CN205702191U - Punch manipulator - Google Patents

Abstract

The utility model discloses a punch manipulator. The utility model includes a manipulator feeding structure and a manipulator discharging structure; the manipulator feeding structure and the manipulator discharging structure are respectively arranged on the feeding base and the discharging base; specifically: the manipulator feeding structure includes a feeding lifting mechanism, a material box, a plane positioning mechanism, Feeding mechanism; the discharge structure of the manipulator includes a discharge grabbing mechanism, a material receiving mechanism and an electric control box; the utility model is suitable for use in large-volume, highly repeatable stamping and forging operating environments. It has the characteristics of precise positioning, stable production quality, adjustable working rhythm, stable and reliable operation, and convenient maintenance.

Description

Punch manipulator

technical field

The utility model belongs to the technical field of blanking processing of sheet metal, in particular to a punching machine manipulator.

Background technique

In punch processing, due to the higher and higher requirements for processing accuracy, the requirements for processing equipment and personnel for operating equipment are also gradually increasing. Enterprises often fail to recruit suitable personnel, resulting in a significant increase in labor costs. At the same time, in the process of workers' processing, due to the instability of manual operation, the unqualified rate is common. In addition, in punch processing, manual operation is very dangerous, and workers are prone to work-related injuries due to misoperation or special reasons, which increases the cost of the enterprise. Based on these problems, punch processing enterprises are eager to find solutions that can effectively reduce costs and improve product output and quality. Therefore, the development of a sheet metal punching manipulator can replace the manual loading and unloading and stamping functions of the workpiece in the loading and unloading process of the punching machine. The manipulator has the characteristics of precise positioning, stable production quality, adjustable working rhythm, stable and reliable operation, and convenient maintenance.

Contents of the invention

The purpose of the utility model is to provide a punch manipulator aiming at the deficiencies of the prior art.

The technical solution adopted by the utility model to solve its technical problems is as follows:

A punch manipulator, comprising a manipulator feeding structure and a manipulator discharging structure; the manipulator feeding structure and the manipulator discharging structure are respectively arranged on a feeding base and a material discharging base; specifically: the manipulator feeding structure includes a feeding lifting mechanism, a material box, and a plane positioning Mechanism, feeding mechanism; the manipulator discharge structure includes the discharge grasping mechanism, the receiving mechanism and the electric control box;

The feeding lifting mechanism includes the feeding lifting cylinder, the main frame of the feeding manipulator, the feeding guide rail, the first-level feeding cylinder, the second-level feeding cylinder, the roller, the linear optical axis, the suction cup lifting cylinder and the feeding suction cup; the feeding lifting cylinder is set on the main frame of the feeding manipulator , the specific feeding lifting cylinder is set on the main body frame of the feeding manipulator through the height adjustment pad of the feeding lifting cylinder, and the output shaft of the feeding lifting cylinder passes through the through hole of the main body frame of the feeding manipulator and is fixedly connected with the feeding guide rail. Telescopically pull the feeding guide rail up and down; four linear optical axes are set in the main frame of the feeding manipulator, one end of the linear optical axis is fixedly connected with the inner upper surface of the main frame of the feeding manipulator, the other end is fixed on the linear optical axis bracket, and the linear optical axis bracket is fixed Connected in the main frame of the feeding manipulator; the feeding guide rail is fixed on the linear optical axis, and the specific two feeding guide rails are respectively fixed parallel to the four linear optical axes, and the two feeding guide rails can slide up and down along the linear optical axis; Both the air cylinder and the feeding secondary cylinder are fixed on the lower surface of the feeding guide rail, specifically: the feeding primary cylinder is directly fixed on the lower surface of the feeding guide rail, and the feeding secondary cylinder is slidingly connected with the upper surface of the feeding guide rail through a pulley, that is, the feeding secondary The cylinder can move through the pulley so that it can translate itself; the output shaft of the primary feeding cylinder is directly connected to the secondary feeding cylinder, the output shaft of the secondary feeding cylinder is connected to the suction cup lifting cylinder, and the output shaft of the suction cup lifting cylinder passes through the suction cup The bracket is connected with the feeding suction cup.

