CN115007763A - Automatic stamping waste grabbing and separating mechanism and waste separating method thereof - Google Patents
Automatic stamping waste grabbing and separating mechanism and waste separating method thereof Download PDFInfo
- Publication number
- CN115007763A CN115007763A CN202210756694.6A CN202210756694A CN115007763A CN 115007763 A CN115007763 A CN 115007763A CN 202210756694 A CN202210756694 A CN 202210756694A CN 115007763 A CN115007763 A CN 115007763A
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- Prior art keywords
- waste
- workpiece
- grabbing
- mainboard
- end effector
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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
- B21D45/00—Ejecting or stripping-off devices arranged in machines or tools dealt with in this subclass
- B21D45/02—Ejecting devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/065—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum provided with separating means for releasing the gripped object after suction
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to an automatic grabbing and separating mechanism for stamping waste and a waste separating method thereof in the field of stamping equipment, wherein the grabbing and separating mechanism comprises an end effector mainboard, one end of the end effector mainboard is connected with a manipulator, the other end of the end effector mainboard is connected with an annular plate, a plurality of suction disc frames extending radially inwards are uniformly distributed on the annular plate, a suction disc seat and a suction disc are connected on the suction disc frames, and the suction disc is connected with a vacuum generator and used for grabbing a workpiece; the lower ring side of annular plate is connected with a plurality of right angle supports in the circumference, is connected with the magnet fixing base on the right angle support, is connected with the magnet that is used for magnetism to snatch the annular waste material after the punching press of work piece periphery through the cylinder on the magnet fixing base. The automatic grabbing and separating mechanism for the stamping waste, disclosed by the invention, comprises the sucking disc, the magnet and the air cylinder, so that the workpiece and the waste ring after stamping are grabbed at one time, the waste is grabbed quickly and discharged automatically, the single-piece stamping production period is shortened, the production efficiency is improved, and the potential safety hazard of manual cleaning is avoided.
Description
Technical Field
The invention relates to the field of stamping equipment, in particular to an automatic stamping waste grabbing and separating mechanism and a waste separating method thereof.
Background
With the increase of labor cost and the danger of manual operation in the stamping operation, the labor shortage of the first-line operators in the stamping industry is caused. Therefore, the automatic modification of stamping is urgent, and suitable automatic process equipment needs to be designed according to different procedures for each product. In the prior art, after an arc-shaped stamped workpiece is stamped and formed, the stamped workpiece and a waste ring need to be taken out from between an upper die and a lower die after being separated, and the stamped workpiece and the waste ring need to be respectively transferred to designated positions. When the workpiece and the waste are moved manually, the workpiece and the waste need to be moved respectively, so that the operation efficiency is low, and the safety is poor.
Disclosure of Invention
Aiming at the problem of inconvenience of manually taking a workpiece from a die after stamping the arc-shaped workpiece in the prior art, the invention provides the mechanical arm of the automatic grabbing and separating mechanism for the stamping waste, which realizes automatic grabbing of the workpiece and the waste after stamping and automatic grabbing and separating of the waste, and improves the stamping production efficiency and safety.
The automatic grabbing and separating mechanism for the stamping waste is characterized by comprising an end effector mainboard, wherein one end of the end effector mainboard is connected with a manipulator, the other end of the end effector mainboard is connected with an annular plate, a plurality of suction disc frames extending radially inwards are uniformly distributed on the annular plate, the suction disc frames are connected with a suction disc seat and a suction disc, and the suction disc is connected with a vacuum generator and used for grabbing a workpiece; the lower ring side of the annular plate is circumferentially connected with a plurality of right-angle supports, the right-angle supports are connected with magnet fixing seats, and the magnet fixing seats are connected with magnets for magnetically grabbing the waste rings punched on the periphery of a workpiece; the magnet fixing seat is further provided with an air cylinder, and a waste ejection block is fixed on a piston rod of the air cylinder and used for automatically separating a waste ring.
