CN117583492A - Automatic workpiece taking method and equipment for metal plate thermoforming - Google Patents
Automatic workpiece taking method and equipment for metal plate thermoforming Download PDFInfo
- Publication number
- CN117583492A CN117583492A CN202311662697.4A CN202311662697A CN117583492A CN 117583492 A CN117583492 A CN 117583492A CN 202311662697 A CN202311662697 A CN 202311662697A CN 117583492 A CN117583492 A CN 117583492A
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- 239000002184 metal Substances 0.000 title claims abstract description 68
- 238000003856 thermoforming Methods 0.000 title claims abstract description 32
- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000000605 extraction Methods 0.000 claims abstract description 13
- 230000005540 biological transmission Effects 0.000 claims description 15
- 230000033001 locomotion Effects 0.000 claims description 14
- 230000001681 protective effect Effects 0.000 claims description 11
- 239000011521 glass Substances 0.000 claims description 10
- 239000000463 material Substances 0.000 claims description 7
- 230000001133 acceleration Effects 0.000 claims description 3
- 239000007769 metal material Substances 0.000 claims description 3
- 238000009413 insulation Methods 0.000 abstract description 3
- 230000009471 action Effects 0.000 description 7
- 230000008569 process Effects 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 210000000080 chela (arthropods) Anatomy 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
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
- 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
- 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
- B21D43/003—Positioning devices
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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
- B21D55/00—Safety devices protecting the machine or the operator, specially adapted for apparatus or machines dealt with in this subclass
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of thermoforming, in particular to an automatic part taking method and equipment for thermoforming a metal plate, comprising the following steps: reserving a clamping area and an extracting area on a sheet metal blank; step two: setting operation parameters of automatic pick-up equipment; step three: after the die of the thermoforming machine is opened, lifting the formed plate to a specified position; step four: the automatic pick-up device operates according to the set operation parameters, aligns the clamping area of the formed plate and clamps the formed plate; placing the clamped formed plate to a designated position; step five: repeating the steps until all the sheet metal blanks are processed and placed at the designated positions. Compared with the traditional manual workpiece taking method and equipment, the automatic workpiece taking method and equipment have the advantages that the heat insulation protection structure is provided, and labor intensity and potential safety hazards are reduced. Proper clamping areas and extraction areas can be reserved according to the shape and the attribute of the metal plate, so that the stability and the reliability of clamping and extraction are ensured.
Description
Technical Field
The invention relates to the technical field of thermoforming, in particular to an automatic pick-up method and equipment for thermoforming a metal plate.
Background
Sheet metal thermoforming is a process in which a sheet metal is heated to a high temperature and then formed in a mold. The metal sheet thermoforming requires high-temperature heating equipment and a high-precision die, and has complex process flow and severe working environment.
At present, the hot forming of sheet metal takes the piece work to be accomplished by the manual work mainly, and the workman needs to wear protective clothing, separates part and mould earlier, and the reuse long pincers takes out the part. This approach has the following problems:
the speed of manually taking the workpiece is low, the time of the process flow is prolonged, and the production efficiency is reduced; moreover, the proper strength of the manual workpiece taking cannot be ensured, and the yield of the parts can be influenced.
The safety of manual picking is poor, workers need to approach high-temperature parts and dies, and scalding or other injuries are easy to cause;
therefore, how to better complete the workpiece taking operation of the sheet metal thermoforming to solve the above-mentioned problems is a technical problem that needs to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to provide an automatic workpiece taking method and equipment for metal plate thermoforming, compared with the traditional manual workpiece taking method, the automatic workpiece taking equipment for metal plate thermoforming has the advantages that the heat insulation protection is realized, the safety of workers is ensured, meanwhile, the mechanical automation degree of the automatic workpiece taking method for metal plate thermoforming is high, the time of a process flow is saved, and the production efficiency is improved; the manual mode of getting in the prior art is avoided, the speed is slow, and the technical problem of potential safety hazard exists because the temperature of the part is still very high.
