CN115945564B - Robot equipment for plate stamping forming and working method thereof - Google Patents
Robot equipment for plate stamping forming and working method thereof Download PDFInfo
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- CN115945564B CN115945564B CN202211697485.5A CN202211697485A CN115945564B CN 115945564 B CN115945564 B CN 115945564B CN 202211697485 A CN202211697485 A CN 202211697485A CN 115945564 B CN115945564 B CN 115945564B
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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
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Abstract
The invention relates to the technical field of plate stamping forming robots, in particular to a robot device for plate stamping forming and a working method thereof, which are used for solving the technical problems that in the prior robot device for plate stamping forming, in the process of loading and unloading the plate stamping forming, two groups of operations of taking and placing a plate to be processed and taking and placing a finished product after processing cannot be simultaneously carried out, the stamping interval of a plate stamping forming device is increased, and the working efficiency of the plate stamping forming device is limited; the invention has the beneficial effects that: the first moving component and the second moving component are reversely transported, so that the processed plates are taken out and stacked in the process of conveying the plates to be processed, the transportation efficiency in the process of stamping and forming the plates is improved, and further the stamping and forming of the plates is faster.
Description
Technical Field
The invention relates to the technical field of plate stamping forming robots, in particular to a robot device for plate stamping forming and a working method thereof.
Background
The metal plate formed by forging, rolling or casting the plates in multiple fingers is subjected to stamping forming by adopting a stamping device when the opposite sides are required to be subjected to bending treatment, so that the requirements of people for use are met. The stamping forming device in the prior art is low in efficiency and lack of design of feeding and discharging when feeding and discharging are performed between the upper die and the lower die, and a joint type machine is used for improving the feeding and discharging efficiency in the plate stamping forming process.
The existing robot equipment for plate stamping forming can not simultaneously carry out two groups of operations of taking and placing plates to be processed and taking and placing finished products after processing in the process of feeding and discharging the plates by plate stamping forming, namely after stamping is completed, the feeding and discharging respectively need to consume a period of time which is not coincident with each other, and then the stamping operation can be carried out again, so that the existing robot equipment for plate stamping forming increases the stamping interval of the plate stamping forming device, and the working efficiency of the plate stamping forming device is limited.
Disclosure of Invention
The invention aims to provide a robot device for plate stamping forming and a working method thereof, which are used for solving the technical problems that in the existing robot device for plate stamping forming, in the process of loading and unloading the plate stamping forming, two groups of operations of taking and placing a plate to be processed and taking and placing a finished product after processing cannot be simultaneously carried out, namely, after stamping is completed, loading and unloading respectively consume a period of time which is not overlapped with each other, and then stamping operation can be carried out again, so that the existing robot device for plate stamping forming increases the stamping interval of a plate stamping forming device and limits the working efficiency of the plate stamping forming device.
The aim of the invention can be achieved by the following technical scheme:
the utility model provides a robotic device for panel stamping forming, includes the frame, frame fixedly connected with panel is got and is put the structure, panel is got and is put the structure and include the base with frame fixed connection, the base is connected with first removal subassembly and the second and moves and get the subassembly, just the first removal subassembly and the second move and get the subassembly structure the same, the first removal subassembly and the second move and get the subassembly and all be connected with reverse drive structure, reverse drive structure installs in base one side, the frame is connected with two sets of air pressure control structures, and one of them air pressure control structure moves with first removal subassembly and is connected, and another set of air pressure control structure moves with the second and gets the subassembly and be connected.
As a further improvement of the invention: the first moving component comprises a plurality of groups of driven telescopic frames fixedly connected with a base, the movable ends of the driven telescopic frames are fixedly connected with limited direction rods, the limited direction rods are slidably connected with a sliding table, the sliding table is rotationally connected with a driving frame, the driving frame is fixedly connected with a suction plate module, the suction plate module is connected with an air pressure control structure, the driving frame is connected with a guide module, the guide module is connected with the base, and the guide module is connected with a reverse driving structure.