According to the automatic grabbing and separating mechanism for the stamping waste, the suckers for grabbing workpieces and the magnets for magnetically sucking the waste rings are respectively arranged on the circumferential direction of the annular main board connected with the end effector main board, so that the workpieces and the waste after stamping are grabbed at one time, the waste is grabbed and separated automatically, the single-piece stamping production period is shortened, the production efficiency is improved, and the potential safety hazard of manual product and waste carrying is avoided; in the cleaning mechanism, the vacuum chuck, the group magnets and the air cylinder are respectively adopted to work in a matched mode to realize quick grabbing and separating of the waste into the waste frame, the movement is quick, the grabbing is reliable, the waste is prevented from falling off in the transferring process, and efficient, quick and safe production and operation are realized.
For the convenience of installation of the sucker, the sucker frame is a long guide block arranged along the radial direction of the annular plate, one end of the long guide block is fixedly connected with the annular plate, a guide connecting hole is formed in the long guide block along the length direction, and the position of the sucker can be adjusted along the radial direction of the annular plate by connecting the sucker seat with the guide connecting hole.
In order to facilitate quick grabbing and unloading of waste rings, one side of the right-angle support is horizontal and is fixedly connected with the lower ring side of the annular plate, the other vertical side of the right-angle support is connected with the magnet fixing seat, the magnet fixing seat comprises a vertical plate connected with the right-angle support, a horizontal connecting part is arranged at the lower end of the vertical plate, the air cylinder is arranged on the upper side of the horizontal connecting part, a piston rod of the air cylinder is connected with the waste ejecting block, and the horizontal connecting part is provided with an accommodating groove used for penetrating through and accommodating the waste ejecting block; the bottom of the horizontal connecting part on two sides of the accommodating groove is provided with a notch respectively, magnets are embedded in the notches respectively, and the magnets are flush with the bottom surface of the horizontal connecting part after being embedded.
For the installation of cylinder, the opposite side right-angle end of right angle support is equipped with two rows of vertical waist shape holes for being convenient for, the riser of magnet fixing base passes through bolt fixed connection with the vertical waist shape hole of right angle support, the right angle support forms the side direction open-ended frame shape space that is used for holding the installation cylinder after being connected with the magnet fixing base, the cylinder is fixed with the horizontal connecting portion upside of magnet fixing base, the piston rod of cylinder stretches out downwards and connects the waste material kicking block.
In order to conveniently and reasonably arrange the installation positions of the suckers and the magnet fixing seats, the sucker racks and the right-angle support are arranged in a staggered mode at intervals along the circumferential direction of the annular plate.
In order to control the suction action of the sucking disc conveniently, the vacuum suction of the sucking disc and the vacuum generator is controlled by a first electromagnetic valve, and the air inlet end and the air outlet end of the air cylinder are connected with an electromagnetic directional valve for controlling the movement direction of the piston.
The invention also provides a method for separating the waste by adopting the automatic stamping waste grabbing and separating mechanism, which sequentially comprises the following processes:
the mechanical arm is aligned with the workpiece: after the workpiece is stamped, the upper die and the lower die are separated to a set position, and the end effector main board is driven by a manipulator to extend into a position between the lower die and the lower die to align the workpiece;
grabbing a workpiece and waste materials: the manipulator drives the end effector mainboard to move downwards until each sucker is in contact with and tightly pressed against the workpiece, and meanwhile, the first electromagnetic valve acts, the sucker is connected with the vacuum generator, and the workpiece is sucked and grabbed in a vacuum manner; meanwhile, when the sucker is aligned with the workpiece, the magnet correspondingly magnetically sucks the separated waste ring punched from the periphery of the workpiece;
the manipulator drives the end effector mainboard, the grabbed workpiece and the waste ring to move to a waste ring stacking position firstly, the electromagnetic directional valve acts, and a piston rod of the air cylinder pushes the waste ejecting block to eject out from the accommodating groove and separate and drop the waste ring and the magnet;
the manipulator continues to drive the end effector mainboard and the workpiece to a next preset station, the first electromagnetic valve is closed, the sucking disc and the vacuum generator are cut off, the sucking disc is deflated, the workpiece falls off from the sucking disc, and the manipulator drives the end effector mainboard to reset.
Drawings
Fig. 1 is a perspective view of an automatic scrap catching and separating mechanism according to the present invention.
Fig. 2 is a front view of the automatic punch scrap catching and separating mechanism of the present invention.
Fig. 3 is a top view of fig. 1.
Fig. 4 is a schematic view of the automatic punch waste gripping and separating mechanism of the present invention.
