CN117020045B - Punch device with multi-axis cooperative motion, synchronous feeding method and control system - Google Patents
Punch device with multi-axis cooperative motion, synchronous feeding method and control system Download PDFInfo
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- CN117020045B CN117020045B CN202311300524.8A CN202311300524A CN117020045B CN 117020045 B CN117020045 B CN 117020045B CN 202311300524 A CN202311300524 A CN 202311300524A CN 117020045 B CN117020045 B CN 117020045B
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- 230000033001 locomotion Effects 0.000 title claims abstract description 64
- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000001360 synchronised effect Effects 0.000 title claims abstract description 18
- 239000000463 material Substances 0.000 claims abstract description 52
- 238000012545 processing Methods 0.000 claims abstract description 41
- 230000008569 process Effects 0.000 claims description 15
- 230000007246 mechanism Effects 0.000 claims description 14
- 238000001514 detection method Methods 0.000 claims description 10
- 230000003014 reinforcing effect Effects 0.000 claims description 10
- 238000004080 punching Methods 0.000 claims description 9
- 238000012546 transfer Methods 0.000 claims description 2
- 239000000725 suspension Substances 0.000 abstract description 5
- 230000005540 biological transmission Effects 0.000 abstract description 2
- 238000003754 machining Methods 0.000 abstract 1
- 238000009434 installation Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
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- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012840 feeding operation Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/18—Advancing work in relation to the stroke of the die or tool by means in pneumatic or magnetic engagement with the work
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/08—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by rollers
- B21D43/09—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by rollers by one or more pairs of rollers for feeding sheet or strip material
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Abstract
The invention provides a punch device with multi-axis cooperative movement, a synchronous feeding method and a control system, wherein the punch device comprises a feeding machine and a feeding machine, the feeding machine comprises a feeding assembly and a moving module, a material sucking assembly is arranged on the moving module, and the material sucking assembly selectively moves along a Y axis and a Z axis along with the moving module; the feeding machine comprises an adjusting component and a feeding component, wherein the feeding component moves on the adjusting component along the Y-axis direction, the feeding component feeds in the X-axis direction, and the movement of the moving module along the Y-axis direction and the cooperative movement of the feeding component along the Y-axis direction; through multiaxis cooperative motion's punch press device realization, make the material loading machine follow feeder synchronous movement to can realize the uninterrupted transmission between material loading and the fortune material when panel processing, avoid processing suspension, improve machining efficiency.
Description
Technical Field
The invention belongs to the technical field of punch processing, and particularly relates to a punch device with multi-axis cooperative motion, a synchronous feeding method and a control system.
Background
The numerical control punch is a short name of numerical control punch, and is an automatic machine tool provided with a program control system. The control system can logically process and decode a program defined by a control code or other symbolic instruction to cause the punch to operate and machine the part.
Most of the existing numerical control punching machines are mutually independent structures of a feeding machine and a feeding machine, in the processing process, after the plate processing is completed, the feeding machine needs to return to the initial position to wait for the feeding machine to feed the next plate into place, and then feeding processing is continued, so that the condition that the punching machine is interrupted and waiting exists in the whole processing.
The reason that the existing mode has long time suspension is that the feeding machine can continuously swing along the Y-axis direction in the processing process, and the feeding machine is matched with the processing action of the punching machine, when the feeding machine finishes the processing of the current plate, the feeding machine must stop moving along the Y-axis direction and move to a fixed feeding position to wait for the feeding of the feeding machine to finish, and then the swinging processing is continued, the processing suspension is obviously generated for a long time in the process, the processing efficiency is low, and in the actual use process, the repeated opening and closing of the punching machine is also a loss to the machine.
For the control system, the existing mode needs two sets of control systems for respectively controlling the feeding machine and the feeding machine, so that not only is the cost for purchasing the controller increased, but also some unnecessary processing flows are generated, and the probability of faults is increased.
Disclosure of Invention
In view of the above problems in the prior art, the present invention aims to provide a punch device with multi-axis cooperative movement, which synchronizes the movement of a plate being processed in a feeding mechanism with the movement of the plate being processed in the feeding mechanism through the cooperative movement of the feeding mechanism and the feeding mechanism, thereby realizing uninterrupted feeding and feeding operations and improving the processing efficiency.
The punch device comprises a feeding machine and a feeding machine, wherein the feeding machine comprises a feeding component and a moving module, the moving module is arranged on the feeding component, a material sucking component is arranged on the moving module, and the material sucking component selectively moves along a Y axis and a Z axis along with the moving module;
the feeding machine comprises an adjusting component and a feeding component, wherein the feeding component is slidably mounted on the adjusting component and moves along the Y-axis direction on the adjusting component, the feeding direction of the feeding component is the X-axis direction, and the movement of the moving module along the Y-axis direction and the cooperative movement of the feeding component along the Y-axis direction are realized.