In order to achieve the above purpose, the present invention adopts the following specific technical scheme: an automatic pick-up method for hot forming of metal plates, comprising the following steps:
step one: reserving a clamping area and an extracting area on a sheet metal blank;
step two: setting operation parameters of automatic pick-up equipment;
step three: after the die of the thermoforming machine is opened, lifting the formed plate to a specified position;
step four: the automatic pick-up device operates according to the set operation parameters, aligns the clamping area of the formed plate and clamps the formed plate; placing the clamped formed plate to a designated position;
step five: repeating the steps until all the sheet metal blanks are processed and placed at the designated positions.
Further, in the first step, the size of the reserved area of the metal plate blank is different according to the material property and the shape, wherein the area calculation formula of the extraction area is as follows: s1=abcρg/2σa, the clamping area calculation formula: s=abcρg/σa; wherein a, b and c are the length, width and thickness of the sheet metal blank respectively, ρ is the density of the sheet metal blank, g is the gravitational acceleration constant 9.8N/kg, and σA is the elastic limit stress of the metal material of the sheet metal blank.
An automatic pick-up apparatus for sheet metal thermoforming comprising: the machine comprises a machine body assembly, a mold assembly, a mechanical clamp, a moving platform, a bracket assembly, an operation panel and a protective cover;
the machine body assembly is used as a main body supporting structure, and a moving structure is arranged at the bottom of the machine body;
the die assembly is used for carrying out hot forming on the metal plate and lifting the formed metal plate;
the mechanical clamp is used for clamping and placing the formed metal plate; the mechanical clamp is fixed on the mobile platform;
the mobile platform is connected to the machine body assembly and used for adjusting the positions of the mechanical clamp in the vertical and horizontal transverse directions;
the bracket component is fixedly connected to one side, close to the mechanical clamp, of the machine body and the bracket component; the bracket component is positioned below the mechanical clamp and is used for bearing and placing the formed metal plate;
the operation panel is used for controlling the operation of the automatic pick-up equipment; the operation panel is fixedly connected to one side of the machine body and one side of the assembly, which is far away from the mechanical clamp;
the protective cover plays a protective role and is fixedly connected to one side, far away from the mechanical clamp, of the machine body assembly.
Further, the die assembly comprises an upper die, a lower die, a U-shaped groove and a lifting frame; the U-shaped grooves are respectively and fixedly connected to two sides of the upper die; and two U-shaped grooves are respectively clamped with a lifting frame, and the lifting frame is rectangular and can be matched with the extraction area of the formed plate and used for lifting the formed plate to expose the clamping area of the formed plate.
Further, the mobile platform comprises two groups of guide wheels, a cross beam, two guide posts, a horizontal guide stud, a screw block and a drive C; a group of guide wheels are respectively fixed at two ends of the cross beam, and the corresponding machine body component is provided with matched guide grooves; a horizontal guide stud and two guide posts are fixed on one side of the cross beam far away from the machine body assembly in parallel; the driving C is coaxially fixed at one end of the horizontal guide stud; the screw block is in sliding connection with the two guide posts while being in threaded connection with the horizontal guide stud.
Further, the mechanical clamp comprises a telescopic arm, a drive A, a drive B and a manipulator;
the telescopic arm is fixed on a screw block of the mobile platform, and the drive A is connected with the telescopic arm and drives the telescopic arm to do telescopic motion;
the manipulator is fixed at one end of the telescopic arm far away from the machine body component; the driving B is connected with the manipulator and drives the manipulator to clamp or unclamp.
Further, the bracket assembly comprises a tray bracket, a tray and a fixed bracket; the fixed bracket is vertically fixed on the machine body component; a chute is formed in the fixed support; one end of the tray support is clamped in the sliding groove and is in sliding connection with the sliding groove, and the other end of the tray support is fixedly connected with the tray; the tray support has a degree of freedom in a vertical direction.