The plane positioning mechanism includes a horizontal positioning cylinder, a longitudinal positioning cylinder, a longitudinal positioning block, a horizontal positioning block, a longitudinal push block and a horizontal push block; Connected, the longitudinal positioning block and the transverse positioning block are arranged at fixed positions, and are used for positioning the plates in the material box.

The horizontal positioning block and the vertical positioning block are adjustable and adjusted according to the size of the sheet; the horizontal push block and the vertical push block can be fine-tuned up and down and adjusted according to the thickness of the sheet; The horizontal positioning cylinder pushes the sheet material to the horizontal stopper through the horizontal push block to complete the horizontal positioning; then the vertical positioning cylinder moves, and pushes the sheet material to the longitudinal positioning stopper through the vertical push block to complete the longitudinal positioning. The positioning of the starting position of the sheet.

Feeding mechanism includes proximity switch bracket, proximity switch fine-tuning mechanism, proximity switch Ⅰ, material box fixed cylinder, fixed cylinder adjustment structure, material box positioning block, lifting screw motor, motor fixing bracket, screw rod, screw fixing plate, roller Bracket, roller, longitudinal cylinder of feeding box, connecting block of longitudinal cylinder of feeding box, proximity switch II, rising jacking block, jacking block strut;

The proximity switch Ⅰ is set on the proximity switch bracket through the proximity switch fine-tuning mechanism, and the proximity switch Ⅰ is set at the edge of the sheet to detect the height of the starting position of the sheet; the sheet is placed in the material box, and the material box is placed in the feeding box. The upper surface of the mechanism frame; the frame of the feeding mechanism is provided with a plurality of clamping units, each clamping unit is composed of a fixed cylinder of the material box, a fixed cylinder adjustment structure and a positioning stopper of the material box, and the fixed cylinder of the material box is arranged on the fixed cylinder adjustment structure , the fixed cylinder adjustment structure is set on the upper surface of the feeding mechanism frame, the output shaft of the fixed cylinder of the material box is connected with the positioning block of the material box through the connecting rod, and the fixed cylinder adjustment structure is connected with the connecting rod through the clamping block, so that the material Box fixed cylinder, fixed cylinder adjustment structure and material box positioning block are integrated; it is convenient for the expansion and contraction of the material box fixed cylinder to control the material box positioning block to fix the material box; the lifting screw motor is set in the frame of the feeding mechanism through the motor fixing bracket , and the lower surface of the motor fixing bracket is provided with a proximity switch II, which is used to judge the highest position of the screw fixing plate; the output shaft of the screw motor is connected to one end of the screw, and the other end of the screw passes through the screw fixing plate It is connected with the inner bottom surface of the feeding mechanism frame; the threaded connection between the screw rod and the screw fixing plate, when the screw motor is working, the screw fixing plate moves up and down along the screw rod; the rising top block is set on the inner surface of the feeding mechanism frame, One end of the jacking rod is fixedly connected with the rising jacking block, and the other end is fixedly connected with the screw fixing plate after passing through the motor fixing bracket; the roller bracket is fixed on the outer bottom surface of the frame of the feeding mechanism, and the rollers are set on the roller bracket and set on the base Corresponding to the guide rail of the feeding box, the longitudinal cylinder of the feeding box is connected with the frame of the feeding mechanism through the connecting block of the longitudinal cylinder of the feeding box; when the longitudinal cylinder of the feeding box is working, the longitudinal cylinder of the feeding box can drive the entire feeding mechanism to move relatively along the box guide rail through the rollers .