Preferably, the adjusting assembly comprises an adjusting table provided with a second base, a sliding plate and a second screw rod, wherein the adjusting table is connected with an installation seat, the installation seat is rotationally connected with the second screw rod, the other end of the second screw rod is in driving connection with a first motor, and the first motor is arranged on the adjusting table;
the second screw is arranged along the Y-axis direction, the second screw is connected with a sliding plate through a second sliding block, the sliding plate is in sliding connection with the adjusting table through a sliding plate, and the sliding plate is connected with the feeding assembly.
Preferably, the feeding assembly comprises a workbench and a plurality of transport roller groups distributed on the workbench, each transport roller group comprises an upper rubber roller and a lower rubber roller which are used for clamping and transporting the plate, an adjusting piece is arranged on the upper rubber roller, and a driving piece for driving the transport roller groups is also arranged on the workbench;
the workbench is divided into a material conveying area and a working area, the material conveying area corresponds to the position of the output end of the feeding machine, and processing equipment is arranged beside the working area;
the workbench is provided with a first detection part in a material conveying area through a second vertical rod and a mounting plate, and the workbench is provided with a second detection part in the working area.
Preferably, the feeding assembly comprises a rack provided with a first base, a bearing frame is arranged on the rack, a bottom plate is connected to the bearing frame, and a plurality of balls distributed in an array are arranged on the bottom plate;
the bottom of the bearing frame is provided with a motor IV, a driving shaft of the motor IV and the bearing frame are respectively provided with a driving wheel, the two driving wheels are in driving connection through a belt, the belt is arranged along an X axis, a baffle II for pushing a plate is connected to the belt, a through groove is formed in the position, corresponding to the baffle II, of the bottom plate, the baffle II is located above the bottom plate, and the bottom plate is also connected with a baffle I;
the frame is located the side of accepting the frame and is connected with the bracing piece that is used for accepting panel, the opposite both ends of frame are connected with support one and support two respectively, erect between support one and the support two and remove the module.
Preferably, the movable module comprises a first connecting rod and a second connecting rod which are erected between a first bracket and a second bracket, sliding strips are arranged on the first connecting rod and the second connecting rod, a first mounting frame is connected between the first connecting rod and the second connecting rod, the first mounting frame is in sliding connection with the first connecting rod and the second connecting rod through the sliding strips, a rack is arranged on the second connecting rod, a second motor is arranged on the first mounting frame, a first gear meshed with the rack is arranged on an output shaft of the second motor,
the first mounting frame is provided with a first drag chain along the Y-axis direction and a second drag chain along the Z-axis direction, the first mounting frame is provided with a first sliding block, the first sliding block is connected with a first screw in a threaded manner, two sides of the first mounting frame, which are positioned on the first screw, are respectively and slidably connected with relatively distributed vertical rods, and the bottom of each vertical rod is provided with a material sucking component;
the top of mounting bracket one is loaded with the fixed plate, the fixed plate is erect and is equipped with the motor three, is connected with mutually supporting gear two on the one end of drive shaft and screw rod one of motor three respectively, connects through the track drive between two gears two.
Preferably, the material sucking component comprises a mounting frame II and a reinforcing rod, the reinforcing rod is connected with a vertical rod I through the mounting frame II, a plurality of transverse plates distributed in an array are connected to the reinforcing rod, and sucking discs for sucking materials are respectively arranged at two ends of the transverse plates.
Preferably, the automatic feeding device further comprises a receiving mechanism, wherein the receiving mechanism is positioned at the side of a working area of the feeding assembly, the receiving mechanism comprises a main frame and a drainage plate, a storage rack is connected at the side of the main frame, one end of the top of the main frame is hinged with the drainage plate, the other end of the top of the main frame is connected with a supporting plate for supporting the drainage plate, the drainage plate is obliquely arranged, and the storage rack is positioned at the low end side of the drainage plate;
the main frame is provided with a supporting piece for supporting the drainage plate, the supporting piece and the supporting plate are oppositely arranged, and the supporting piece is positioned on one side of the main frame, which is hinged with the drainage plate.
The second object of the present invention is to provide a synchronous feeding method of a multi-axis cooperative punch device, which is implemented by the multi-axis cooperative punch device, wherein a feeding component of a feeder moves along a Y axis according to requirements of processing equipment, so that when the processing equipment processes a plate on a workbench, a moving module of the feeder drives the plate to move along the Y axis and the Y axis of the feeding component to implement synchronous movement, and the plate is accurately transferred to the feeding component.