Further, the machine body assembly comprises a machine body, a vertical guide stud, a universal wheel, a fixing wheel and a drive D; the two vertical guide studs are respectively fixed on two sides of the machine body; the vertical guide stud is vertically arranged and fixed in a key slot arranged on the machine body, the vertical guide stud has a degree of freedom of rotation, a driven gear is fixed at the bottom of the vertical guide stud, and the driving D is matched and driven with the driven gear at the bottom of the vertical guide stud through a transmission gear; the machine body is provided with a guide groove and is matched with a guide wheel of the mobile platform to provide guide for vertical movement of the mobile platform, the vertical guide studs are connected with the mobile platform through threads to provide power for movement of the mobile platform in the vertical direction, and the bottom of the machine body is provided with a moving structure; the moving structure is respectively provided with two universal wheels and two fixing wheels.
Furthermore, the protective cover is made of heat-insulating glass, a screw hole is formed in the protective glass, and the heat-insulating glass is fixed to the machine body through a screw.
Further, the drive C and the drive D are servo motors, and the operation of the drive C and the drive D is controlled through the operation panel.
The beneficial effects are that:
compared with the traditional manual workpiece taking method and equipment, the automatic workpiece taking method and equipment have the heat insulation protection structure, and can effectively block heat emitted during furnace opening, so that the protection of workers is improved; the cost and risk of manual operation can be reduced, and the labor intensity and potential safety hazard are reduced;
the automatic picking method and the automatic picking equipment can reserve a proper clamping area and a proper picking area according to the shape and the attribute of the metal plate, ensure the stability and the reliability of clamping and picking, and do not influence the appearance and the function of the formed plate;
compared with the traditional manual workpiece taking method, the automatic workpiece taking method and equipment provided by the invention have the advantages that the mechanical automation degree is high, the accuracy in the workpiece taking link is higher, and the higher yield of the parts is ensured; the time of the process flow is saved, and the production efficiency is improved.
Drawings
FIG. 1 is a schematic view of the overall structure of the automatic picking device disclosed by the invention;
FIG. 2 is a schematic view of the structure of the automatic picking device disclosed by the invention;
FIG. 3 is a schematic view of the structure of a fuselage assembly of the automatic picking apparatus of the present disclosure;
FIG. 4 is a schematic view of the structure of the mobile platform and the mechanical gripper of the automatic picking device disclosed by the invention;
FIG. 5 is a schematic view of the mechanical gripper of the automatic picking apparatus of the present disclosure;
FIG. 6 is a schematic view of the structure of a manipulator of the automatic picking apparatus disclosed in the present invention;
FIG. 7 is a cross-sectional view of a robot of the automatic picking apparatus of the present disclosure;
FIG. 8 is a schematic view of the structure of a mobile platform of the automatic picking device disclosed by the invention;
FIG. 9 is a schematic structural view of a carriage assembly of the automatic picking apparatus of the present disclosure;
fig. 10 is a schematic structural view of a mold assembly of the automatic taker-side apparatus of the present disclosure.
The reference numerals in the drawings:
1. a fuselage assembly; 11. a body; 12. a vertical guide stud; 13. a universal wheel; 14. a steering wheel; 15. driving D;
2. a mold assembly; 21. an upper die; 22. a lower die; a u-shaped slot; 24, lifting a piece frame;
3. a mechanical clamp; 31. a telescoping arm; 32. driving A;33. driving B;34. a manipulator; 341. a fixing seat; 342. a transmission rod; 343. two-way connection; 344. a four bar linkage structure; 345. a chuck;
4. a mobile platform; 41. a guide wheel; 42. a cross beam; 43. a guide post; 44. a horizontal guide stud; 45. a screw block; 46. driving C;
5. a bracket assembly; 51. a tray support; 52. a tray; 53. a fixed bracket;
6. an operation panel.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limiting the invention.
