CN205253816U - Punch press production line automatic control device - Google Patents
Punch press production line automatic control device Download PDFInfo
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- CN205253816U CN205253816U CN201520914116.6U CN201520914116U CN205253816U CN 205253816 U CN205253816 U CN 205253816U CN 201520914116 U CN201520914116 U CN 201520914116U CN 205253816 U CN205253816 U CN 205253816U
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Abstract
The utility model belongs to the technical field of stamping forming equipment technique and specifically relates to a punch press production line automatic control device, including controller, punching press mechanism and control mechanism, the signal output part of controller is connected with punching press mechanism and control mechanism's signal input part electricity, and punching press mechanism and control mechanism divide into two rows, setting relatively, first row is a punching press mechanism, control mechanism includes six manipulators, control mechanism's input and output signals control end pass through the MII bus and controller electric connection, the input and output signals control end of punching press mechanism with the IO interface electric connection of controller, the manipulator is rotatable, the left and right sides removes and reciprocates, satisfies the demand that the punching press article was collected to the punch press production line, and the controller embeds ethernet interface circuit, and through network communication mode, the punching press refrigerator compressor backup pad of being convenient for integrates into more extensive flexible manufacturing system and thing networking systems, realizes remote control.
Description
Technical field
The utility model relates to punching press shaping equipment technical field, especially a kind of press line automaton.
Background technology
Discontinuous punching production mainly taking artificial loading and unloading and operation lathe as main, there is the problems such as automaticity is low, security incident is many, working environment noise is large, quality stability is not good enough. Constantly soaring impact that is subject to labor cost, objectively also needs to replace artificial automation Advanced Equipment. Present Domestic human cost is constantly soaring, and young labourer is generally unwilling to be engaged in this class work, and labour-intensive punching production is faced with more and more serious recruitment famine. Adopting robot to replace people, traditional punching production technique is improved, is to solve the difficult a kind of important channel with promoting traditional punching press industry technology level of recruitment. There is the six-DOF robot that versatility is good, because price is high, volume is large, locomitivity is more than needed, end effector needs the reasons such as secondary development, is difficult to be applied to the material handling of punching production. On the contrary, design for stamping products process characteristic, there is the Simple mechanical hand of four-degree-of-freedom or five degree of freedom, because the advantages such as cost is low, direct use are favored. Automatic assembly line is moved in existing monoblock type punching press, exists and changes production line difficulty, and the problems such as equipment cost height, are difficult to meet many kinds, the needs of small lot punching production. Multiple degrees of freedom punching press transfer robot can replace people, completes loading and unloading work. The multi-freedom robot that research and development adapt with product Sheet Metal Forming Technology and the Press Automatic Produce Line that coordinates thus the device build such as punch press, can enhance productivity to greatest extent, reduce production costs, Improving The Quality of Products stability, improve punching production environment, improve punching production technique, promote punching production level significant. Adopt the fully-automatic production streamline of robot assisted to be widely used in production in enormous quantities, as automobile frame welding, in these systems, often adopt distributed control model, each object has oneself independently controller, can complete the action of regulation separately. Between object, by certain communication mode network consisting, by carrying out information transmission between host computer and each object, realize the cooperation between multi-robot, tooling device. This pattern is high at requirement of real-time, have advantage in the system of dynamic changeable environment, and system buildup is simple fast, but cost is relatively high, and cooperation difficulty is large. But Work tool, in punching course, is urgently developed a kind of press line automaton at present.
Utility model content
In order to overcome existing above-mentioned deficiency, the utility model provides a kind of press line automaton.
The utility model solves the technical scheme that its technical problem adopts: a kind of press line automaton, comprise controller, punching mechanism and controlling organization, the signal output part of controller is electrically connected with the signal input part of punching mechanism and controlling organization, punching mechanism and controlling organization are divided into two rows, be oppositely arranged, first row is punching mechanism, punching mechanism is arranged in order and is provided with feeder, the first punch press, roll-over table, the second punch press, the 3rd punch press, the 4th punch press and rewinding frame, second row is controlling organization, controlling organization comprises six manipulators, be arranged in order and be provided with the first manipulator, the second manipulator, the 3rd manipulator, the 4th manipulator, the 5th manipulator and the 6th manipulator, the input/output signal control end of controlling organization is electrically connected by M/II bus and controller, the input/output signal control end of punching mechanism and the I/O interface of controller are electrically connected.