Preferably, the method specifically comprises the following steps:
the feeding machine and the feeding machine respectively perform zero returning operation and move to the set initial positions;
the feeding machine drives the material sucking component to move along the Y axis and the Z axis through the moving module, and sucks the plate on the frame through the sucking disc to wait for feeding to the feeding machine;
controlling the movement of the moving module along the Y axis to cooperate with the movement of the feeding assembly along the Y axis, and timely and accurately transmitting the plate to a transport area of the workbench;
the movable module withdraws from being cooperated with the movement of the feeding assembly and moves to the initial position again to take the material next time;
the feeding assembly conveys the plate to a working area through a conveying roller set, and the position of the workbench is adjusted through driving of the conveying roller set and a screw II according to the requirements of processing equipment;
after finishing the processing of the plates in the working area, moving out, and waiting for the transport area to transport the plates to be processed to the working area;
the specific process of controlling the movement of the moving module along the Y axis and the movement of the feeding assembly along the Y axis to timely and accurately transfer the plate to the transportation area of the workbench is as follows:
acquiring coordinates of the movable module and the workbench in the Y-axis direction;
calculating the relative position difference of the movable module workbench in the Y-axis direction;
controlling the movable module and the workbench to move in the same direction and at the same speed;
the compensation motion is overlapped when the movable module moves synchronously with the workbench along the Y axis and is used for compensating the relative position difference between the movable module and the workbench;
judging whether the relative position difference is equal to 0;
if the relative position difference is not equal to 0, continuously acquiring coordinates of the movable module and the workbench in the Y-axis direction, calculating the relative position difference, controlling the movable module and the workbench to synchronously move along the Y-axis direction and overlapping the compensation movement until the relative position difference is 0;
if the relative position difference is equal to 0, the coordinates of the movable module and the workbench on the Y axis are consistent, the movable module and the workbench move in the same direction and at the same speed, and feeding is started.
The third object of the present invention is to provide a control system for multi-axis cooperative motion, which includes an application layer, a real-time operating system, a driving layer and a hardware layer, wherein the application layer is used for implementing the synchronous feeding method of the punch device for multi-axis cooperative motion.
The beneficial effects of the invention are as follows: according to the punch device with the multi-axis cooperative movement, the synchronous feeding method and the control system, firstly, the cooperative control of the movement of the feeding machine and the feeding machine along the Y-axis direction is realized, so that when the feeding machine moves and swings according to the requirements of processing equipment, the feeding machine can move cooperatively along with the feeding machine, and therefore, the synchronous feeding can be realized during the processing of the plate, uninterrupted transmission between the feeding and the conveying is realized, the processing suspension is avoided, and the processing efficiency is improved; in addition, the problem of repeated restarting of the equipment caused by processing suspension can be avoided, the loss of the equipment can be effectively reduced, and the service life of the equipment is prolonged; finally, the control of the feeding machine and the feeding machine is realized through one control system, and compared with the control of the feeding machine and the feeding machine through two controllers respectively, the cost and the control flow can be reduced.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a top view of the present invention;
FIG. 3 is a schematic view of the structure of the feeder of the present invention;
FIG. 4 is a side view of the carrier of the present invention;
FIG. 5 is a schematic structural view of the feeding assembly of the present invention;
fig. 6 is a schematic structural view of a rack of the present invention;
FIG. 7 is an enlarged view of a portion of the feed assembly of the present invention;
FIG. 8 is a schematic view of the structure of the feeder of the present invention;
FIG. 9 is a side view of the feeder of the present invention;
FIG. 10 is a schematic view of the feed assembly of the present invention;
FIG. 11 is a flow chart of the present invention for loading a loader;
FIG. 12 is a flow chart of the feeder accept process of the present invention;
fig. 13 is a flow chart of the present invention for synchronizing a feeder with a feeder.
Marked in the figure as: 100. a feeding machine; 200. a feeder; 1. a feeding assembly; 101. a frame; 102. a first base; 103. a support rod; 104. a first bracket; 105. a second bracket; 106. a bearing frame; 107. a bottom plate; 108. a ball; 109. a first baffle; 110. a second baffle; 111. a fourth motor; 112. a belt; 2. a mobile module; 201. a first vertical rod; 202. a reinforcing rod; 203. a cross plate; 204. a suction cup; 205. a first connecting rod; 206. a second connecting rod; 207. a rack; 208. a slide bar; 209. a first mounting frame; 210. a drag chain I; 211. a drag chain II; 212. a first screw; 213. a second mounting frame; 214. a second motor; 215. a first sliding block; 216. a second gear; 217. a third motor; 3. an adjustment assembly; 301. a second base; 302. an adjustment table; 303. a mounting base; 304. a sliding plate; 305. a first motor; 306. a second screw; 307. a slide plate; 4. a feeding assembly; 401. a work table; 402. a transport roller set; 403. a second vertical rod; 404. a mounting plate; 405. a first detection piece; 406. a second detection piece; 407. an adjusting member; 408. a driving member; 5. a material receiving mechanism; 501. a main frame; 502. a commodity shelf; 503. a drainage plate; 504. a support; 505. and a support plate.