Referring to fig. 1-10, an automatic pick-up method for sheet metal thermoforming includes:
step one: firstly, reserving a clamping area and an extracting area on a sheet metal blank; the clamping area is used for clamping the formed metal plate by the mechanical clamp 3, and the extracting area is used for extracting the formed metal plate by the die assembly 2;
step two: setting operation parameters of the automatic pick-up device through the operation panel 6; the device comprises a vertical moving distance of a moving platform 4, a horizontal moving distance of a machine body assembly 1, a telescopic length of a telescopic arm 31 and clamping force of a manipulator 34;
step three: after thermoforming, when the upper die 21 and the lower die 22 of the thermoforming machine are opened, the formed plate is lifted to a specified position by the die assembly 2, and the die assembly 2 comprises the upper die 21, the lower die 22, the U-shaped groove 23 and the lifting frame 24; the U-shaped groove 23 is fixedly connected with two sides of the upper die 21 respectively; a lifting frame 24 is clamped in each of the two U-shaped grooves 23, the lifting frame 24 is a rectangular frame body, and can be matched with the extraction area of the formed plate, so that the clamping area of the formed plate is exposed, and the formed plate is lifted to a specified position through the die assembly 2; the clamping of the mechanical clamp 3 is facilitated;
step four: the automatic pick-up device controls the movement of the moving platform 4, the machine body component 1 and the mechanical clamp 3 according to the set operation parameters, so that the mechanical clamp 3 is aligned with the clamping area of the formed plate, and the formed plate is clamped; and placing the gripped formed sheet material onto the bracket assembly 5;
step five: the automatic take-off device repeats the above steps until all the formed sheet material is taken out and placed on the carriage assembly 5, or the operator stops the operation of the automatic take-off device by the operation panel 6.
Further, in the first step, the size of the reserved area of the metal plate blank is different according to the material property and the shape, wherein the area calculation formula of the extraction area is as follows: s1=abcρg/2σa, the clamping area calculation formula: s=abcρg/σa; wherein a, b and c are the length, width and thickness of the sheet metal blank respectively, ρ is the density of the sheet metal blank, g is the gravitational acceleration constant 9.8N/kg, and σA is the elastic limit stress of the metal material of the sheet metal blank; and the calculated areas are the minimum reserved areas which do not affect the shaping of the plate.
Referring to fig. 1-2, an automatic take-out apparatus for sheet metal thermoforming includes: the machine comprises a machine body assembly 1, a die assembly 2, a mechanical clamp 3, a movable platform 4, a bracket assembly 5, an operation panel 6 and a protective cover 7;
the body component 1 is used as a main body supporting structure, and a moving structure is arranged at the bottom of the body 11; the moving structure is used for realizing horizontal movement of the automatic pick-up equipment;
the die assembly 2 is used for carrying out thermoforming on the metal plate, lifting the formed metal plate to a designated position, exposing a clamping area of the formed plate, and facilitating clamping of the mechanical clamp 3;
the mechanical clamp 3 is used for clamping and placing the formed metal plate; the mechanical clamp 3 is fixed on the mobile platform 4;
the mobile platform 4 is connected to the body assembly 1 and is used for adjusting the position of the mechanical clamp 3 in the vertical direction and the horizontal direction;
the bracket component 5 is fixedly connected to one side of the machine body 11 and the component thereof, which is close to the mechanical clamp 3; a bracket assembly 5 is positioned below the mechanical clamp 3 and is used for bearing and placing the formed metal sheet;
the operation panel 6 is used for controlling the operation of the automatic pick-up equipment; the operation panel 6 is fixedly connected to one side of the machine body 11 and the component far away from the mechanical clamp 3; the operation panel 6 is used for controlling the operation of the automatic picking equipment and realizing the operation and the monitoring of the automatic picking equipment.
The protection cover 7 is a part with a protection effect and is made of heat-insulating glass, the protection area is 1800 multiplied by 2400, the protection cover 7 is fixedly connected to one side, far away from the mechanical clamp 3, of the machine body assembly 1, and the protection cover 7 is used for preventing the thermoformed metal plate from damaging operators and guaranteeing the safety of the operators.