According to another embodiment of the present utility model, further comprise that manipulator comprises support, lower plate, upper plate, vavuum pump, bottom rotating mechanism, fuselage reciprocating mechanism, large arm horizontal mobile mechanism, forearm rotating mechanism and hand grapple structure, lower plate is located at the below of support, upper plate is located in lower plate, bottom rotating mechanism is located at the top of upper plate and is fixedly connected with upper plate, fuselage reciprocating mechanism is located at rotating mechanism top, bottom and is fixedly connected with bottom rotating mechanism, large arm horizontal mobile mechanism is fixedly connected with the side of fuselage reciprocating mechanism, forearm rotating mechanism is fixedly connected with large arm horizontal mobile mechanism, hand grapple structure is located on forearm rotating mechanism, support below is provided with heavy pin cup.
According to another embodiment of the present utility model, further comprise that bottom rotating mechanism comprises base rotating servo motor, base reductor, base electrical machinery frame, inductance loop, base shaft coupling, positioning sleeve, sealing shroud, the first felt scraper ring, sealing shroud, the first base bearing, fixed mount, the second base bearing, the 3rd base bearing, cushion collar, the first felt scraper ring and datum axle, base electrical machinery frame is provided with base rotating servo motor and base reductor, base rotating servo motor is connected with base shaft coupling transmission by inductance loop with base reductor, base shaft coupling is connected with the lower end of fixed mount by the first base bearing, the lower end of fixed mount is provided with the second base bearing and the 3rd base bearing successively, the 3rd base bearing is provided with datum axle.
According to another embodiment of the present utility model, further comprise that fuselage reciprocating mechanism comprises fuselage servomotor, fuselage motor plate, fuselage connecting plate, fuselage shaft coupling, fuselage leading screw fixation side supporting seat, fuselage leading screw, fuselage upper plate, fuselage guide-rail plate, fuselage feed screw nut, fuselage nutplate, fuselage support bar, fuselage cushion collar, fuselage guide rail, fuselage leading screw is supported side supporting seat, fuselage side plate, fuselage lower plate and fuselage spline plate, the output shaft of fuselage servomotor and fuselage shaft coupling, fuselage leading screw is connected with fuselage screw nut driven, fuselage feed screw nut and fuselage nutplate, fuselage support bar, fuselage cushion collar is mutually permanently connected, and can move along the fuselage guide rail of both sides, fuselage leading screw is fixedly connected with by the bearing inner race at two ends, bearing outer ring respectively with fuselage upper plate, fuselage lower plate is fixedly connected with.
According to another embodiment of the present utility model, further comprise that large arm horizontal mobile mechanism comprises large arm installing plate, large arm connecting plate, large arm motor plate, large arm driving wheel, large arm Timing Belt, large arm driven pulley, large arm servomotor, large arm leading screw fixation side supporting seat, large arm cushion pad, large arm rotational lead screw, large arm feed screw nut, large arm nutplate, large arm base plate, large arm leading screw is supported side supporting seat, large arm slider frame and large arm stiffener, large arm horizontal mobile mechanism is fixedly connected with fuselage reciprocating mechanism by large arm installing plate, and large arm installing plate is fixedly connected with large arm base plate by large arm connecting plate, large arm driving wheel, large arm Timing Belt and large arm driven pulley are in transmission connection, large arm base plate is provided with large arm leading screw fixation side supporting seat and large arm leading screw is supported side supporting seat, large arm leading screw fixation side supporting seat and large arm leading screw are supported to fix large arm rotational lead screw between side supporting seat, large arm leading screw fixation side supporting seat is by one end of large arm cushion pad and the fixing large arm rotational lead screw of large arm feed screw nut, large arm feed screw nut is provided with large arm nutplate, on large arm base plate, also by the large arm stiffener large arm slider frame that is slidably connected, large arm servomotor is by controlling large arm driving wheel, large arm Timing Belt and the large large arm rotational lead screw of arm driven pulley control relatively move.
According to another embodiment of the present utility model, further comprise that forearm rotating mechanism comprises forearm base plate, forearm link, forearm motor plate, forearm induction cover, the first forearm synchronizing wheel, forearm reductor, forearm servomotor, forearm Timing Belt, forearm guide rail, forearm slider plate and the second forearm synchronizing wheel, forearm base plate is provided with forearm guide rail, forearm rotating mechanism is fixedly connected with arm horizontal mobile mechanism is relative greatly by forearm link, forearm motor plate is provided with forearm reductor and forearm servomotor, the first forearm synchronizing wheel, forearm Timing Belt and the second forearm synchronizing wheel are in transmission connection, forearm reductor and forearm servomotor are by the first forearm synchronizing wheel, forearm Timing Belt, the second forearm synchronizing wheel control forearm slider plate is slided on forearm guide rail.