Detailed Description
Example 1
As shown in fig. 1 and fig. 2, a punch device with multi-axis cooperative motion comprises a feeding machine 100 and a feeding machine 200, wherein the feeding machine 100 comprises a feeding component 1 and a moving module 2, the moving module 2 is installed on the feeding component 1, a material sucking component is installed on the moving module 2, and the material sucking component moves along with the moving module 2 along the Y axis and the Z axis selectively.
The feeder 200 comprises an adjusting component 3 and a feeding component 4, wherein the feeding component 4 is slidably mounted on the adjusting component 3, the feeding component 4 moves on the adjusting component 3 along the Y-axis direction, the feeding direction of the feeding component 4 is the X-axis direction, and the movement of the moving module 2 along the Y-axis direction and the cooperative movement of the feeding component 4 along the Y-axis direction.
As shown in fig. 8, specifically, the adjusting assembly 3 includes an adjusting table 302 provided with a second base 301, a sliding plate 304 and a second screw 306, the adjusting table 302 is connected with a mounting seat 303, the mounting seat 303 is rotationally connected with the second screw 306, the other end of the second screw 306 is in driving connection with a first motor 305, the first motor 305 is installed on the adjusting table 302, the second screw 306 is arranged along the Y axis direction, the second screw 306 is connected with the sliding plate 304 through a second sliding block (not shown in the drawing), the sliding plate 304 is in sliding connection with the adjusting table 302 through a sliding plate 307, and the sliding plate 304 is connected with the feeding assembly 4. The first motor 305 drives the second screw 306 to rotate, and the second screw 306 is matched with the second slide block in a threaded manner, so that the second slide block drives the sliding plate 304 to move, and the feeding assembly 4 is driven to move along the direction of the second screw 306, namely along the Y-axis direction.
As shown in fig. 9 and 10, the feeding assembly 4 includes a table 401 and a plurality of transport roller sets 402 distributed on the table 401, each transport roller set 402 includes an upper rubber roller and a lower rubber roller for clamping and transporting a plate material, an adjusting member 407 is mounted on the upper rubber roller, and the adjusting member 407 is used for adjusting the position of the upper rubber roller, so that the upper rubber roller can move up and down to clamp the plate material, therefore, the structure of the adjusting member 407 is not limited, and the adjusting member 407 can be a telescopic rod.
As shown in fig. 9, the workbench 401 is further provided with a driving member 408 for driving the transport roller set 402, where the driving member 408 includes a conveying belt and a rotating wheel, and the driving member 408 drives the transport roller set 402 to rotate by driving the transport roller set 402, so that the sheet material can be moved from the material conveying area to the working area.
In addition, the workbench 401 is divided into a material conveying area and a working area, the material conveying area corresponds to the position of the output end of the feeding machine 100, and processing equipment is arranged beside the working area. The first detection part 405 is arranged on the workbench 401 in the material conveying area through the second vertical rod 403 and the mounting plate 404, the second detection part 406 is arranged on the workbench 401 in the working area, and the first detection part 405 and the second detection part 406 can be photoelectric sensors and are used for detecting the positions of the plates on the workbench 401.
As shown in fig. 3, the feeding assembly 1 includes a frame 101 provided with a first base 102, a receiving frame 106 is mounted on the frame 101, a bottom plate 107 is connected to the receiving frame 106, a plurality of balls 108 distributed in an array are mounted on the bottom plate 107, and the balls 108 are used for reducing friction between the plate and a contact surface, so as to facilitate the transportation of the plate onto the feeder 200.
As shown in fig. 3, the bottom plate 107 is further provided with an air cylinder, when the multi-axis cooperative motion of the feeding machine 100 and the feeding machine 200 is not needed, the common feeding function can be realized, when the material sucking assembly sucks the plate, the plate is placed on the bottom plate 107, and the plate on the bottom plate 107 can be pushed to the first baffle 109 through the air cylinder for positioning and limiting.
As shown in fig. 4, a motor four 111 is installed at the bottom of the receiving frame 106, driving shafts of the motor four 111 and driving wheels are respectively installed on the receiving frame 106, the two driving wheels are in driving connection through a belt 112, the belt 112 is arranged along an X axis, a second baffle 110 for pushing plates is connected to the belt 112, a through groove is formed in the position, corresponding to the second baffle 110, of the bottom plate 107, the second baffle 110 is located above the bottom plate 107, the belt 112 is driven by the motor four 111 to achieve conveying, so that the second baffle 110 is driven to move, the second baffle 110 can transport the plates on the bottom plate 107 to the feeder 200, the plates move along the X axis, the first baffle 109 is connected to the bottom plate 107, and the first baffle 109 is located on the side of the bottom plate 107 and used for limiting the plates.