Further, referring to fig. 1 and 10, the die assembly 2 includes an upper die 21 and a lower die 22, the upper die 21 and the lower die 22 are used for performing hot forming on a sheet metal blank, and the upper die 21 and the lower die 22 can be opened and closed to achieve pressing and releasing of the sheet metal blank. The U-shaped groove 23 is a U-shaped groove body, the U-shaped groove 23 is provided with two groove bodies which are respectively and fixedly connected with the two sides of the upper die, a lifting frame 24 is clamped in each U-shaped groove 23, the lifting frame 24 is a rectangular frame body, lifting steps are arranged at the positions where the lifting frame 24 contacts with the extraction areas of the formed plates, the extraction areas of the formed plates are lapped on the lifting steps, the distance between the two U-shaped grooves 23 in a preferred embodiment can be adjusted, and the distance between the corresponding two lifting frames 24 can be changed along with the change of the distance between the two U-shaped grooves 23, so that the lifting steps and the extraction areas of the formed plates can be lapped together without interference; can be matched with the extraction area of the formed plate to realize the extraction of the formed plate. The die assembly 2 is operative to thermoform a sheet metal blank and to lift the formed sheet metal to a designated position to expose a clamping area of the formed sheet metal for clamping by the mechanical clamp 3.
Further, the moving platform 4 comprises two groups of guide wheels 41, a cross beam 42, two guide posts 43, a horizontal guide stud 44, a screw block 45 and a drive C46; the guide wheels 41 are divided into four groups which are symmetrically formed; a group of guide wheels 41 are respectively fixed at two ends of the cross beam 42, and matched guide grooves are arranged on the corresponding body assembly 1 to provide guide for the vertical movement of the mobile platform 4; a horizontal guide stud 44 and two guide posts 43 are fixed on one side of the cross beam 42 away from the fuselage assembly 1 in parallel with each other; the driving C46 is coaxially fixed at one end of the horizontal guide stud 44; the screw block 45 is in sliding connection with the two guide posts 43 while being in threaded connection with the horizontal guide studs 44; the drive C46 drives the horizontal guide studs 44 to rotate, thereby driving the screw blocks 45 to slide along the two guide posts 43.
Further, referring to fig. 4-7, the mechanical gripper 3 includes a telescopic arm 31, a drive a32, a drive B33, and a manipulator 34;
the telescopic arm 31 is fixed on a screw block 45 of the mobile platform 4, and the drive A32 is connected with the telescopic arm 31 and drives the telescopic arm 31 to do telescopic motion; the mechanical clamp 3 can move back and forth;
the manipulator 34 is fixed at one end of the telescopic arm 31 far away from the body assembly 1; the driving B33 is connected with the manipulator 34 and drives the manipulator 34 to clamp or unclamp;
the manipulator 34 comprises a fixed seat 341, a transmission rod 342, a two-way connection 343, two four-bar structures 344 and two chucks 345; the fixed seat 341 is fixed on the telescopic arm 31 as a supporting structure of the manipulator 34; one end of the transmission rod 342 is connected with the drive B33, and the other end is connected with the bidirectional connection 343; the middle part of the two-way connection 343 is connected with the transmission rod 342, and two ends of the two-way connection 343 are respectively hinged with the two four-bar structures 344; the two clamping heads 345 are respectively fixed on two four-bar structures 344; when in use, the B33 is driven to drive the transmission rod 342 to move; the transmission rod 342 drives the two-way connection 343, the two-way connection 343 drives the two four-bar structure 344, and finally drives the two chucks 345 to finish clamping or loosening actions; in use, the chuck 345 is provided with a pressure sensor, and the output power of the drive B33 can be controlled through the operation panel 6 so as to control the clamping force of the manipulator 34, thereby preventing the formed plate from being damaged by excessive clamping force.
Further, referring to fig. 9, the tray assembly 5 includes a tray support 51, a tray 52, and a fixing support 53; the fixed bracket 53 is vertically fixed on the body assembly 1; the fixed bracket 53 is provided with a chute for guiding the sliding of the tray bracket 51; one end of the tray support 51 is clamped in the chute and is in sliding connection with the chute, and the other end of the tray support is fixedly connected with the tray 52; the tray support 51 has a degree of freedom in the vertical direction, and can be lifted and lowered by the tray 52. In this embodiment, the tray support 51 has a multi-link structure, and the multi-link structure can be lifted along the chute under the drive of an external power source, so as to drive the lifting of the tray 52; the tray 52 has a maximum part area of 340 x 530 and a maximum part mass of 10Kg.