As a further improvement of the invention: the suction plate module comprises a clamping seat fixedly connected with a driving frame, the clamping seat is movably connected with an inserting frame, one end of the inserting frame, which is far away from the clamping seat, is fixedly provided with a cover body, the cover body is fixedly provided with a spring, one end of the spring is fixedly connected with a hollow block which is in sliding connection with the cover body, the hollow block is fixedly connected with a plurality of groups of vacuum suction cups, the hollow block is fixedly connected with a connector through a flexible pipe, and the connector is connected with an air pressure control structure.
As a further improvement of the invention: the inserting frame is connected with the clamping seat through a bolt, and a blocking gasket is arranged between the bolt and the clamping seat.
As a further improvement of the invention: the air pressure control structure comprises an air pressure box fixedly connected with the frame, a hose fixedly connected with the connector is fixedly connected with the air pressure box, control valves are fixedly installed on two sides of the air pressure box, one group of control valves are fixedly connected with a pressurizing pump, the other group of control valves are fixedly connected with a vacuum pump, the pressurizing pump and the vacuum pump are fixedly connected with the frame, and an air pressure sensing probe is fixedly connected with the air pressure box.
As a further improvement of the invention: the guide module comprises a first guide frame fixedly connected with a base, a lifting groove is formed in the first guide frame, a second guide frame is fixedly connected with the first guide frame through a support frame, a turnover groove is formed in the second guide frame, rollers are slidably connected with the turnover groove, second guide rods are rotatably connected with the rollers, the second guide rods are fixedly connected with a driving frame, a linkage frame is rotatably connected with the driving frame, the linkage frame is fixedly connected with a first guide rod slidably connected with the lifting groove, and the first guide rod is connected with a reverse driving structure.
As a further improvement of the invention: the reverse driving structure comprises a center seat fixedly connected with a base, the center seat is rotationally connected with a first sliding sleeve, the center seat is fixedly connected with a double-output-shaft motor, rotating frames are fixedly installed at two ends of a conveying shaft of the double-output-shaft motor, the rotating frames are hinged with swinging plates, the swinging plates are in sliding connection with the first sliding sleeve, the swinging plates are in sliding connection with a second sliding sleeve, the second sliding sleeve is hinged with a deflection frame, the deflection frame is rotationally connected with a first guide frame, a hollow groove frame is coaxially connected with the first guide frame, and the hollow groove frame is in sliding connection with a first guide rod.
The working method of the robot equipment for plate stamping forming comprises the following steps:
step one: the control valve connected with the vacuum pump is opened, the control valve connected with the pressurizing pump is closed, then the vacuum pump is started to work so that the air pressure in the air pressure box is reduced, the vacuum chuck and the plate are in a negative pressure environment, the plate to be processed is sucked by the vacuum chuck on the first moving and taking assembly, the second moving and taking assembly and the first moving and taking assembly have the same structure, and the plate after the processing is sucked by synchronously starting the parts on the second moving and taking assembly;
step two: the double-output-shaft motor drives the rotating frame to rotate, so that the deflection frame is driven to swing back and forth, the hollow groove frame drives the first guide rod to slide back and forth in the lifting groove, meanwhile, the linkage frame drives the driving frame to move, the driving frame moves to drive the second guide rod to move, the second guide rod drives the driving frame to turn over, the first guide rod drives the driving frame to lift through the linkage frame, the driving frame drives the sliding table to slide along the limiting rod, the driving frame and the sliding table relatively move, the second moving component and the first moving component have the same structure, so that the first moving component moves the plate to be processed to a device for punching the plate, and the second moving component moves the processed plate to a finished product collecting position;
step three: the control valve connected with the vacuum pump is closed, the control valve connected with the pressurizing pump is opened, the pressurizing pump pressurizes the air pressure box, so that air pressure between the vacuum chuck and the plate is increased, the vacuum chuck and the plate are separated from each other, the first moving and taking assembly is used for placing the plate to be processed on a processing station of a plate punching device, and the second moving and taking assembly is used for placing the processed plate at a finished product collecting position;
step four: and (3) starting the double-output-shaft motor to reversely rotate, and repeating the process in the step two, so that the first moving and taking assembly is reset to the position for sucking the plate to be processed, and the second moving and taking assembly is moved to the position for sucking the plate after the processing is completed.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention provides power for the movement of a first moving component and a second moving component through a reverse driving structure, the first moving component absorbs the plate to be processed and conveys the plate to a device for punching the plate, the second moving component absorbs the processed plate, in the process that the first moving component conveys the plate to be processed to the device for punching the plate again, the first group of processed plate is transferred by the second moving component and is far away from the device for punching the plate, and the first moving component and the second moving component synchronously release the plate.