Wherein, 1 end pick-up mainboard; 2, a ring-shaped plate; 201 a long waist-shaped hole; 3, a suction cup frame; 301 leading to the connection hole; 4, sucking discs; 5, a sucker seat; 6, a right-angle bracket; 601 vertical waist-shaped holes; 7, a magnet fixing seat; 8 air cylinders; 9, a waste material top block; 10 a magnet; 11, a workpiece; 12, an upper die; 13, lower die; 14, a press; 15 waste frame.
Detailed Description
As shown in fig. 1 and 2, the automatic stamping waste grabbing and separating mechanism of the present invention comprises an end effector mainboard 1, one end of which is connected with a manipulator, the other end of the end effector mainboard 1 is connected with an annular plate 2, a plurality of radially inwardly extending suction cup frames 3 are uniformly distributed on the annular plate 2, the suction cup frames 3 are connected with a suction cup seat 5 and a suction cup 4, and the suction cup 4 is connected with a vacuum generator for grabbing a disc-cover-shaped workpiece 11; the lower ring side circumference of annular plate 2 is connected with a plurality of right angle support 6, is connected with magnet fixing base 7 on the right angle support 6, is connected with on the magnet fixing base 7 and is used for magnetism to snatch the magnet 10 of the annular waste material after 11 periphery punching presses of work piece, also is furnished with a cylinder 8 on every magnet fixing base simultaneously, is fixed with waste material kicking block 9 on the piston rod of cylinder 8 for the automatic separation waste material ring.
In order to facilitate the installation and connection of the sucker 4 on the annular plate 2, the sucker frame 3 is a long guide block arranged along the radial direction of the annular plate 2, one end of the long guide block is fixedly connected with the annular plate 2, the long guide block is provided with a guide connecting hole 301 along the length direction, the sucker seat 5 is connected with the guide connecting hole 301 through a bolt, and the position of the sucker seat along the radial direction of the annular plate can be adjusted along the guide connecting hole so as to be adjusted to a proper workpiece grabbing position, namely the position of the sucker is adjusted along the radial direction of the annular plate.
In order to facilitate quick grabbing and unloading of the waste ring, one side of the right-angle support 6 is horizontal and is fixedly connected with the lower ring side of the annular plate 2, and the radial direction of the surface of the annular plate 2 is also provided with a long waist-shaped hole 201, so that when the right-angle support 6 is connected, the installation position of the right-angle support 6 can be properly adjusted according to the radial size of the waste ring, and the radial position adjustment of the magnet fixing seat 7 and the magnet is realized; the other side of the right-angle support 6 is vertically connected with a magnet fixing seat 7, the magnet fixing seat 7 comprises a vertical plate connected with the right-angle support 6, a horizontal connecting part is arranged at the lower end of the vertical plate, an air cylinder 8 is arranged on the upper side of the horizontal connecting part, a waste ejecting block 9 is connected onto a piston rod of the air cylinder 8, and an accommodating groove for penetrating through and accommodating the waste ejecting block 9 is formed in the horizontal connecting part; the horizontal connecting portion bottom of holding tank both sides is equipped with the notch respectively, inlays respectively in the notch and is equipped with magnet 10, and magnet 10 inlays the dress back and horizontal connecting portion bottom surface parallel and level to the waste material ring that conveniently absorbs fits in the bottom side of horizontal connecting portion.
For the installation of cylinder 8 and the regulation installation of magnet high position, the opposite side right angle end of right angle support 6 is equipped with two rows of vertical waist shape holes 601, the riser of magnet fixing base 7 passes through bolt fixed connection with the vertical waist shape hole 601 of right angle support 6, form the frame-shaped space that is used for holding the side direction open-ended of installation cylinder 8 after right angle support 6 is connected with magnet fixing base 7, cylinder 8 is fixed with the horizontal connecting portion upside of magnet fixing base 7, cylinder 8's piston rod stretches out downwards and connects waste material kicking block 9.
In addition, for the convenience of reasonably arranging the installation positions of the suckers 4 and the magnet fixing seats 7, the sucker frames 3 and the right-angle supports 6 are arranged at intervals in the circumferential direction of the annular plate 2 in a staggered mode.
In order to control the suction action of the suction cup 4, the vacuum suction of the suction cup 4 and the vacuum generator is controlled by a first solenoid valve, and the air inlet end and the air outlet end of the air cylinder 8 are connected with a solenoid directional valve for controlling the movement direction of the piston.