Further, referring to fig. 1-3, the fuselage assembly 1 includes a fuselage 11, vertical guide studs 12, universal wheels 13, steering wheels 14, and a drive D15; the vertical guide studs 12 are respectively fixed on two sides of the machine body 11; the vertical guide stud 12 is vertically arranged and fixed in a key slot arranged on the machine body 11, the vertical guide stud 12 has the degree of freedom of rotation, a driven gear is fixed at the bottom of the vertical guide stud 12, and a drive D15 is matched and driven with the driven gear at the bottom of the vertical guide stud 12 through a transmission gear; the driven gear and the driving gear are mutually perpendicular in axial direction, the driven gear and the driving gear in the embodiment are bevel gears which are mutually perpendicular, and are meshed for transmission, and because two vertical guide studs 12 are provided, the number of corresponding driven gears and driving gears is two; the two transmission gears are coaxially fixed on one gear shaft, and the driving D15 is connected with the gear shaft and transmits power to the two transmission gears through the gear shaft; thereby driving the two driven gears and the vertical guide studs 12 to synchronously rotate; the machine body 11 is provided with a guide groove and is matched with a guide wheel 41 of the mobile platform 4 to provide guide for the vertical movement of the mobile platform 4, the vertical guide studs 12 are connected with the mobile platform 4 through threads to provide power for the movement of the mobile platform 4 in the vertical direction, and the vertical movement range of the mobile platform 4 is 0-2000mm; the bottom of the machine body 11 is provided with a moving structure for realizing the horizontal movement of automatic interval equipment, the moving structure comprises two universal wheels 13 and two fixed direction wheels 14, the moving structure is provided with a driving structure in actual use, and the driving structure can be controlled to drive the two universal wheels 13 and the two fixed direction wheels 14 to move through the operation panel 6.
Further, the protection casing 7 is made by heat insulating glass, and the size of protection casing 7 is 1800mm 2400mm, is equipped with the screw on the protection glass, is fixed in on the fuselage 11 with heat insulating glass through the screw, and the effect of protection casing 7 is that the sheet metal after preventing thermoforming causes the injury to operating personnel, ensures operating personnel's safety.
Further, both the drive C46 and the drive D15 are servo motors, and the operation of the servo motors is controlled through the operation panel 6; and the maximum angular displacement of the servo motor is set to control the stroke, and when the maximum angular displacement is reached, the servo motor automatically feeds back an electric signal to control the motor to stop rotating.
Further, the operation panel 6 uses the PLC as a total data processor, is provided with two modes of high-speed large-stroke adjustment and low-speed fine adjustment, and can work in different modes according to different working conditions.
The working principle of the invention is as follows:
the automatic picking device of the invention can automatically pick the parts by setting specific operation parameters through the operation panel 6 in advance, and the working principle and flow of the invention are described below by step-by-step operation.
When the automatic workpiece taking equipment performs workpiece taking action, firstly, the operation panel 6 controls the driving D15, the driving D15 drives the vertical guide stud 12 to rotate through a transmission gear, the vertical guide stud 12 drives the moving platform 4 to move in the vertical direction through threads so as to align the mechanical clamp 3 with the clamping area of the formed plate, then the operation panel 6 controls the driving C46, the driving C46 drives the screw 45 to move in the transverse direction through the vertical guide stud 12 so as to enable the mechanical clamp 3 to coincide with the clamping area of the formed plate, the operation panel 6 controls the driving A32, the driving A32 drives the telescopic arm 31 to extend so as to enable the mechanical arm 34 to contact with the clamping area of the formed plate, and finally the operation panel 6 controls the driving B33, and the driving B33 drives the mechanical arm 34 to clamp the clamping area of the formed plate, so that clamping action is completed. After the automatic picking device finishes the clamping action, the operation panel 6 controls the drive A32, the drive A32 drives the telescopic arm 31 to retract, the manipulator 34 takes the formed plate out of the lifting frame 24, then the operation panel 6 controls the drive C46, the drive C46 drives the screw block 45 to transversely move through the horizontal guide stud 44, the manipulator 34 moves the formed plate above the bracket assembly 5, the operation panel 6 controls the drive B33, the drive B33 drives the manipulator 34 to loosen the clamping area of the formed plate, and the formed plate is placed on the tray 52 to finish the placing action. After the automatic workpiece taking equipment finishes the placing action, the operation panel 6 controls the driving D15, the driving D15 drives the vertical guide stud 12 to rotate through the transmission gear, and the vertical guide stud 12 drives the movable platform 4 to move in the vertical direction through threads, so that the mechanical clamp 3 returns to the initial position and waits for the next workpiece taking action.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
While embodiments of the present invention have been illustrated and described above, it will be appreciated that the above described embodiments are illustrative and should not be construed as limiting the invention. Variations, modifications, alternatives and variations of the above-described embodiments may be made by those of ordinary skill in the art within the scope of the present invention.