According to another embodiment of the present utility model, further comprise that hand grapple structure comprises that hand grabs organ sucker, hand is grabbed sucker disk seat, hand is grabbed support arm, hand is grabbed axle, hand is grabbed bearing block, hand is grabbed positioning sleeve, hand is grabbed support arm plate, hand grabs bearing and hand is grabbed axle snap ring, hand grapple structure is located on forearm rotating mechanism, and grab axle by hand and be fixedly connected with forearm rotating mechanism, hand is grabbed axle below and is provided with hand and grabs bearing block, and grab axle snap ring by hand, hand is grabbed bearing block and is grabbed bearing-transmission with hand and be connected, hand is grabbed bearing and is grabbed positioning sleeve by hand and grab support arm with hand and be fixedly connected with, the lower ground that hand is grabbed support arm is provided with hand and grabs support arm plate, the two ends that hand is grabbed support arm are respectively equipped with a hand and grab organ sucker, and grab sucker disk seat by hand and hand is grabbed to organ sucker be fixed on hand and grab on support arm.
According to another embodiment of the present utility model, further comprise that controller is MP2300 controller, built-in basic servo module, expansion servo module, I/O interface circuit and ethernet interface circuit, and described controller is also connected with display module, switch and PC, display module and PC are electrically connected by described switch and controller.
The beneficial effects of the utility model are, based on multiple manipulators of a controller, punch press, the centralized control of roll-over table, arrange by simple station number, controller can be implemented independently to control to different equipment, pulse based on M/II high-speed bus sends, can make manipulator reach the action beat of 8 seconds/time of left and right, and manipulator is rotatable, move left and right and move up and down, meet press line and collect the demand of punching press object, controller onboard ethernet0 interface circuit, pass through network communication mode, be convenient to punching press freezer compressor gripper shoe and incorporate flexible manufacturing system and Internet of things system widely, realize remote control.
Brief description of the drawings
Below in conjunction with drawings and Examples, the utility model is further illustrated.
Fig. 1 is complete machine structure schematic diagram of the present utility model.
Fig. 2 is that punching mechanism of the present utility model and controlling organization are oppositely arranged schematic diagram.
Fig. 3 is robot manipulator structure front view of the present utility model.
Fig. 4 is robot manipulator structure left view of the present utility model.
Fig. 5 is robot manipulator structure top view of the present utility model.
Fig. 6 is base rotating mechanism front view of the present utility model.
Fig. 7 is base rotating mechanism side view of the present utility model.
Fig. 8 is fuselage reciprocating mechanism front view of the present utility model.
Fig. 9 is fuselage reciprocating mechanism side view of the present utility model.
Figure 10 is fuselage reciprocating mechanism top view of the present utility model.
Figure 11 is large arm horizontal mobile mechanism front view of the present utility model.
Figure 12 is large arm horizontal mobile mechanism side view of the present utility model.
Figure 13 is large arm horizontal mobile mechanism top view of the present utility model.
Figure 14 is forearm rotating mechanism front view of the present utility model.
Figure 15 is forearm rotating mechanism side view of the present utility model.
Figure 16 is forearm rotating mechanism top view of the present utility model.
Figure 17 is hand grapple structure front view of the present utility model.
Figure 18 is hand grapple structure top view of the present utility model.
Figure 19 is the control flow chart of a kind of control method of the present utility model.
Figure 20 is the control flow chart that another kind of the present utility model moves the control method of control continuously.
1. heavy pin cups in figure, 2. lower plate, 3. support, 4. upper plate, 5. vavuum pump, 6. bottom rotating mechanism, 7. fuselage reciprocating mechanism, 8. large arm horizontal mobile mechanism, 9. forearm rotating mechanism, 10. hand grapple structure, 11. base rotating servo motors, 12. base reductors, 13. base electrical machinery framves, 14. inductance loops, 15. base shaft couplings, 16. positioning sleeves, 17. sealing shrouds, 18. first felt scraper rings, 19. sealing shrouds, 20. first base bearings, 21. fixed mounts, 22. second base bearings, 23. the 3rd base bearings, 24. cushion collars, 25. first felt scraper rings, 26. datum axles, 27. fuselage servomotors, 28. fuselage motor plates, 29. fuselage connecting plates, 30. fuselage shaft couplings, 31. fuselage leading screw fixation side supporting seats, 32. fuselage leading screws, 33. fuselage upper plates, 34. fuselage guide-rail plates, 35. fuselage feed screw nuts, 36. fuselage nutplate, 37. fuselage support bars, 38. fuselage cushion collars, 39. fuselage guide rails, 40. fuselage leading screws are supported side supporting seat, 41. fuselage side plates, 42. fuselage lower plates, 43. fuselage spline plates, 44. large arm installing plates, 45. large arm connecting plates, 46. large arm motor plates, 47. large arm driving wheels, 48. large arm Timing Belts, 49. large arm driven pulleys, 50. large arm servomotors, 51. large arm leading screw fixation side supporting seats, 52. large arm cushion pads, 53. large arm rotational lead screws, 54. large arm feed screw nuts, 55. large arm nutplate, 56. large arm base plates, 57. large arm leading screws are supported side supporting seat, 58. large arm slider frames, 59. large arm stiffeners, 60. forearm base plates, 61. forearm links, 62. forearm motor plates, 63. forearm induction covers, 64. first forearm synchronizing wheels, 65. forearm reductors, 66. forearm servomotors, 67. forearm Timing Belts, 68. forearm guide rails, 69. forearm slider plate, 70. second forearm synchronizing wheels, 71. hands are grabbed organ sucker, 72. hands are grabbed sucker disk seat, 73. hands are grabbed support arm, 74. paw axles, 75. paw bearing blocks, 76. hands are grabbed positioning sleeve, 77. paw support arm plates, 78. paw bearings, 79. paw axle snap rings.