2. Firstly, a control valve connected with a vacuum pump is opened, a control valve connected with a pressurizing pump is closed, then the vacuum pump is started to work so that the air pressure in an air pressure box is reduced, thus the negative pressure environment between a vacuum sucker and a plate is maintained, the suction of the plate by the vacuum sucker is ensured, when the plate needs to be separated from the vacuum sucker, the control valve connected with the vacuum pump is closed, the control valve connected with the pressurizing pump is opened, the pressurizing pump pressurizes the air pressure box, thus the air pressure between the vacuum sucker and the plate is improved, the vacuum sucker and the plate are separated from each other, and the processed plate is connected with and separated from the vacuum sucker according to the same principle;
3. the first guide rod is driven to move along the lifting groove through the reverse driving structure, meanwhile, the driving frame is driven to move through the linkage frame, the roller moves in the overturning groove, the driving frame is driven to overturn through the second guide rod, the driving frame is driven to lift through the linkage frame by the first guide rod, and therefore the guide module driven by the reverse driving structure drives the driving frame to move and overturn, and a large amount of programming and debugging time is saved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of a plate picking and placing structure according to the present invention;
FIG. 3 is a schematic perspective view of a plate picking and placing structure according to the present invention;
FIG. 4 is a schematic view of the structure of the cooperation of the cover, the spring, the vacuum chuck, the flexible tube and the connector of the invention;
FIG. 5 is an enlarged partial schematic view of the present invention at A in FIG. 2;
FIG. 6 is an enlarged partial schematic view of the present invention at B in FIG. 3;
fig. 7 is an enlarged partial schematic view of fig. 2C according to the present invention.
In the figure: 1. a frame; 2. a plate taking and placing structure; 3. a base; 4. a first removal assembly; 5. a second removal assembly; 6. a reverse driving structure; 7. an air pressure control structure; 8. a driven telescopic frame; 9. a direction limiting rod; 10. a sliding table; 11. a bolt; 12. a drive rack; 13. a suction plate module; 14. a guide module; 15. a clamping seat; 16. a plug-in rack; 17. a cover body; 18. a spring; 19. a vacuum chuck; 20. a flexible tube; 21. a connector; 22. a blocking gasket; 23. an air pressure box; 24. a control valve; 25. a pressurizing pump; 26. a vacuum pump; 27. an air pressure sensing probe; 28. a first guide frame; 29. a lifting groove; 30. a second guide frame; 31. a turnover groove; 32. a roller; 33. a second guide bar; 34. a linkage frame; 35. a first guide bar; 36. a center seat; 37. a first sliding sleeve; 38. a double-output shaft motor; 39. a rotating frame; 40. a swinging plate; 41. the second sliding sleeve; 42. a deflection frame; 43. a hollow trough rack; 44. a hose; 45. a hollow block; 46. and (5) supporting frames.