The method for automatically grabbing the workpiece and the waste by the grabbing manipulator of the automatic punching waste grabbing and separating mechanism is generally controlled and executed according to the following process:
aligning the workpiece by the mechanical arm: after the workpiece 11 is stamped, the upper die 12 and the lower die 13 are separated to a set position so as to open the space between the upper die 12 and the lower die 13, and the manipulator drives the end effector mainboard 1 and a grabbing mechanism of the integral waste automatic grabbing and separating mechanism connected with the end effector mainboard 1 to extend between the lower die 12 and the lower die 13 to align the workpiece 11;
grabbing a workpiece and waste materials: the manipulator drives the end effector mainboard 1 to move downwards until each sucking disc 4 is contacted with the surface of the workpiece 10 and is pressed tightly, meanwhile, the first electromagnetic valve acts, the sucking discs 4 are connected with a vacuum generator, and the workpiece 11 is sucked and grabbed in a vacuum manner; meanwhile, when the suction disc 4 is aligned with the workpiece 11, the magnet 10 magnetically sucks the waste rings separated from the periphery of the workpiece 11 by punching;
the manipulator drives the end effector mainboard 1, the grabbed workpiece 11 and the waste ring to move to a waste ring stacking position firstly, the electromagnetic directional valve acts, and a piston rod of the air cylinder 8 pushes the waste ejection block 9 to eject from the accommodating groove and separate and drop the waste ring from the magnet 10;
the manipulator continues to drive the end effector mainboard 1 and the workpiece 11 to the next preset station, the first electromagnetic valve is closed, the connection between the sucker 4 and the vacuum generator is cut off, the sucker 4 is deflated, the workpiece 11 falls off from the sucker, the manipulator drives the end effector mainboard to reset, and the next round of stamping action is opened by the upper die and the lower die.
According to the automatic grabbing and separating mechanism for the stamping waste, the suckers 4 for grabbing workpieces and the magnets 10 for magnetically sucking waste rings are respectively arranged on the circumferential direction of the annular main plate 2 connected with the end effector main plate 1, so that the workpieces 10 and the waste rings after stamping are grabbed at one time, the waste and the workpieces between the upper die 12 and the lower die 13 after stamping are grabbed quickly, the single-piece stamping production period is shortened, the production efficiency is improved, and the potential safety hazard of manually grabbing the workpieces and the waste is avoided; further, the vacuum chuck 4 and the magnet 10 are respectively adopted in the cleaning mechanism to automatically grab workpieces and waste materials, the waste material ring is firstly transferred into the waste material frame 15 at a preset position in the transferring process after grabbing, the waste material ejecting block 9 is driven by the action of the air cylinder 8 to eject the waste material ring, the action is quick, the grabbing is reliable, the waste material ring is prevented from falling in the transferring process, and efficient, quick and safe production and operation are realized.
Claims (7)
1. An automatic grabbing and separating mechanism for stamping waste is characterized by comprising an end effector mainboard, one end of the end effector mainboard is connected with a manipulator, the other end of the end effector mainboard is connected with an annular plate, a plurality of suction disc frames extending inwards in the radial direction are uniformly distributed on the annular plate, a suction disc seat and a suction disc are connected onto the suction disc frames, and the suction disc is connected with a vacuum generator and used for grabbing a workpiece; the lower ring side of the annular plate is circumferentially connected with a plurality of right-angle supports, the right-angle supports are connected with magnet fixing seats, and the magnet fixing seats are connected with magnets for magnetically grabbing the waste rings punched on the periphery of a workpiece; the magnet fixing seat is further provided with an air cylinder, and a waste ejection block is fixed on a piston rod of the air cylinder and used for automatically separating a waste ring.
2. The automatic scrap catching and separating mechanism according to claim 1, wherein the suction cup holder is a long guide block arranged along a radial direction of the annular plate, one end of the long guide block is fixedly connected with the annular plate, the long guide block is provided with a guide connecting hole along a length direction, and the suction cup holder is connected with the guide connecting hole to adjust the position of the suction cup along the radial direction of the annular plate.