Detailed description of the invention
As shown in Fig. 1 ~ 20, a kind of press line automaton, comprises controller, punching mechanism and controlling organization, the signal output part of controller is electrically connected with the signal input part of punching mechanism and controlling organization, and punching mechanism and controlling organization are divided into two rows, are oppositely arranged, and first row is punching mechanism, and punching mechanism is arranged in order and is provided with feeder, the first punch press, roll-over table, the second punch press, the 3rd punch press, the 4th punch press and rewinding frame, second row is controlling organization, controlling organization comprises six manipulators, is arranged in order and is provided with the first manipulator, the second manipulator, the 3rd manipulator, the 4th manipulator, the 5th manipulator and the 6th manipulator, the input/output signal control end of controlling organization is electrically connected by M/II bus and controller, and the input/output signal control end of punching mechanism and the I/O interface of controller are electrically connected, and manipulator comprises support 3, lower plate 2, upper plate 4, vavuum pump 5, bottom rotating mechanism 6, fuselage reciprocating mechanism 7, large arm horizontal mobile mechanism 8, forearm rotating mechanism 9 and hand grapple structure 10, lower plate 2 is located at the below of support 3, upper plate 4 is located in lower plate 2, bottom rotating mechanism 6 is located at the top of upper plate 4 and is fixedly connected with upper plate 4, fuselage reciprocating mechanism 7 is located at rotating mechanism 6 tops, bottom and is fixedly connected with bottom rotating mechanism 6, large arm horizontal mobile mechanism 8 is fixedly connected with the side of fuselage reciprocating mechanism 7, forearm rotating mechanism 9 is fixedly connected with large arm horizontal mobile mechanism 8, hand grapple structure 10 is located on forearm rotating mechanism 9, support 3 belows are provided with heavy pin cup 1, for supporting bracket 3. bottom rotating mechanism 6 comprises base rotating servo motor 11, base reductor 12, base electrical machinery frame 13, inductance loop 14, base shaft coupling 15, positioning sleeve 16, sealing shroud 17, the first felt scraper ring 18, sealing shroud 19, the first base bearing 20, fixed mount 21, the second base bearing 22, the 3rd base bearing 23, cushion collar 24, the first felt scraper ring 25 and datum axle 26, base electrical machinery frame 13 is provided with base rotating servo motor 11 and base reductor 12, base rotating servo motor 11 and base reductor 12 are in transmission connection by inductance loop 14 and base shaft coupling 15, base shaft coupling 15 is connected with the lower end of fixed mount 21 by the first base bearing 20, the lower end of fixed mount 21 is provided with the second base bearing 22 and the 3rd base bearing 23 successively, the 3rd base bearing 23 is provided with datum axle 26, and fuselage reciprocating mechanism 7 comprises fuselage servomotor 27, fuselage motor plate 28, fuselage connecting plate 29, fuselage shaft coupling 30, fuselage leading screw fixation side supporting seat 31, fuselage leading screw 32, fuselage upper plate 33, fuselage guide-rail plate 34, fuselage feed screw nut 35, fuselage nutplate 36, fuselage support bar 37, fuselage cushion collar 38, fuselage guide rail 39, fuselage leading screw is supported side supporting seat 40, fuselage side plate 41, fuselage lower plate 42 and fuselage spline plate 43, the output shaft of fuselage servomotor 27 and fuselage shaft coupling 30, fuselage leading screw 32 and fuselage feed screw nut 35 are in transmission connection, fuselage feed screw nut 35 and fuselage nutplate 36, fuselage support bar 37, fuselage cushion collar 38 is mutually permanently connected, and can move along the fuselage guide rail of both sides, and fuselage leading screw 32 is fixedly connected with by the bearing inner race at two ends, bearing outer ring respectively with fuselage upper plate 33, fuselage lower plate 42 is fixedly connected with, and large arm horizontal mobile mechanism 8 comprises large arm installing