected through drive shaft rotation each other between crank dish and the support, be provided with first connecting rod in the rear end of crank dish, through the mutual pivotal connection of crank pin between the one end of first connecting rod and the crank dish.
8. A stamping manipulator according to claim 6, wherein: one side of second lever is provided with inboard baffle, and the cavity has been seted up to inboard baffle, the second lever is located inside the cavity of inboard baffle, the outside fixedly connected with curb plate of inboard baffle, one side of curb plate is provided with the outside baffle, at one side fixedly connected with extension rod of outside baffle, vertical parallel arrangement each other between curb plate and the outside baffle.
9. A press manipulator according to claim 8, characterised in that: the side plate is provided with a slot, a groove is formed in the slot, the overturning device comprises a finger piece and a first lever, the first lever is fixedly connected to the upper end of the finger piece, the first lever is fixedly connected to the actuating shaft, the groove is used for accommodating the finger piece, the finger piece is provided with a hook-shaped part and an engaging part, and the hook-shaped part can be driven by the first lever to lift.
10. A stamping manipulator according to claim 3, characterised in that: the driving device comprises a first driving motor, a second driving motor and a third driving motor, a speed reducer and a driving shaft are mounted at the output end of the first driving motor, the driving shaft is connected with an actuating rod, an output shaft of the second driving motor is connected with a second transmission shaft, and an output shaft of the third driving motor is connected with the first transmission shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111319153.9A CN114273543A (en) | 2021-11-09 | 2021-11-09 | Control method of stamping manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111319153.9A CN114273543A (en) | 2021-11-09 | 2021-11-09 | Control method of stamping manipulator |
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| CN114273543A true CN114273543A (en) | 2022-04-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111319153.9A Pending CN114273543A (en) | 2021-11-09 | 2021-11-09 | Control method of stamping manipulator |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB367173A (en) * | 1931-02-16 | 1932-02-18 | United Eng Foundry Co | Improvements in or relating to rolling mills |
| CN101433936A (en) * | 2008-12-19 | 2009-05-20 | 奇瑞汽车股份有限公司 | Transmission and reversion table for automatic production by extrusion manipulator |
| CN102909563A (en) * | 2012-10-26 | 2013-02-06 | 济南天辰铝机制造有限公司 | Digital control section steel sawing, drilling and welding integrated production line |
| CN110369587A (en) * | 2019-07-12 | 2019-10-25 | 江阴市万和自动设备有限公司 | Metal plate punching shaping automation production line and its production technology |
| CN111532764A (en) * | 2020-03-17 | 2020-08-14 | 内蒙古工业大学 | Multi-degree-of-freedom large-stroke manipulator for vacuum environment |
-
2021
- 2021-11-09 CN CN202111319153.9A patent/CN114273543A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB367173A (en) * | 1931-02-16 | 1932-02-18 | United Eng Foundry Co | Improvements in or relating to rolling mills |
| CN101433936A (en) * | 2008-12-19 | 2009-05-20 | 奇瑞汽车股份有限公司 | Transmission and reversion table for automatic production by extrusion manipulator |
| CN102909563A (en) * | 2012-10-26 | 2013-02-06 | 济南天辰铝机制造有限公司 | Digital control section steel sawing, drilling and welding integrated production line |
| CN110369587A (en) * | 2019-07-12 | 2019-10-25 | 江阴市万和自动设备有限公司 | Metal plate punching shaping automation production line and its production technology |
| CN111532764A (en) * | 2020-03-17 | 2020-08-14 | 内蒙古工业大学 | Multi-degree-of-freedom large-stroke manipulator for vacuum environment |
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