The material box is used to place the sheet material, and the material box is placed on the feeding mechanism during work; the material box and the air storage tank are all set in the main frame of the feeding manipulator, and all cylinders pass through the two-position five-way solenoid valve Connected with the air storage tank, the air storage tank provides air source for all cylinders.

The discharge structure of the manipulator includes a discharge grabbing mechanism, a receiving mechanism and an electric control box;

The discharge grabbing mechanism is similar to the feeding lifting mechanism; specifically: the discharging grabbing mechanism includes the discharging lifting cylinder, the main frame of the discharging manipulator, the discharging guide rail, the primary discharging cylinder, the secondary discharging cylinder, rollers, and guide rails Linear optical axis, servo motor, discharge suction cup, discharge suction cup bracket, servo motor connection block; the discharge lifting cylinder is set on the main frame of the discharge manipulator, and the specific discharge lift cylinder is set on the discharge manipulator through the height adjustment pad On the main frame, and the output shaft of the discharge lifting cylinder passes through the through hole of the main frame of the discharge manipulator and is fixedly connected with the discharge guide rail, and the discharge guide rail can be pulled up and down through the expansion and contraction of the discharge lift cylinder; the four discharge guide rails are straight The optical axis is set in the main frame of the discharging manipulator, one end of the linear optical axis of the guide rail is fixedly connected with the inner upper surface of the main frame of the discharging manipulator, the other end is fixed on the linear optical axis bracket, and the linear optical axis bracket is fixedly connected to the main body of the discharging manipulator Inside the frame; the discharge guide rails are fixed on the linear optical axis of the guide rails, and the specific two discharge guide rails are respectively fixed parallel to the linear optical axes of the four guide rails, and the two discharge guide rails can slide up and down along the linear optical axes of the guide rails; Both the first-stage cylinder and the second-stage discharge cylinder are fixed on the lower surface of the discharge guide rail. Specifically: the first-stage discharge cylinder is directly fixed on the lower surface of the discharge guide rail, and the second-stage discharge cylinder passes through the pulley and the upper surface of the discharge guide rail. The surface is slidingly connected, that is, the secondary cylinder of the discharge can move itself through the pulley to translate; the output shaft of the primary cylinder of the discharge is directly connected with the secondary cylinder of the discharge, and the output shaft of the secondary cylinder of the discharge is passed through the servo motor The connection block is connected with the servo motor, and the servo motor is connected with the discharge suction cup through the discharge suction cup support; the servo motor can drive the discharge suction cup support and the discharge suction cup to rotate.

Both the material receiving mechanism and the electric control box are set in the main frame of the discharging manipulator; the material receiving mechanism includes a chute and a material receiving box; the chute is a slope, and it directly connects with the material receiving box. When the mechanism is dropped, the sheet material enters the receiving box through the buffer of the chute.

A method for using a punch manipulator described in the utility model includes a working process of a manipulator feeding structure and a working process of a manipulator discharging structure;

The working process of the manipulator feeding structure is as follows:

First: the worker puts the sheet into the material box one by one, then manually puts the material box on the feeding mechanism, and starts the working button in the electric control box; after the work is started: four clamping units clamp the material box on the feeding mechanism In terms of mechanism, specifically: the output shaft of the fixed cylinder of the material box in the clamping unit is connected with the positioning block of the material box through the connecting rod, and the adjustment structure of the fixed cylinder is connected with the connecting rod through the clamping block, so that the fixed cylinder of the material box 1. The fixed cylinder adjustment structure and the material box positioning block are composed; the material box is fixed by the expansion and contraction of the material box fixed cylinder to control the material box positioning block;

Secondly: the feeding mechanism drags the material box into the working area through the feeding longitudinal cylinder, specifically: the feeding box longitudinal cylinder drives the entire feeding mechanism to move relatively along the material box guide rail through the material box guide rail and the roller; thus drags the material box into the work area middle;