plate 44, large arm connecting plate 45, large arm motor plate 46, large arm driving wheel 47, large arm Timing Belt 48, large arm driven pulley 49, large arm servomotor 50, large arm leading screw fixation side supporting seat 51, large arm cushion pad 52, large arm rotational lead screw 53, large arm feed screw nut 54, large arm nutplate 55, large arm base plate 56, large arm leading screw is supported side supporting seat 57, large arm slider frame 58 and large arm stiffener 59, large arm horizontal mobile mechanism 8 is fixedly connected with fuselage reciprocating mechanism 7 by large arm installing plate 44, and large arm installing plate 44 is fixedly connected with large arm base plate 56 by large arm connecting plate 45, large arm driving wheel 47, large arm Timing Belt 48 and large arm driven pulley 49 are in transmission connection, large arm base plate 56 is provided with large arm leading screw fixation side supporting seat 51 and large arm leading screw is supported side supporting seat 57, large arm leading screw fixation side supporting seat 51 and large arm leading screw are supported fixing large arm rotational lead screw 53 between side supporting seat 57, large arm leading screw fixation side supporting seat 51 is by one end of large arm cushion pad 52 and large arm feed screw nut 54 fixing large arm rotational lead screws 53, large arm feed screw nut 54 is provided with large arm nutplate 55, on large arm base plate 56, also by the large arm stiffener 59 large arm slider frame 58 that is slidably connected, large arm servomotor 50 is by controlling large arm driving wheel 47, large arm Timing Belt 48 and large arm driven pulley 49 are controlled large arm rotational lead screw 53 and are relatively moved, and forearm rotating mechanism 9 comprises forearm base plate 60, forearm link 61, forearm motor plate 62, forearm induction cover 63, the first forearm synchronizing wheel 64, forearm reductor 65, forearm servomotor 66, forearm Timing Belt 67, forearm guide rail 68, forearm slider plate 69 and the second forearm synchronizing wheel 70, forearm base plate 60 is provided with forearm guide rail 68, forearm rotating mechanism 9 is fixedly connected with arm horizontal mobile mechanism 8 is relative greatly by forearm link 61, forearm motor plate 62 is provided with forearm reductor 65 and forearm servomotor 66, the first forearm synchronizing wheels 64, forearm Timing Belt 67 and the second forearm synchronizing wheel 70 are in transmission connection, and forearm reductor 65 and forearm servomotor 66 are by the first forearm synchronizing wheel 64, forearm Timing Belt 67, the second forearm synchronizing wheel 70 is controlled forearm slider plate 69 and is slided on forearm guide rail 68, and hand grapple structure 10 comprises that hand grabs organ sucker 71, hand is grabbed sucker disk seat 72, hand is grabbed support arm 73, hand is grabbed axle 74, hand is grabbed bearing block 75, hand is grabbed positioning sleeve 76, hand is grabbed support arm plate 77, hand grabs bearing 78 and hand is grabbed snap ring 79 for axle, and hand grapple structure 10 is located on forearm rotating mechanism 9, and grabs axle 74 by hand and be fixedly connected with forearm rotating mechanism 9, and hand is grabbed axle 74 belows and is provided with hand and grabs bearing block 75, and grabs snap ring 79 for axle by hand, hand is grabbed bearing block 75 and is grabbed bearing 78 with hand and be in transmission connection, hand is grabbed bearing 78 and is grabbed positioning sleeve 76 by hand and grab support arm 73 with hand and be fixedly connected with, the lower ground that hand is grabbed support arm 73 is provided with hand and grabs support arm plate 77, the two ends that hand is grabbed support arm 73 are respectively equipped with a hand and grab organ sucker 71, and grab sucker disk seat 72 by hand and hand is grabbed to organ sucker 71 be fixed on hand and grab on support arm 73, controller is MP2300 controller, built-in basic servo module, expansion servo module, I/O interface circuit and ethernet interface circuit, and controller is also connected with display module, switch and PC, display module and PC are electrically connected by switch and controller.