In addition, the frame 101 is located the side of accepting frame 106 and is connected with the bracing piece 103 that is used for accepting panel, and frame 101 opposite both ends are connected with support one 104 and support two 105 respectively, erect between support one 104 and the support two 105 and remove the module 2.
As shown in fig. 5 to 7, specifically, the moving module 2 includes a first connecting rod 205 and a second connecting rod 206 that are mounted between the first bracket 104 and the second bracket 105, sliding strips 208 are mounted on the first connecting rod 205 and the second connecting rod 206, a first mounting frame 209 is connected between the first connecting rod 205 and the second connecting rod 206, the first mounting frame 209 is slidably connected with the first connecting rod 205 and the second connecting rod 206 through the sliding strips 208, a rack 207 is mounted on the second connecting rod 206, a second motor 214 is mounted on the first mounting frame 209, a first gear (not shown in the figure) meshed with the rack 207 is mounted on an output shaft of the second motor 214, the first gear is driven to rotate by the second motor 214, and the first mounting frame 209 can slide on the first connecting rod 205 and the second connecting rod 206 by virtue of the meshing effect between the first gear and the rack 207, so that the moving module 2 can move along the Y axis.
The first mounting frame 209 is provided with a first drag chain 210 along the Y-axis direction, a second drag chain 211 along the Z-axis direction, the first mounting frame 209 is provided with a first sliding block 215, the first sliding block 215 is in threaded connection with a first screw rod 212, the first mounting frame 209 is positioned on two sides of the first screw rod 212 and is respectively and slidably connected with a first vertical rod 201 which is distributed relatively, a suction component is arranged at the bottom of the first vertical rod 201, the top of the first mounting frame 209 is provided with a fixing plate, a third motor 217 is arranged on the fixing plate, a driving shaft of the third motor 217 and one end of the first screw rod 212 are respectively connected with a second gear 216 which is matched with each other, and the two second gears 216 are in driving connection through a crawler belt (not shown in the figure). Through the mutual cooperation among the motor III 217, the gear II 216 and the crawler belt, the driving shaft of the motor III 217 drives the screw rod I212 to rotate, and the screw rod I212 can move up and down on the mounting frame I209 by means of the threaded cooperation between the screw rod I212 and the slide block I215, so that the suction assembly is driven to move on the Z axis.
As shown in fig. 5, specifically, the material sucking component includes a second mounting frame 213 and a reinforcing rod 202, the reinforcing rod 202 is connected with a first vertical rod 201 through the second mounting frame 213, a plurality of transverse plates 203 distributed in an array are connected to the reinforcing rod 202, and suction cups 204 for sucking materials are respectively installed at two ends of the transverse plates 203.
Example two
As shown in fig. 1, the structure of this embodiment is substantially the same as that of the first embodiment, except that: the punch press device of multiaxis collaborative motion of this embodiment still includes receiving mechanism 5, and receiving mechanism 5 is located the side of pay-off subassembly 4 work area, and receiving mechanism 5 includes main frame 501 and drainage board 503, and the side of main frame 501 is connected with supporter 502, and the one end at main frame 501 top articulates there is drainage board 503, and the other end is connected with the backup pad 505 that is used for supporting drainage board 503, drainage board 503 slope sets up, and supporter 502 is located the low side of drainage board 503, is connected with the shelves pole of being convenient for pile up panel on the supporter 502. The main frame 501 is provided with a supporting piece 504 for supporting the drainage plate 503, the supporting piece 504 and the supporting plate 505 are arranged relatively, the supporting piece 504 is located on one side of the main frame 501 hinged to the drainage plate 503, the supporting piece 504 can be an electric telescopic rod, and two ends of the electric telescopic rod are respectively and movably connected with the main frame 501 and the drainage plate 503.
The sheet material that accomplishes processing through processing equipment shifts out behind the pay-off subassembly 4 and falls into on the drainage board 503, because drainage board 503 slope sets up, consequently the sheet material falls into on the supporter 502 through drainage board 503, makes the sheet material realize piling up through the structural design of supporter 502.
Example III
According to the second aspect of the invention, a synchronous feeding method of a multi-axis cooperative punch device is provided, the multi-axis cooperative punch device is realized according to the first embodiment or the second embodiment, a feeding component of a feeder moves along a Y axis according to the requirement of processing equipment, when the processing equipment processes a plate on a workbench, a moving module of the feeder drives the plate to move along the Y axis and the Y axis of the feeding component to realize synchronous movement, and the plate is accurately transferred to the feeding component.
The synchronous feeding method specifically comprises the following steps:
the feeding machine 100 and the feeding machine 200 respectively perform zero returning operation and move to the set initial positions;
the feeding machine 100 drives the material sucking component to move along the Y axis and the Z axis through the moving module 2, and sucks the plate on the frame 101 through the sucking disc 204 to wait for feeding to the feeding machine 200; specifically, after the moving module 2 drives the sucking component to descend along the Z axis, when the sucking disc 204 contacts the board, a touch panel signal is sent, and the moving module 2 drives the sucking component to ascend to the bottom plate 107 along the Z axis.