Detailed Description
The technical solutions of the present invention will be clearly and completely described in connection with the embodiments, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The existing robot equipment for plate stamping forming is in the process of feeding and discharging the plate stamping forming, two groups of operations of taking and placing the plate to be processed and taking and placing the finished product after processing cannot be performed simultaneously, namely after stamping is completed, the feeding and discharging respectively need to consume a period of time which is not overlapped with each other, and then the stamping operation can be performed again, so that the existing robot equipment for plate stamping forming increases the stamping interval of the plate stamping forming device, the working efficiency of the plate stamping forming device is limited, and the following technical scheme is provided for solving the problem:
example 1:
referring to fig. 1 to 7, a robot device for stamping forming of a plate includes a frame 1, the frame 1 is fixedly connected with a plate taking and placing structure 2, the plate taking and placing structure 2 includes a base 3 fixedly connected with the frame 1, the base 3 is connected with a first moving and taking component 4 and a second moving and taking component 5, the first moving and taking component 4 and the second moving and taking component 5 have the same structure, the first moving and taking component 4 and the second moving and taking component 5 are connected with a reverse driving structure 6, the reverse driving structure 6 is installed on one side of the base 3, the frame 1 is connected with two groups of air pressure control structures 7, one group of air pressure control structures 7 is connected with the first moving and taking component 4, the other group of air pressure control structures 7 is connected with the second moving and taking component 5, and the air pressure control structures 7 are used for controlling the first moving and taking component 4 and the second moving and taking component 5 to suck and release the plate; the reverse driving structure 6 provides power for the movement of the first moving component 4 and the second moving component 5, so that the first moving component 4 sucks a plate to be processed and conveys the plate to a device for punching the plate, then the first moving component 4 resets, the device for punching the plate completes punching operation during the period, the second moving component 5 sucks the processed plate, in the process that the first moving component 4 conveys the plate to be processed to the device for punching the plate again, the previous group of processed plate is transferred by the second moving component 5 and is far away from the device for punching the plate, and in the process that the first moving component 4 releases the plate, the second moving component 5 completes the release of the processed plate;
the first moving and taking assembly 4 comprises a plurality of groups of driven telescopic frames 8 fixedly connected with the base 3, the moving ends of the driven telescopic frames 8 are fixedly connected with a limited direction rod 9, the limited direction rod 9 is connected with a sliding table 10 in a sliding mode, the sliding table 10 is rotationally connected with a driving frame 12, the driving frame 12 is fixedly connected with a suction plate module 13, the suction plate module 13 is connected with the air pressure control structure 7, the driving frame 12 is connected with a guide module 14, the guide module 14 is connected with the base 3, and the guide module 14 is connected with the reverse driving structure 6; the reverse driving structure 6 drives the guide module 14, so that the guide module 14 drives the driving frame 12 to overturn and lift, the driving frame 12 drives the sliding table 10 to slide along the limiting rod 9, and the driving frame 12 and the sliding table 10 relatively move, so that the height and the orientation of the suction plate module 13 are adjusted;
the suction plate module 13 comprises a clamping seat 15 fixedly connected with the driving frame 12, the clamping seat 15 is movably connected with an inserting frame 16, one end, far away from the clamping seat 15, of the inserting frame 16 is fixedly provided with a cover body 17, the cover body 17 is fixedly provided with a spring 18, one end of the spring 18 is fixedly connected with a hollow block 45 which is in sliding connection with the cover body 17, the hollow block 45 is fixedly connected with a plurality of groups of vacuum suction cups 19, the hollow block 45 is fixedly connected with a connector 21 through a flexible pipe 20, and the connector 21 is connected with the air pressure control structure 7; the personnel select a proper length of inserting frame 16 to be connected with the clamping seat 15 according to the position of a device for punching the plate and the position of a plate collecting device, in the process that the driving frame 12 drives the clamping seat 15 to move, the inserting frame 16, the cover 17, the spring 18, the hollow block 45, the vacuum chuck 19, the flexible pipe 20 and the connecting head 21 synchronously move, in the process that the vacuum chuck 19 contacts and extrudes the plate, the spring 18 is compressed to adapt to the thickness and the structure change of the plate, and under the suction of the air pressure control structure 7, the air between the vacuum chuck 19 and the plate sequentially passes through the vacuum chuck 19, the hollow block 45, the flexible pipe 20 and the connecting head 21 and is finally sucked away by the air pressure control structure 7, so that the negative pressure environment between the vacuum chuck 19 and the plate is maintained, and the stability of the plate movement is maintained; the inserting frame 16 is connected with the clamping seat 15 through a bolt 11, and a blocking gasket 22 is arranged between the bolt 11 and the clamping seat 15; the blocking washer 22 prevents the bolt 11 from self-rotating in a friction manner, so that the clamping seat 15 and the inserting frame 16 are prevented from self-separating.