Whether a kind of control method of this device comprises the steps: that S1, initialization check, control device is carried out to system initialization and status checkout, check and exist extremely, exist extremely, enter alert program, do not exist extremely, enter step S2; S2, selection mode of operation, select manual control model or automatic control mode, completes involution at zero point; S3, select manual control model, select the manual clear point operation of crawl operation, fixed length motor performance or single shaft; S4, select automatic control mode, the whether involution at zero point of control device automatic decision, if do not complete, carries out involution at zero point, if complete, system is selected unit single step, unit monocycle, unit is continuous or whole line is continuous, and carries out respective operations. The another kind of control method of this device comprises the steps: D1, initializes inspection, and control device is carried out to system initialization and status checkout, checks that whether the original state such as first position and negative pressure of punch press, roll-over table and manipulator is normal; D2, judge whether since the first station, if since the first station, enter step D3, if do not have, arrange and start station sequence number; D3, start this station, enter next step; Whether D4, automatic inspection current station service condition meet operation demand, if do not meet, system enters wait state self-inspection automatically, if meet operation demand, enters next step; D5, carry out this station manipulation, after completing, automatically start next station; D6, automatic inspection judge whether workpiece falls extremely, if do not have, return to step D1, continue to enter next cycleoperation, if exist workpiece extremely to fall, enter pause step D7; After D7, time-out, whether normal by hand inspection workpiece, if undesired, product abandonment, and the discarded status information of product is set, if normal, manually workpiece is put into next station, and workpiece is set puts into normally, stop suspending, return to step D1, carry out next cycleoperation.
Controller control the first manipulator is taken punching press freezer compressor gripper shoe away from feeder, and puts into punching press on the first punch press; Controller control the second manipulator is taken punching press freezer compressor gripper shoe away from the first punch press, and puts on roll-over table; Controller control the 3rd manipulator is taken punching press freezer compressor gripper shoe away from roll-over table, and puts on the second punch press; Controller control the 4th manipulator is taken punching press freezer compressor gripper shoe away from the second punch press, and puts on the 3rd punch press; Controller control the 5th manipulator is taken punching press freezer compressor gripper shoe away from the 3rd punch press, and puts on the 4th punch press; Controller control the 6th manipulator is taken punching press freezer compressor gripper shoe away from the 4th punch press, and puts on rewinding frame. The first punch press is for stretching and punching freezer compressor gripper shoe; The roll-over table punching press freezer compressor gripper shoe that is used for overturning; The second punch press is for carrying out edge-cutting and hole-punching to punching press freezer compressor gripper shoe; Three punch presses are for carrying out bending to punching press freezer compressor gripper shoe; The 4th punch press is for carrying out stamping to punching press freezer compressor gripper shoe. Bottom rotating mechanism 6 controller body reciprocating mechanisms 7 rotate, to drive large arm horizontal mobile mechanism 8 and forearm rotating mechanism 9 to rotate, fuselage reciprocating mechanism 7 is controlled large arm horizontal mobile mechanism 8 and is moved up and down, starting grapple structure 10 with band moves up and down relatively, large arm horizontal mobile mechanism 8 and forearm rotating mechanism 9 are controlled hand grapple structure 10 and are moved horizontally, and hand grapple structure 10 is for capturing object.
More than illustrate the utility model just illustrative; and it is nonrestrictive; those of ordinary skill in the art understand; in the case of not departing from the spirit and scope that claims limit; can make many amendments, variation or equivalence, but all will fall in protection domain of the present utility model.
Claims (8)
1. a press line automaton, it is characterized in that, comprise controller, punching mechanism and controlling organization, the signal output part of described controller is electrically connected with the signal input part of described punching mechanism and controlling organization, described punching mechanism and controlling organization are divided into two rows, be oppositely arranged, first row is punching mechanism, punching mechanism is arranged in order and is provided with feeder, the first punch press, roll-over table, the second punch press, the 3rd punch press, the 4th punch press and rewinding frame, second row is controlling organization, controlling organization comprises six manipulators, be arranged in order and be provided with the first manipulator, the second manipulator, the 3rd manipulator, the 4th manipulator, the 5th manipulator and the 6th manipulator, the input/output signal control end of described controlling organization is electrically connected by M/II bus and described controller, the input/output signal control end of described punching mechanism and the I/O interface of described controller are electrically connected.