Then: the feeding lifting mechanism moves the feeding guide rail down along the linear optical axis through the expansion and contraction of the feeding lifting cylinder until the material sucker is located above the sheet; at this time, the positioning of the actual position of the sheet is completed by the plane positioning mechanism, specifically: horizontal positioning The cylinder moves to complete the horizontal positioning of the sheet; the vertical positioning cylinder moves to complete the longitudinal positioning of the sheet; the feeding lifting mechanism moves down to the designated position through the output shaft of the suction cup lifting cylinder, so that the sheet is conveniently sucked by the feeding suction cup;

Then: the feeding lifting mechanism moves the feeding guide rail up along the linear optical axis through the expansion and contraction of the feeding lifting cylinder, and the sheet is lifted; thus, the first-level translation cylinder action is performed, and the second-level translation cylinder action is indirectly promoted, that is, in the first-level feeding cylinder. Under the push, the secondary feeding cylinder moves along the guide rail, so that the sheet is placed directly under the punch; at this time, the feeding lifting cylinder extends downward, and the sheet is placed on the mold of the workbench;

Finally: the feeding lifting mechanism returns to the position, ready to absorb the next sheet, at this time, start the punching machine for stamping;

The working process of the discharge structure of the manipulator is as follows:

Firstly: After the punching machine completes a stamping through the punch, the discharge secondary cylinder moves, thereby pushing the discharge primary cylinder to translate along the guide rail, so that the sheet placed on the workbench mold is sucked by the discharge suction cup;

Secondly: the discharge grabbing mechanism lifts the sheet to the designated position through the expansion and contraction of the discharge lifting cylinder. At this time, the servo motor works and rotates to a certain degree. After the rotation of the sheet is completed, the output shaft of the discharge lifting cylinder is extended to make the discharge suction cup Move down, and after moving down to a certain position, re-place the sheet on the mold of the workbench; then the discharge grabbing mechanism is reset to the farthest end of the first-stage discharge cylinder;

Then: After the punch completes the second stamping through the punch, the discharge secondary cylinder moves, thereby pushing the discharge primary cylinder to translate along the guide rail, so that the sheet placed on the workbench mold is sucked by the discharge suction cup ;

Then: the first-stage discharging cylinder and the second-stage discharging cylinder move the sheet directly above the chute; loosen the suction cup, put down the sheet, and complete the discharging process once;

Finally: the discharge grabbing mechanism returns to its position, ready to pick up the next sheet.

Beneficial effects of the utility model:

The utility model can realize fault self-diagnosis: during the whole working process, the PLC diagnoses the working parameters in real time, if any abnormal action is found (such as not receiving the in-position signal within the specified time), the machine will be shut down in time, and an audible and visual alarm will be given to prompt the staff to carry out Overhaul;

The utility model is convenient for users to maintain and expand the system: the system has complete maintenance instructions and fault diagnosis and troubleshooting methods, and reserves multiple control interfaces and communication interfaces to facilitate system expansion and networking.

The utility model adopts a line arrangement, and the feeding manipulator and the discharging manipulator are arranged on the same straight line, which is convenient for operation. At the same time, it is convenient for mold replacement.

The utility model can not only effectively reduce the cost, but also improve the output and quality of the product; the automatic loading and unloading and stamping functions of the workpiece can be replaced manually in the loading and unloading link of the punching machine. big advantage. And the manipulator has the characteristics of precise positioning, stable production quality, adjustable working rhythm, stable and reliable operation, and convenient maintenance.