3. The automatic stamping waste grabbing and separating mechanism according to claim 1, wherein one side of the right-angle support is horizontal and is fixedly connected with the lower ring side of the annular plate, the other vertical side of the right-angle support is connected with the magnet fixing seat, the magnet fixing seat comprises a vertical plate connected with the right-angle support, a horizontal connecting part is arranged at the lower end of the vertical plate, the air cylinder is arranged on the upper side of the horizontal connecting part, a piston rod of the air cylinder is connected with the waste ejecting block, and the horizontal connecting part is provided with a containing groove for penetrating through and containing the waste ejecting block; the bottom of the horizontal connecting part on two sides of the accommodating groove is provided with a notch respectively, magnets are embedded in the notches respectively, and the magnets are flush with the bottom surface of the horizontal connecting part after being embedded.
4. The automatic mechanism of snatching and separating of punching press waste according to claim 3, its characterized in that, the opposite side right angle end of right angle support is equipped with two rows of vertical waist shape holes, the riser of magnet fixing base passes through bolt fixed connection with the vertical waist shape hole of right angle support, the right angle support forms the frame-shaped space that is used for holding the side direction open-ended of installation cylinder after being connected with the magnet fixing base, the cylinder is fixed with the horizontal connection portion upside of magnet fixing base, the piston rod of cylinder stretches out downwards and connects the waste material kicking block.
5. The automatic scrap catching and separating mechanism according to claim 3, wherein the suction cup holders and the right-angle brackets are alternately arranged at intervals in the circumferential direction of the annular plate.
6. The automatic scrap gripping and separating mechanism according to claim 3, wherein a first solenoid valve is provided between the suction cup and the vacuum generator, and a solenoid directional valve is connected to the air inlet and outlet ends of the air cylinder for controlling the movement direction of the piston.
7. A method for separating scraps by using the automatic press scrap catching and separating mechanism according to any one of claims 1 to 6, comprising the following processes in order:
aligning the workpiece by the mechanical arm: after the workpiece is stamped, the upper die and the lower die are separated to a set position, and the end effector main board is driven by a manipulator to extend into a position between the lower die and the lower die to align the workpiece;
grabbing a workpiece and waste materials: the manipulator drives the end effector mainboard to move downwards until each sucker is in contact with and tightly pressed against the workpiece, and meanwhile, the first electromagnetic valve acts, the sucker is connected with the vacuum generator, and the workpiece is sucked and grabbed in a vacuum manner; meanwhile, when the sucker is aligned with the workpiece, the magnet correspondingly magnetically sucks the separated waste ring punched from the periphery of the workpiece;
the manipulator drives the end effector mainboard, the grabbed workpiece and the waste ring to move to a waste ring stacking position firstly, the electromagnetic directional valve acts, and a piston rod of the air cylinder pushes the waste ejecting block to eject out from the accommodating groove and separate and drop the waste ring and the magnet;
the manipulator continues to drive the end effector mainboard and the workpiece to a next preset station, the first electromagnetic valve is closed, the sucking disc and the vacuum generator are cut off, the sucking disc is deflated, the workpiece falls off from the sucking disc, and the manipulator drives the end effector mainboard to reset.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210756694.6A CN115007763A (en) | 2022-06-30 | 2022-06-30 | Automatic stamping waste grabbing and separating mechanism and waste separating method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210756694.6A CN115007763A (en) | 2022-06-30 | 2022-06-30 | Automatic stamping waste grabbing and separating mechanism and waste separating method thereof |
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| Publication Number | Publication Date |
|---|---|
| CN115007763A true CN115007763A (en) | 2022-09-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210756694.6A Pending CN115007763A (en) | 2022-06-30 | 2022-06-30 | Automatic stamping waste grabbing and separating mechanism and waste separating method thereof |
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| CN (1) | CN115007763A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117583445A (en) * | 2023-12-26 | 2024-02-23 | 安徽宁隆机械科技有限公司 | Water pump shell forming device and forming method |
-
2022
- 2022-06-30 CN CN202210756694.6A patent/CN115007763A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117583445A (en) * | 2023-12-26 | 2024-02-23 | 安徽宁隆机械科技有限公司 | Water pump shell forming device and forming method |
| CN117583445B (en) * | 2023-12-26 | 2024-05-07 | 安徽宁隆机械科技有限公司 | Water pump shell forming device and forming method |
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