2. press line automaton according to claim 1, it is characterized in that, described manipulator comprises support (3), lower plate (2), upper plate (4), vavuum pump (5), bottom rotating mechanism (6), fuselage reciprocating mechanism (7), large arm horizontal mobile mechanism (8), forearm rotating mechanism (9) and hand grapple structure (10), described lower plate (2) is located at the below of described support (3), described upper plate (4) is located in lower plate (2), described bottom rotating mechanism (6) is located at the top of described upper plate (4) and is fixedly connected with described upper plate (4), described fuselage reciprocating mechanism (7) is located at described bottom rotating mechanism (6) top and is fixedly connected with bottom rotating mechanism (6), described large arm horizontal mobile mechanism (8) is fixedly connected with the side of described fuselage reciprocating mechanism (7), described forearm rotating mechanism (9) is fixedly connected with described large arm horizontal mobile mechanism (8), described hand grapple structure (10) is located on described forearm rotating mechanism (9), described support (3) below is provided with heavy pin cup (1).
3. press line automaton according to claim 2, is characterized in that, described bottom rotating mechanism (6) comprises base rotating servo motor (11), base reductor (12), base electrical machinery frame (13), inductance loop (14), base shaft coupling (15), positioning sleeve (16), sealing shroud (17), the first felt scraper ring (18), sealing shroud (19), the first base bearing (20), fixed mount (21), the second base bearing (22), the 3rd base bearing (23), cushion collar (24), the first felt scraper ring (25) and datum axle (26), described base electrical machinery frame (13) is provided with base rotating servo motor (11) and base reductor (12), base rotating servo motor (11) and base reductor (12) are in transmission connection by inductance loop (14) and base shaft coupling (15), base shaft coupling (15) is connected with the lower end of fixed mount (21) by the first base bearing (20), the lower end of fixed mount (21) is provided with the second base bearing (22) and the 3rd base bearing (23) successively, and the 3rd base bearing (23) is provided with datum axle (26).
4. press line automaton according to claim 2, is characterized in that, described fuselage reciprocating mechanism (7) comprises fuselage servomotor (27), fuselage motor plate (28), fuselage connecting plate (29), fuselage shaft coupling (30), fuselage leading screw fixation side supporting seat (31), fuselage leading screw (32), fuselage upper plate (33), fuselage guide-rail plate (34), fuselage feed screw nut (35), fuselage nutplate (36), fuselage support bar (37), fuselage cushion collar (38), fuselage guide rail (39), fuselage leading screw is supported side supporting seat (40), fuselage side plate (41), fuselage lower plate (42) and fuselage spline plate (43), the output shaft of described fuselage servomotor (27) and fuselage shaft coupling (30), fuselage leading screw (32) and fuselage feed screw nut (35) are in transmission connection, fuselage feed screw nut (35) and fuselage nutplate (36), fuselage support bar (37), fuselage cushion collar (38) is mutually permanently connected, and can move along the fuselage guide rail of both sides, and fuselage leading screw (32) is fixedly connected with by the bearing inner race at two ends, bearing outer ring respectively with fuselage upper plate (33), fuselage lower plate (42) is fixedly connected with.
5. press line automaton according to claim 2, it is characterized in that, described large arm horizontal mobile mechanism (8) comprises large arm installing plate (44), large arm connecting plate (45), large arm motor plate (46), large arm driving wheel (47), large arm Timing Belt (48), large arm driven pulley (49), large arm servomotor (50), large arm leading screw fixation side supporting seat (51), large arm cushion pad (52), large arm rotational lead screw (53), large arm feed screw nut (54), large arm nutplate (55), large arm base plate (56), large arm leading screw is supported side supporting seat (57), large arm slider frame (58) and large arm stiffener (59), described large arm horizontal mobile mechanism (8) is fixedly connected with fuselage reciprocating mechanism (7) by large arm installing plate (44), large arm installing plate (44) is fixedly connected with large arm base plate (56) by large arm connecting plate (45), large arm driving wheel (47), large arm Timing Belt (48) and large arm driven pulley (49) are in transmission connection, large arm base plate (56) is provided with large arm leading screw fixation side supporting seat (51) and large arm leading screw is supported side supporting seat (57), large arm leading screw fixation side supporting seat (51) and large arm leading screw are supported to fix large arm rotational lead screw (53) between side supporting seat (57), large arm leading screw fixation side supporting seat (51) is by one end of large arm cushion pad (52) and the fixing large arm rotational lead screw (53) of large arm feed screw nut (54), large arm feed screw nut (54) is provided with large arm nutplate (55), on large arm base plate (56) also by large arm stiffener (59) the large arm slider frame (58) that is slidably connected, large arm servomotor (50) is by controlling large arm driving wheel (47), large arm Timing Belt (48) and large arm driven pulley (49) are controlled large arm rotational lead screw (53) and are relatively moved.