The above embodiments of the present invention do not limit the scope of the present invention. Any other corresponding changes and modifications made in accordance with the technical idea of the present invention shall be included in the scope of the claims of the present invention.
Claims (10)
1. An automatic picking method for thermoforming a metal plate is characterized by comprising the following steps:
step one: reserving a clamping area and an extracting area on a sheet metal blank;
step two: setting operation parameters of automatic pick-up equipment;
step three: after the die of the thermoforming machine is opened, lifting the formed plate to a specified position;
step four: the automatic pick-up device operates according to the set operation parameters, aligns the clamping area of the formed plate and clamps the formed plate; placing the clamped formed plate to a designated position;
step five: repeating the steps until all the sheet metal blanks are processed and placed at the designated positions.
2. The automatic picking method for sheet metal thermoforming of automatic picking method according to claim 1, wherein: in the first step, the size of the reserved area of the sheet metal blank is different according to the material property and the shape, wherein the area calculation formula of the extraction area is as follows: s1=abcρg/2σa, the clamping area calculation formula: s=abcρg/σa; wherein a, b and c are the length, width and thickness of the sheet metal blank respectively, ρ is the density of the sheet metal blank, g is the gravitational acceleration constant 9.8N/kg, and σA is the elastic limit stress of the metal material of the sheet metal blank.
3. An automatic picking apparatus for sheet metal thermoforming applied to the automatic picking method of any one of claims 1 or 2, comprising: the machine comprises a machine body assembly (1), a die assembly (2), a mechanical clamp (3), a movable platform (4), a bracket assembly (5), an operation panel (6) and a protective cover (7);
the machine body assembly (1) is used as a main body supporting structure, and a moving structure is arranged at the bottom of the machine body (11);
the die assembly (2) is used for carrying out hot forming on the metal plate and lifting the formed metal plate;
the mechanical clamp (3) is used for clamping and placing the formed metal plate; the mechanical clamp (3) is fixed on the mobile platform (4);
the mobile platform (4) is connected to the machine body assembly (1) and is used for adjusting the position of the mechanical clamp (3) in the vertical and horizontal transverse directions;
the bracket component (5) is fixedly connected to the machine body (11) and one side, close to the mechanical clamp (3), of the component; the bracket assembly (5) is positioned below the mechanical clamp (3) and is used for bearing and placing the formed metal sheet;
the operation panel (6) is used for controlling the operation of the automatic pick-up equipment; the operation panel (6) is fixedly connected to one side of the machine body (11) and one side of the assembly, which is far away from the mechanical clamp (3);
the protective cover (7) plays a role in protection and is fixedly connected to one side, far away from the mechanical clamp (3), of the machine body assembly (1).
4. An automatic sheet metal thermoforming apparatus as claimed in claim 3, wherein: the die assembly (2) comprises an upper die (21), a lower die (22), a U-shaped groove (23) and a lifting frame (24); the U-shaped grooves (23) are respectively and fixedly connected to two sides of the upper die; and a lifting frame (24) is clamped in each of the two U-shaped grooves (23), and the lifting frame (24) is a rectangular frame body, can be matched with the extraction area of the formed plate and is used for lifting the formed plate to expose the clamping area of the formed plate.