Description of drawings

Figure 1 is a schematic sectional view of the system structure

Figure 2 is a schematic top view of the system structure

Fig. 3 is the working flow diagram of the utility model feeding mechanical structure

Fig. 4 is the working flow diagram of the utility model discharging mechanical structure

Fig. 5 (a) is the front view of the feeding and lifting mechanism of the utility model

Figure 5(b) is a top view of the utility model feeding and lifting mechanism

Fig. 6 is the planar positioning mechanism of the present invention

Figure 7 is a sectional view of the structure of the utility model feeding mechanism

Fig. 8 is a partial top view of the guide rail of the feeding mechanism of the utility model

Fig. 9 (a) is the structural diagram of the main components of the utility model rotating mechanism

Figure 9(b) is a top view of the main components of the utility model rotation mechanism

In the figure: 1. Feeding lifting cylinder 2. Touch screen 3 Feeding manipulator main frame 4 Feeding guide rail 5 Feeding primary cylinder 6 Feeding secondary cylinder 7 Pulley 8 Linear optical axis 9 Horizontal positioning cylinder 10 Material box 11 Air storage tank 12 Feeding lifting mechanism 13 Base 14 Punch main body 15 Punch head 16 Working table 17 Discharging lifting cylinder 18 Discharging manipulator main body frame 19 Guide rail linear optical axis 20 Pulley 21 Discharging guide rail 22 Discharging primary cylinder 23 Discharging secondary cylinder 24 Discharging chute 25 Material receiving box 26 Electric control box 27 Base 28 Material box guide rail 29 Suction cup 30 Suction cup bracket 31 Longitudinal positioning cylinder 32 Servo motor 33 Proximity switch bracket 34 Proximity switch fine-tuning mechanism 35 Proximity switch 36 Sheet material 37 Material box fixed cylinder 38 Fixed cylinder adjustment Structure 39 Clamping block 40 Material box positioning block 41 Lifting screw motor 42 Motor fixing bracket 43 Screw rod 44 Screw fixing plate 45 Roller bracket 46 Roller 47 Feeding box longitudinal cylinder 48 Feeding box longitudinal cylinder connection block 49 Proximity switch 50 Lifting Top block 51 Top block pole 52 Longitudinal positioning block 53 Horizontal positioning block 54 Longitudinal push block 55 Horizontal push block 56 Feeding lifting cylinder height adjustment pad 57 Feeding secondary cylinder connecting block 58 Suction cup lifting cylinder 59 Linear optical axis bracket 60 Feeding suction cup 61 Discharging suction cup 62 Discharging suction cup bracket 63 Servo motor connection block

detailed description

The technical solution adopted by the utility model to solve its technical problems is as follows:

A punch manipulator, comprising a manipulator feeding structure and a manipulator discharging structure; the manipulator feeding structure and the manipulator discharging structure are respectively arranged on a feeding base and a material discharging base; specifically: the manipulator feeding structure and the manipulator discharging structure. The manipulator feeding structure includes a feeding Lifting mechanism, material box, plane positioning mechanism, and feeding mechanism; the discharge structure of the manipulator includes a discharge grabbing mechanism, a receiving mechanism and an electric control box;

As shown in Figures 1, 2, and 7, the feeding lifting mechanism includes a feeding lifting cylinder 1, a feeding manipulator main frame 3, a feeding guide rail 4, a feeding primary cylinder 5, a feeding secondary cylinder 6, a roller 7, a linear optical axis 8, and a suction cup Lifting cylinder 58 and feeding sucker 60; feeding lifting cylinder 1 is arranged on the main frame 3 of the feeding manipulator, and the specific feeding lifting cylinder 1 is arranged on the main body frame 3 of the feeding manipulator through the height adjustment pad 56 of the feeding lifting cylinder, and the feeding lifting cylinder 1 The output shaft passes through the through hole of the main frame 3 of the feeding manipulator and is fixedly connected with the feeding guide rail 4, and the feeding guide rail 4 can be pulled up and down by the expansion and contraction of the feeding lifting cylinder 1; four linear optical axes 8 are arranged in the main frame 3 of the feeding manipulator, One end of the linear optical axis 8 is fixedly connected with the inner upper surface of the main frame 3 of the feeding manipulator, and the other end is fixed on the linear optical axis bracket 59, which is fixedly connected in the main frame 3 of the feeding manipulator; the feeding guide rail 4 is fixed on the straight line On the optical axis 8, the specific two feeding guide rails 4 are respectively fixed in parallel by four linear optical axes 8, and the two feeding guide rails 4 can slide up and down along the linear optical axis 8; the primary feeding cylinder 5 and the secondary feeding cylinder 6 Both are fixed on the lower surface of the feeding guide rail 4, specifically: the primary feeding cylinder 5 is directly fixed on the lower surface of the feeding guide rail 4, and the secondary feeding cylinder 6 is slidingly connected with the upper surface of the feeding guide rail 4 through a pulley, that is, the feeding secondary cylinder 6 can make itself translational by the movement of the pulley; the output shaft of the feeding primary cylinder 5 is directly connected with the feeding secondary cylinder 6, and the output shaft of the feeding secondary cylinder 6 is connected with the suction cup lifting cylinder 58, and the suction cup lifting cylinder 58 The output shaft is connected with the feeding sucker 60 through the sucker bracket 30 .