The movement of the moving module 2 along the Y axis is controlled to cooperate with the movement of the feeding assembly 4 along the Y axis, so that the plates are accurately transmitted to a transportation area of the workbench 401 at proper time; when the second detecting member 406 does not detect the sheet, the transporting roller set 402 of the transporting area moves the sheet to the working area; when the first detecting element 405 does not detect the sheet, the feeder 100 moves the sheet to the material conveying area.
The movable module 2 exits and cooperates with the movement of the feeding component 4, and moves to the initial position again to take the material next time;
the feeding assembly 4 conveys the plate to a working area through the conveying roller set 402, and adjusts the position of the workbench 401 through the driving of the conveying roller set 402 and the screw two 306 according to the requirement of processing equipment;
and after the plate in the working area is processed, the plate is moved out and is waited for the transportation area to transport the plate to be processed to the working area.
As shown in fig. 11, the feeding process of the feeder 100 includes the following steps:
the feeding machine 100 judges whether the material sucking component is at the position of the material sucking starting point currently, if not, the material sucking component is moved to the position of the material sucking starting point, and if so, the material sucking component is lowered along the Z axis to search for the plate;
judging whether a sucker 204 touch plate signal of the suction assembly is effective or not, if not, indicating that no plate exists, stopping processing, and if so, sucking the sucker 204 tightly, and grabbing the plate;
after grabbing the plate, moving the plate to a position waiting for feeding;
after receiving the signal of starting feeding, the feeding machine 100 synchronizes the movement of the feeding machine 100 and the feeding machine 200 along the Y-axis direction;
after synchronization, the plates are moved to the feeder 200 along the X-axis direction, so that feeding is realized;
after the feeding is finished, a feeding finishing signal is sent to the feeder 200, and the feeding roller and the lower rubber roller are waited to clamp the plate;
after the upper rubber roll and the lower rubber roll clamp the plate, the sucking disc is loosened, the cooperative motion in the Y-axis direction is exited, and the position of the starting point of sucking material is returned to wait for the next feeding.
As shown in fig. 12, the process of receiving material by the feeder 200 includes the following steps:
judging whether a signal for starting feeding is received or not, if not, carrying out processing operation by matching processing equipment, and if so, loosening the upper rubber roll and the lower rubber roll of the feeding port, and waiting for the completion of feeding of the feeding machine 100;
judging whether the feeding hole enters the plate, if not, continuing to wait for the feeding of the feeding machine 100 to finish, if so, enabling the upper rubber roller and the lower rubber roller to clamp the plate, transporting to a working area for processing operation, and sending a feeding end signal to the feeding machine 100.
As shown in fig. 13, the process of the cooperative movement of the feeder 100 and the feeder 200 along the Y-axis direction includes the following steps:
acquiring coordinates of the feeding machine 100 and the feeding machine 200 in the Y-axis direction;
calculating the relative position difference between the feeding machine 100 and the feeding machine 200 in the Y-axis direction;
the feeding machine 100 and the feeding machine 200 are controlled to move in the same direction and at the same speed;
the feeding machine 100 overlaps compensation movement when synchronously moving with the feeding machine 200 along the Y axis, and the compensation movement is used for compensating relative position difference between the feeding machine 100 and the feeding machine 200;
judging whether the relative position difference is equal to 0;
if the relative position difference is not equal to 0, continuously acquiring coordinates of the feeding machine 100 and the feeding machine 200 in the Y-axis direction, calculating the relative position difference, controlling the feeding machine 100 and the feeding machine 200 to synchronously move along the Y-axis direction and superposing the compensation movement until the relative position difference is 0;
if the relative position difference is equal to 0, the coordinates of the feeding machine 100 and the feeding machine 200 on the Y axis are consistent, the feeding machine 100 and the feeding machine 200 are kept to move in the same direction and at the same speed, and feeding is started.
When the relative position difference between the feeding machine 100 and the feeding machine 200 in the Y-axis direction is 0, the positions of the feeding machine 100 and the feeding machine 200 on the Y-axis are the same, so that the feeding machine 100 can accurately transport the plate to the workbench 401 in the process of moving and matching the workbench 401 to realize synchronous processing and feeding, and the working efficiency is improved.
The coordinated movement of the feeding machine 100 and the feeding machine 200 along the Y-axis direction can also achieve dynamic tracking by acquiring coordinates of the feeding machine 100 and the feeding machine 200 in a time sequence manner, so that the feeding machine 100 and the feeding machine 200 achieve position synchronization along the Y-axis direction in a dynamic tracking manner.