5. The automatic take-out apparatus for sheet metal thermoforming of claim 4, wherein: the mobile platform (4) comprises two groups of guide wheels (41), a cross beam (42), two guide posts (43), a horizontal guide stud (44), a screw block (45) and a drive C (46); a group of guide wheels (41) are respectively fixed at two ends of the cross beam (42), and corresponding guide grooves are formed in the machine body assembly (1); a horizontal guide stud (44) and two guide posts (43) are fixed on one side of the cross beam (42) far away from the machine body assembly (1) in parallel; the driving C (46) is coaxially fixed at one end of the horizontal guide stud (44); the screw block (45) is in sliding connection with the two guide posts (43) while being in threaded connection with the horizontal guide studs (44) at the same time.
6. The automatic take-out apparatus for sheet metal thermoforming of claim 5, wherein: the mechanical clamp (3) comprises a telescopic arm (31), a drive A (32), a drive B (33) and a manipulator (34);
the telescopic arm (31) is fixed on a screw block (45) of the mobile platform (4), and the driving A (32) is connected with the telescopic arm (31) and drives the telescopic arm (31) to do telescopic motion;
the manipulator (34) is fixed at one end of the telescopic arm (31) far away from the machine body assembly (1); the driving B (33) is connected with the manipulator (34) and drives the manipulator (34) to clamp or unclamp.
7. An automatic sheet metal thermoforming apparatus as claimed in claim 5, wherein: the bracket assembly (5) comprises a tray bracket (51), a tray (52) and a fixed bracket (53); the fixed support (53) is vertically fixed on the machine body assembly (1); a chute is formed in the fixed support (53); one end of the tray support (51) is clamped in the sliding groove and is in sliding connection with the sliding groove, and the other end of the tray support is fixedly connected with the tray (52); the tray support (51) has a degree of freedom in the vertical direction.
8. The automatic take-out apparatus for sheet metal thermoforming of claim 7, wherein: the machine body assembly (1) comprises a machine body (11), a vertical guide stud (12), a universal wheel (13), a steering wheel (14) and a drive D (15); the vertical guide studs (12) are respectively fixed on two sides of the machine body (11); the vertical guide stud (12) is vertically arranged and fixed in a key groove arranged on the machine body (11), the vertical guide stud (12) has a degree of freedom of rotation, a driven gear is fixed at the bottom of the vertical guide stud (12), and the driving D (15) is in matched transmission with the driven gear at the bottom of the vertical guide stud (12) through a transmission gear; the machine body (11) is provided with a guide groove and is matched with a guide wheel (41) of the mobile platform (4) to provide guide for vertical movement of the mobile platform (4), the vertical guide studs (12) are connected with the mobile platform (4) through threads to provide power for movement of the mobile platform (4) in the vertical direction, and a moving structure is arranged at the bottom of the machine body (11); the moving structure is respectively provided with two universal wheels (13) and two fixed wheels (14).
9. The automatic take-out apparatus for sheet metal thermoforming of claim 8, wherein: the protective cover (7) is made of heat-insulating glass, screw holes are formed in the protective glass, and the heat-insulating glass is fixed on the machine body (11) through screws.
10. The automatic take-out apparatus for sheet metal thermoforming of claim 9, wherein: the drive C (46) and the drive D (15) are servo motors, and the operation of the drive C (46) and the drive D (15) is controlled through the operation panel (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311662697.4A CN117583492A (en) | 2023-12-06 | 2023-12-06 | Automatic workpiece taking method and equipment for metal plate thermoforming |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311662697.4A CN117583492A (en) | 2023-12-06 | 2023-12-06 | Automatic workpiece taking method and equipment for metal plate thermoforming |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117583492A true CN117583492A (en) | 2024-02-23 |
Family
ID=89919955
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311662697.4A Pending CN117583492A (en) | 2023-12-06 | 2023-12-06 | Automatic workpiece taking method and equipment for metal plate thermoforming |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117583492A (en) |
-
2023
- 2023-12-06 CN CN202311662697.4A patent/CN117583492A/en active Pending
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