As shown in Figures 1 and 6, the plane positioning mechanism includes a horizontal positioning cylinder 9, a longitudinal positioning cylinder 31, a longitudinal positioning block 52, a lateral positioning block 53, a longitudinal push block 54 and a horizontal push block 55; the output of the horizontal positioning cylinder 9 The shaft is connected with the horizontal push block 55, the longitudinal positioning cylinder 31 is connected with the vertical push block 54, the longitudinal positioning block 52 and the horizontal positioning block 53 are arranged at fixed positions, and are used for positioning the plates in the feed box;

The horizontal positioning stopper and the longitudinal positioning stopper are adjustable and adjusted according to the size of the sheet material. The horizontal push block and the vertical push block can be fine-tuned up and down, and adjusted according to the thickness of the sheet metal; when positioning, firstly, the horizontal positioning cylinder 9 pushes the sheet material to the horizontal stopper through the horizontal push block 55 to complete the horizontal positioning; The longitudinal positioning cylinder 31 moves, and the sheet material is pushed to the longitudinal positioning stopper 52 by the longitudinal push block 54 to complete the longitudinal positioning, and thus complete the positioning of the sheet material starting position.

As shown in Figures 1, 2, 5(a) and 5(b), the feeding mechanism includes a proximity switch bracket 33, a proximity switch fine-tuning mechanism 34, a proximity switch I 35, a fixed cylinder 37 for the material box, a fixed cylinder adjustment structure 38, and a material box Positioning block 40, lifting screw motor 41, motor fixing bracket 42, screw rod 43, screw fixing plate 44, roller bracket 45, roller 46, feeding box longitudinal cylinder 47, feeding box longitudinal cylinder connection block 48, proximity switch Ⅱ49 , rising top block 50, top block strut 51;