6. press line automaton according to claim 2, is characterized in that, described forearm rotating mechanism (9) comprises forearm base plate (60), forearm link (61), forearm motor plate (62), forearm induction cover (63), the first forearm synchronizing wheel (64), forearm reductor (65), forearm servomotor (66), forearm Timing Belt (67), forearm guide rail (68), forearm slider plate (69) and the second forearm synchronizing wheel (70), described forearm base plate (60) is provided with forearm guide rail (68), forearm rotating mechanism (9) is by forearm link (61) and large relative being fixedly connected with of arm horizontal mobile mechanism (8), forearm motor plate (62) is provided with forearm reductor (65) and forearm servomotor (66), the first forearm synchronizing wheel (64), forearm Timing Belt (67) and the second forearm synchronizing wheel (70) are in transmission connection, and forearm reductor (65) and forearm servomotor (66) are by the first forearm synchronizing wheel (64), forearm Timing Belt (67), the second forearm synchronizing wheel (70) is controlled forearm slider plate (69) in the upper slip of forearm guide rail (68).
7. press line automaton according to claim 2, it is characterized in that, described hand grapple structure (10) comprises that hand grabs organ sucker (71), hand is grabbed sucker disk seat (72), hand is grabbed support arm (73), hand is grabbed axle (74), hand is grabbed bearing block (75), hand is grabbed positioning sleeve (76), hand is grabbed support arm plate (77), hand grabs bearing (78) and hand is grabbed snap ring for axle (79), described hand grapple structure (10) is located on forearm rotating mechanism (9), and grab axle (74) by hand and be fixedly connected with forearm rotating mechanism (9), hand is grabbed axle (74) below and is provided with hand and grabs bearing block (75), and grab snap ring for axle (79) by hand, hand is grabbed bearing block (75) and hand and is grabbed bearing (78) and be in transmission connection, hand is grabbed bearing (78) and is grabbed positioning sleeve (76) by hand and grab support arm (73) with hand and be fixedly connected with, the lower ground that hand is grabbed support arm (73) is provided with hand and grabs support arm plate (77), the two ends that hand is grabbed support arm (73) are respectively equipped with a hand and grab organ sucker (71), and grab sucker disk seat (72) by hand and hand is grabbed to organ sucker (71) be fixed on hand and grab on support arm (73).
8. press line automaton according to claim 1, it is characterized in that, described controller is MP2300 controller, built-in basic servo module, expansion servo module, I/O interface circuit and ethernet interface circuit, and described controller is also connected with display module, switch and PC, described display module and PC are electrically connected by described switch and controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520914116.6U CN205253816U (en) | 2015-11-17 | 2015-11-17 | Punch press production line automatic control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520914116.6U CN205253816U (en) | 2015-11-17 | 2015-11-17 | Punch press production line automatic control device |
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| Publication Number | Publication Date |
|---|---|
| CN205253816U true CN205253816U (en) | 2016-05-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520914116.6U Expired - Fee Related CN205253816U (en) | 2015-11-17 | 2015-11-17 | Punch press production line automatic control device |
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| Country | Link |
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| CN (1) | CN205253816U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105436277A (en) * | 2015-11-17 | 2016-03-30 | 江苏理工学院 | Automatic control device for punching machine production line |
| CN106670292A (en) * | 2016-12-08 | 2017-05-17 | 天水锻压机床(集团)有限公司 | Control system for plate drawing part automatic production line |
| CN106734566A (en) * | 2016-11-22 | 2017-05-31 | 浙江巨宏工贸有限公司 | Gas meter shell housing fully-automatic production is combined the unit and its method |
| CN107983880A (en) * | 2017-11-30 | 2018-05-04 | 昆山邦泰汽车零部件制造有限公司 | A kind of press machine system of prevention personnel injury |
-
2015
- 2015-11-17 CN CN201520914116.6U patent/CN205253816U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105436277A (en) * | 2015-11-17 | 2016-03-30 | 江苏理工学院 | Automatic control device for punching machine production line |
| CN105436277B (en) * | 2015-11-17 | 2018-07-10 | 江苏理工学院 | Press line automaton |
| CN106734566A (en) * | 2016-11-22 | 2017-05-31 | 浙江巨宏工贸有限公司 | Gas meter shell housing fully-automatic production is combined the unit and its method |
| CN106670292A (en) * | 2016-12-08 | 2017-05-17 | 天水锻压机床(集团)有限公司 | Control system for plate drawing part automatic production line |
| CN106670292B (en) * | 2016-12-08 | 2018-04-20 | 天水锻压机床(集团)有限公司 | Plate stretch part automated production line control system |
| CN107983880A (en) * | 2017-11-30 | 2018-05-04 | 昆山邦泰汽车零部件制造有限公司 | A kind of press machine system of prevention personnel injury |
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