Example 2:
as shown in fig. 1, 2 and 4, the air pressure control structure 7 comprises an air pressure tank 23 fixedly connected with the frame 1, a hose 44 fixedly connected with the connector 21 is fixedly connected with the air pressure tank 23, control valves 24 are fixedly installed on two sides of the air pressure tank 23, one group of control valves 24 is fixedly connected with a pressurizing pump 25, the other group of control valves 24 is fixedly connected with a vacuum pump 26, the pressurizing pump 25 and the vacuum pump 26 are fixedly connected with the frame 1, and an air pressure sensing probe 27 is fixedly connected with the air pressure tank 23; when the vacuum chuck 19 is required to suck and fix the plate, the control valve 24 connected with the vacuum pump 26 is opened, the control valve 24 connected with the pressurizing pump 25 is closed, under the suction of the vacuum pump 26, the air pressure in the air pressure tank 23 is reduced, and as the hose 44 is connected with the connector 21, the air in the vacuum chuck 19, the hollow block 45, the flexible pipe 20 and the connector 21 is all extracted, so that the negative pressure environment between the vacuum chuck 19 and the plate is maintained, the suction of the vacuum chuck 19 on the plate is ensured, when the plate is required to be separated from the vacuum chuck 19, the control valve 24 connected with the vacuum pump 26 is closed, the control valve 24 connected with the pressurizing pump 25 is opened, the pressurizing pump 25 pressurizes the air pressure tank 23, so that the air pressure between the vacuum chuck 19 and the plate is increased, and the processed plate is separated from the vacuum chuck 19 according to the same principle.
Example 3:
as shown in fig. 1, 2, 3 and 6, the guiding module 14 includes a first guiding frame 28 fixedly connected with the base 3, a lifting groove 29 is formed on the first guiding frame 28, the first guiding frame 28 is fixedly connected with a second guiding frame 30 through a supporting frame 46, a turnover groove 31 is formed on the second guiding frame 30, the turnover groove 31 is slidably connected with a roller 32, the roller 32 is rotatably connected with a second guiding rod 33, the second guiding rod 33 is fixedly connected with the driving frame 12, the driving frame 12 is rotatably connected with a linkage frame 34, the linkage frame 34 is fixedly connected with a first guiding rod 35 slidably connected with the lifting groove 29, and the first guiding rod 35 is connected with the back driving structure 6; when the reverse driving structure 6 drives the first guide rod 35 to move along the lifting groove 29, the linkage frame 34 drives the driving frame 12 to move, the driving frame 12 moves to drive the second guide rod 33 to move, so that the roller 32 moves in the overturning groove 31, in the moving process of the driving frame 12, the second guide rod 33 drives the driving frame 12 to overturn, the first guide rod 35 drives the driving frame 12 to lift through the linkage frame 34, and therefore the guide module 14 driven by the reverse driving structure 6 drives the driving frame 12 to move and overturn, and a large amount of programming and debugging time is saved.
Example 4:
as shown in fig. 1, 2 and 3, the back driving structure 6 includes a central seat 36 fixedly connected with the base 3, the central seat 36 is rotatably connected with a first sliding sleeve 37, the central seat 36 is fixedly connected with a double-output-shaft motor 38, two ends of a conveying shaft of the double-output-shaft motor 38 are fixedly provided with rotating frames 39, an included angle exists between the rotating frames 39, the rotating frames 39 are hinged with swinging plates 40, the swinging plates 40 are slidably connected with the first sliding sleeve 37, the swinging plates 40 are slidably connected with a second sliding sleeve 41, the second sliding sleeve 41 is hinged with a deflection frame 42, the deflection frame 42 is rotatably connected with the first guide frame 28, the first guide frame 28 is coaxially connected with a hollow groove frame 43, and the hollow groove frame 43 is slidably connected with the first guide rod 35; under the driving of the double-output-shaft motor 38, the rotating frames 39 rotate, the rotating frames 39 drive the swinging plates 40 to reciprocate and slide in the first sliding sleeve 37 and the second sliding sleeve 41, and the second sliding sleeve 41 drives the deflecting frames 42 to reciprocate under the driving of the swinging plates 40, so that the hollow groove frames 43 drive the first guide rods 35 to reciprocate in the lifting grooves 29.