Example IV
The second aspect of the present invention provides a control system for multi-axis cooperative motion, which comprises an application program layer, a real-time operating system, a driving layer and a hardware layer, wherein the application program layer is used for implementing the synchronous feeding method of the punch device for multi-axis cooperative motion in the third embodiment.
The foregoing description is only a preferred embodiment of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. The punching device with the multi-axis cooperative movement comprises a feeding machine (100) and a feeding machine (200), and is characterized in that the feeding machine (100) comprises a feeding assembly (1) and a moving module (2), the moving module (2) is arranged on the feeding assembly (1), a material sucking assembly is arranged on the moving module (2), and the material sucking assembly selectively moves along a Y axis and a Z axis along with the moving module (2);
the feeding machine (200) comprises an adjusting component (3) and a feeding component (4), wherein the feeding component (4) is slidably arranged on the adjusting component (3), the feeding component (4) moves on the adjusting component (3) along the Y-axis direction, the feeding direction of the feeding component (4) is the X-axis direction, and the movement of the moving module (2) along the Y-axis direction and the movement of the feeding component (4) along the Y-axis direction are in cooperative movement;
the feeding assembly (1) comprises a frame (101) and a bearing frame (106), a motor IV (111) is arranged on the bearing frame (106), driving wheels are respectively arranged on a driving shaft of the motor IV (111) and the bearing frame (106), the two driving wheels are in driving connection through a belt (112), the belt (112) is arranged along an X axis, and a baffle II (110) for pushing plates is connected to the belt (112);
the frame (101) is connected with a first bracket (104) and a second bracket (105), and the mobile module (2) is erected between the first bracket (104) and the second bracket (105);
the adjusting assembly (3) comprises an adjusting table (302) provided with a second base (301), a sliding plate (304) and a second screw rod (306), wherein the adjusting table (302) is connected with an installing seat (303), the installing seat (303) is rotationally connected with the second screw rod (306), the other end of the second screw rod (306) is in driving connection with a first motor (305), and the first motor (305) is arranged on the adjusting table (302);
the second screw rod (306) is arranged along the Y-axis direction, the second screw rod (306) is connected with the sliding plate (304) through the second sliding block, the sliding plate (304) is connected with the adjusting table (302) in a sliding mode through the sliding plate (307), and the sliding plate (304) is connected with the feeding assembly (4).
2. The multi-axis co-moving punch press device according to claim 1, wherein the feeding assembly (4) comprises a workbench (401) and a plurality of transport roller sets (402) distributed on the workbench (401), each transport roller set (402) comprises an upper rubber roller and a lower rubber roller for clamping and transporting a plate material, the upper rubber roller is provided with an adjusting piece (407), and the workbench (401) is also provided with a driving piece (408) for driving the transport roller sets (402);
the workbench (401) is divided into a material conveying area and a working area, the material conveying area corresponds to the position of the output end of the feeding machine (100), and processing equipment is arranged beside the working area;
the workbench (401) is provided with a first detection part (405) in a material conveying area through a second vertical rod (403) and a mounting plate (404), and the workbench (401) is provided with a second detection part (406) in the working area.
3. The multi-axis cooperative motion punching device according to claim 1, wherein a first base (102) is installed at the bottom of the frame (101), a receiving frame (106) is installed on the frame (101), a bottom plate (107) is connected to the receiving frame (106), and a plurality of balls (108) distributed in an array are installed on the bottom plate (107);
a through groove is formed in the position, corresponding to the second baffle plate (110), of the bottom plate (107), the second baffle plate (110) is positioned above the bottom plate (107), and the first baffle plate (109) is further connected to the bottom plate (107);
the machine frame (101) is located the side of accepting frame (106) and is connected with bracing piece (103) that are used for accepting panel, the opposite both ends of machine frame (101) are connected with support one (104) and support two (105) that are used for erectting mobile module (2) respectively.
4. A multi-axis cooperative motion punching device according to claim 1 or 3, wherein the moving module (2) comprises a first connecting rod (205) and a second connecting rod (206) which are erected between a first bracket (104) and a second bracket (105), sliding strips (208) are arranged on the first connecting rod (205) and the second connecting rod (206), a first mounting frame (209) is connected between the first connecting rod (205) and the second connecting rod (206), the first mounting frame (209) is in sliding connection with the first connecting rod (205) and the second connecting rod (206) through the sliding strips (208), a rack (207) is arranged on the second connecting rod (206), a second motor (214) is arranged on the first mounting frame (209), and a first gear meshed with the rack (207) is arranged on an output shaft of the second motor (214);
the device comprises a first mounting frame (209), a second mounting frame (211) and a first sliding block (215), wherein the first mounting frame (209) is provided with a first drag chain (210) along the Y-axis direction and a second drag chain (211) along the Z-axis direction, the first mounting frame (209) is provided with the first sliding block (215), the first sliding block (215) is in threaded connection with a first screw rod (212), the two sides of the first mounting frame (209) positioned on the first screw rod (212) are respectively and slidably connected with a first vertical rod (201) which is distributed relatively, and the bottom of the first vertical rod (201) is provided with a material sucking component;
the top of mounting bracket one (209) is loaded with the fixed plate, the fixed plate is erect on the frame and is equipped with motor three (217), is connected with respectively on the one end of drive shaft and screw rod one (212) of motor three (217) and mutually supporting gear two (216), is connected through the track drive between two gears two (216).