Example 5:
on the basis of the first embodiment, the second embodiment, the third embodiment and the fourth embodiment, a working method of the robot apparatus for sheet material press forming of the present invention is described, comprising the steps of:
step one: the control valve 24 connected with the vacuum pump 26 is opened, the control valve 24 connected with the pressurizing pump 25 is closed, then the vacuum pump 26 is started to work so that the air pressure in the air pressure box 23 is reduced, the vacuum suction disc 19 and the plate are in a negative pressure environment, the vacuum suction disc 19 on the first moving and taking assembly 4 sucks the plate to be processed, the second moving and taking assembly 5 and the first moving and taking assembly 4 have the same structure, and the processed plate can be sucked by synchronously starting the parts on the second moving and taking assembly 5;
step two: the rotating frame 39 is driven to rotate by the double-output-shaft motor 38, the deflection frame 42 is driven to swing in a reciprocating manner, the hollow groove frame 43 drives the first guide rod 35 to slide in the lifting groove 29 in a reciprocating manner, meanwhile, the linkage frame 34 drives the driving frame 12 to move, the driving frame 12 moves to drive the second guide rod 33 to move, the second guide rod 33 drives the driving frame 12 to turn over, the first guide rod 35 drives the driving frame 12 to lift through the linkage frame 34, the driving frame 12 drives the sliding table 10 to slide along the limiting rod 9, the driving frame 12 and the sliding table 10 relatively move, the second moving and taking assembly 5 and the first moving and taking assembly 4 have the same structure, so that the first moving and taking assembly 4 moves the plate to be processed to a device for punching the plate, and the second moving and taking assembly 5 moves the processed plate to a finished product collecting position;
step three: the control valve 24 connected with the vacuum pump 26 is closed, the control valve 24 connected with the pressurizing pump 25 is opened, the pressurizing pump 25 pressurizes the air pressure box 23, so that air pressure between the vacuum sucking disc 19 and the plate is increased, the vacuum sucking disc 19 and the plate are separated from each other, the first moving and taking assembly 4 places the plate to be processed on a processing station of a plate punching device, and the second moving and taking assembly 5 places the processed plate at a finished product collecting position;
step four: the double-output-shaft motor 38 is started to rotate reversely, and the process in the second step is repeated, so that the first moving and taking assembly 4 is reset to the position for sucking the plate to be processed, and the second moving and taking assembly 5 is moved to the position for sucking the plate after the processing is completed.
The preferred embodiments of the invention disclosed above are intended only to assist in the explanation of the invention. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The invention is limited only by the claims and the full scope and equivalents thereof.
Claims (4)
1. The utility model provides a robot device for sheet metal stamping forming, includes frame (1), its characterized in that, frame (1) fixedly connected with sheet metal gets and puts structure (2), sheet metal gets and puts structure (2) including base (3) with frame (1) fixedly connected, base (3) are connected with first removal subassembly (4) and the second removal subassembly (5), just first removal subassembly (4) and the second removal subassembly (5) are the same in structure, first removal subassembly (4) include with base (3) fixedly connected's multiunit driven expansion bracket (8), the removal end fixedly connected with of driven expansion bracket (8) limited steering column (9), limited steering column (9) sliding connection has sliding table (10), sliding table (10) rotation connection has driving frame (12), driving frame (12) fixedly connected with suction plate module (13), suction plate module (13) are connected with pneumatic control structure (7), driving frame (12) are connected with guide module (14), guide frame (14) are connected with guide frame (3) are connected with guide frame (28) and are connected with guide frame (3), guide frame (28) are connected with guide frame (28), the first guide frame (28) is fixedly connected with the second guide frame (30) through the support frame (46), the turnover groove (31) is formed in the second guide frame (30), the turnover groove (31) is connected with the idler wheel (32) in a sliding mode, the idler wheel (32) is rotationally connected with the second guide rod (33), the second guide rod (33) is fixedly connected with the driving frame (12), the driving frame (12) is rotationally connected with the linkage frame (34), the linkage frame (34) is fixedly connected with the first guide rod (35) which is in sliding connection with the lifting groove (29), the first guide rod (35) is connected with the reverse driving structure (6), the first moving and taking component (4) and the second moving and taking component (5) are both connected with the reverse driving structure (6), the reverse driving structure (6) is arranged on one side of the base (3), the reverse driving structure (6) comprises a center seat (36) fixedly connected with the base (3), the center seat (36) is rotationally connected with the first sliding sleeve (37), the center seat (36) is fixedly connected with the motor (38), the two swing shafts (39) are fixedly connected with the two swing shafts (39) and the two swing shafts (39) are fixedly connected with the conveying plates (40), swing board (40) and first sliding sleeve (37) sliding connection, swing board (40) sliding connection has second sliding sleeve (41), second sliding sleeve (41) are articulated have deflection frame (42), deflection frame (42) and first leading truck (28) rotate to be connected, first leading truck (28) coaxial coupling has hollow cell frame (43), hollow cell frame (43) and first guide arm (35) sliding connection, frame (1) is connected with two sets of atmospheric pressure control structure (7), and wherein a set of atmospheric pressure control structure (7) are connected with first removal subassembly (4), and another set of atmospheric pressure control structure (7) are connected with second removal subassembly (5).
2. The robot device for plate stamping forming according to claim 1, characterized in that the suction plate module (13) comprises a clamping seat (15) fixedly connected with a driving frame (12), the clamping seat (15) is movably connected with an inserting frame (16), one end, far away from the clamping seat (15), of the inserting frame (16) is fixedly provided with a cover body (17), the cover body (17) is fixedly provided with a spring (18), one end of the spring (18) is fixedly connected with a hollow block (45) in sliding connection with the cover body (17), the hollow block (45) is fixedly connected with a plurality of groups of vacuum suction discs (19), the hollow block (45) is fixedly connected with a connector (21) through a flexible pipe (20), and the connector (21) is connected with the air pressure control structure (7).
3. A robotic device for sheet stamping forming according to claim 2, characterized in that the insert holder (16) is connected to the holder (15) by means of a bolt (11), and a blocking washer (22) is mounted between the bolt (11) and the holder (15).
4. The robot device for plate stamping forming according to claim 1, characterized in that the air pressure control structure (7) comprises an air pressure tank (23) fixedly connected with the frame (1), a hose (44) fixedly connected with the connector (21) is fixedly connected with the air pressure tank (23), control valves (24) are fixedly installed on two sides of the air pressure tank (23), one group of control valves (24) is fixedly connected with a pressurizing pump (25), the other group of control valves (24) is fixedly connected with a vacuum pump (26), the pressurizing pump (25) and the vacuum pump (26) are fixedly connected with the frame (1), and an air pressure sensing probe (27) is fixedly connected with the air pressure tank (23).
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| CN202211697485.5A CN115945564B (en) | 2022-12-28 | 2022-12-28 | Robot equipment for plate stamping forming and working method thereof |
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| CN202211697485.5A CN115945564B (en) | 2022-12-28 | 2022-12-28 | Robot equipment for plate stamping forming and working method thereof |
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| CN115945564A CN115945564A (en) | 2023-04-11 |
| CN115945564B true CN115945564B (en) | 2023-07-07 |
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114130868A (en) * | 2021-12-01 | 2022-03-04 | 安徽阜阳侨兴电气设备有限公司 | Hydraulic bending machine for plates of power distribution cabinet body |
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| KR100731636B1 (en) * | 2006-04-03 | 2007-06-25 | (주)대봉기연 | A transfer feeder |
| KR101363722B1 (en) * | 2013-05-08 | 2014-02-14 | 주식회사 티엠씨 | Apparatus and method for forming large corrugation of membrane sheet for liquified natural gas storage tank |
| CN111496118A (en) * | 2020-05-03 | 2020-08-07 | 张群 | Automatic feeding and discharging punching machine equipment and forming method thereof |
| CN212551425U (en) * | 2020-06-09 | 2021-02-19 | 苏州诚哲精密电子有限公司 | Stamping device for metal electronic product machined parts |
| CN216150771U (en) * | 2021-07-29 | 2022-04-01 | 揭阳市东远五金制品有限公司 | Mould for metal piece stamping |
| CN217858492U (en) * | 2022-05-26 | 2022-11-22 | 深圳市众博宇科技有限公司 | Open fixed station feed mechanism for press |
| CN115464030A (en) * | 2022-09-13 | 2022-12-13 | 史晶 | Plate stamping device |
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| CN114130868A (en) * | 2021-12-01 | 2022-03-04 | 安徽阜阳侨兴电气设备有限公司 | Hydraulic bending machine for plates of power distribution cabinet body |
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