5. The multi-axis cooperative motion punching device according to claim 1, wherein the material sucking component comprises a mounting frame two (213) and a reinforcing rod (202), the reinforcing rod (202) is connected with a vertical rod one (201) through the mounting frame two (213), the reinforcing rod (202) is connected with a plurality of transverse plates (203) distributed in an array, and suction cups (204) for sucking materials are respectively arranged at two ends of the transverse plates (203).
6. The multi-axis cooperative motion punching device according to claim 1, further comprising a receiving mechanism (5), wherein the receiving mechanism (5) is located beside a working area of the feeding assembly (4), the receiving mechanism (5) comprises a main frame (501) and a drainage plate (503), a storage rack (502) is connected to the side of the main frame (501), one end of the top of the main frame (501) is hinged with the drainage plate (503), the other end of the top of the main frame is connected with a supporting plate (505) for supporting the drainage plate (503), the drainage plate (503) is obliquely arranged, and the storage rack (502) is located at the low end side of the drainage plate (503);
a supporting piece (504) for supporting the drainage plate (503) is installed on the main frame (501), the supporting piece (504) and the supporting plate (505) are oppositely arranged, and the supporting piece (504) is located on one side, hinged to the drainage plate (503), of the main frame (501).
7. A synchronous feeding method of a multi-axis cooperative punch device, which is realized by the multi-axis cooperative punch device according to any one of claims 1 to 6, and is characterized in that a feeding assembly (4) of a feeder (200) moves along a Y axis according to requirements of processing equipment, so that when the processing equipment processes a plate on a workbench (401), a moving module (2) of the feeder (100) drives the plate to move along the Y axis and the Y axis of the feeding assembly (4) to realize synchronous movement, and the plate is accurately conveyed to the feeding assembly (4).
8. The method for synchronously feeding the punch device with the multi-axis cooperative motion according to claim 7, which is characterized by comprising the following steps:
the feeding machine (100) and the feeding machine (200) respectively perform zero returning operation and move to the set initial positions;
the feeding machine (100) drives the material sucking component to move along the Y axis and the Z axis through the moving module (2), and sucks the plate on the frame (101) through the sucking disc (204) to wait for feeding to the feeding machine (200);
the movement of the moving module (2) along the Y axis is controlled to cooperate with the movement of the feeding assembly (4) along the Y axis, and the plates are accurately transmitted to a transportation area of the workbench (401) at proper time;
the movable module (2) exits and cooperates with the movement of the feeding component (4) to move to the initial position again for taking the materials next time;
the feeding assembly (4) conveys the plate to a working area through the conveying roller set (402), and the position of the workbench (401) is adjusted through the driving of the conveying roller set (402) and the screw rod II (306) according to the requirements of processing equipment;
after finishing the processing of the plates in the working area, moving out, and waiting for the transport area to transport the plates to be processed to the working area;
the specific process of controlling the movement of the moving module (2) along the Y axis and the movement of the feeding assembly (4) along the Y axis to accurately transfer the plate to the transportation area of the workbench (401) in time is as follows:
acquiring coordinates of the movable module (2) and the workbench (401) in the Y-axis direction;
calculating the relative position difference of the movable module (2) in the Y-axis direction of the workbench (401);
the movable module (2) and the workbench (401) are controlled to move in the same direction and at the same speed;
the compensation motion is overlapped when the movable module (2) moves synchronously with the workbench (401) along the Y axis, and the compensation motion is used for compensating the relative position difference between the movable module (2) and the workbench (401);
judging whether the relative position difference is equal to 0;
if the relative position difference is not equal to 0, continuously acquiring the coordinates of the movable module (2) and the workbench (401) in the Y-axis direction, calculating the relative position difference, controlling the movable module (2) and the workbench (401) to synchronously move along the Y-axis direction and superposing and compensating movement until the relative position difference is 0;
if the relative position difference is equal to 0, the coordinates of the movable module (2) and the workbench (401) on the Y axis are consistent, the movable module (2) and the workbench (401) move in the same direction and at the same speed, and feeding is started.
9. A control system for multi-axis cooperative motion, comprising an application layer, a real-time operating system, a driving layer and a hardware layer, wherein the application layer is used for realizing the synchronous feeding method of the punch device for multi-axis cooperative motion according to any one of claims 7 to 8.
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