The proximity switch I35 is arranged on the proximity switch bracket 33 through the proximity switch fine-tuning mechanism 34, and the proximity switch I35 is arranged at the edge of the sheet material to detect the height of the initial position of the sheet material; the sheet material 36 is placed in the material box, and the material box Placed on the upper surface of the feeding mechanism frame; the feeding mechanism frame is provided with multiple clamping units, each clamping unit is composed of a fixed cylinder 37 for the material box, a fixed cylinder adjustment structure 38 and a positioning block 40 for the material box, and the fixed cylinder for the material box 37 Set on the fixed cylinder adjustment structure 38, the fixed cylinder adjustment structure 38 is arranged on the upper surface of the feeding mechanism frame, the output shaft of the material box fixed cylinder 37 is connected with the material box positioning block 40 through the connecting rod, and the fixed cylinder adjustment structure 38 passes The clamping block 39 is connected with the connecting rod, thereby the fixed cylinder 37 of the material box, the fixed cylinder adjustment structure 38 and the positioning block 40 of the material box are integrated; the expansion and contraction of the fixed cylinder 37 of the material box is convenient to control the positioning block 40 Fix the material box; the lifting screw motor 41 is arranged in the feeding mechanism frame by the motor fixing bracket 42, and the lower surface of the motor fixing bracket 42 is provided with a proximity switch II 49 for judging the highest position of the screw fixing plate 44; the screw motor The output shaft of 41 is connected with one end of the screw mandrel, and the other end of the screw mandrel 43 passes through the screw mandrel fixing plate 44 and is connected with the inner bottom surface of the frame of the feeding mechanism; When the screw motor 41 works, the screw fixing plate 44 moves up and down along the screw 43; the rising top block 50 is arranged on the inner surface of the feeding mechanism frame, and one end of the top block pole 51 is fixedly connected with the rising top block 50, and the other end passes through After the motor fixing bracket 42 is fixedly connected with the screw rod fixing plate 44; the roller bracket 45 is fixed on the outer bottom surface of the feeding mechanism frame, and the roller 46 is arranged on the roller bracket 45, corresponding to the feed box guide rail 28 arranged on the base, and the feed box longitudinal cylinder 47 is connected with the frame of the feeding mechanism through the longitudinal cylinder connection block 48 of the feeding box; when the longitudinal cylinder 47 of the feeding box works, the longitudinal cylinder 47 of the feeding box can drive the entire feeding mechanism to move relatively along the box guide rail 28 through the roller 46;

The material box is used to place the sheet material, and the material box is placed on the feeding mechanism during work; the material box and the air storage tank are all arranged in the main frame 3 of the feeding manipulator, and all the cylinders are passed through the two-position five-way electromagnetic The valve is connected with the gas storage tank 11, and the gas storage tank 11 provides the gas source for all cylinders.

As shown in Figures 1, 2, 8 and 9(a), 9(b), the discharge structure of the manipulator includes a discharge grabbing mechanism, a receiving mechanism (including a chute and a receiving box) and an electric control box;

As shown in Figures 1, 2, 8, and 9(a), 9(b), the discharging grabbing mechanism is similar to the feeding lifting mechanism; specifically: the discharging grabbing mechanism includes a discharging lifting cylinder 17, a discharging manipulator main body Frame 18, discharge guide rail 21, discharge primary cylinder 22, discharge secondary cylinder 23, roller 20, guide rail linear optical axis 19, servo motor 32, discharge suction cup 61, discharge suction cup bracket 62, servo motor connection block 63: The discharge lifting cylinder 17 is set on the main body frame 18 of the discharge manipulator, and the specific discharge lift cylinder 17 is set on the main body frame 18 of the discharge manipulator through a height adjustment pad, and the output shaft of the discharge lift cylinder 17 passes through The through hole of the main body frame 18 of the discharging manipulator is fixedly connected with the discharging guide rail 21, and the discharging guide rail 21 can be pulled up and down by the expansion and contraction of the discharging lifting cylinder 17; the linear optical axes 19 of the four discharging guide rails are arranged on the main frame of the discharging manipulator In 18, one end of the linear optical axis 19 of the guide rail is fixedly connected to the inner upper surface of the main body frame 18 of the discharging manipulator, and the other end is fixed on the linear optical axis support 59, and the linear optical axis support 59 is fixedly connected to the main frame 18 of the discharging manipulator; The discharge guide rails 21 are fixed on the linear optical axes 19 of the guide rails. Specifically, the two discharge guide rails 21 are respectively fixed in parallel by four linear optical axes 19 of the guide rails, and the two discharge guide rails 21 can slide up and down along the linear optical axes 19 of the guide rails. ; The discharge primary cylinder 22 and the discharge secondary cylinder 23 are all fixed on the lower surface of the discharge guide rail 21, specifically: the discharge primary cylinder 22 is directly fixed on the lower surface of the discharge guide rail 21, and the discharge secondary cylinder 23 is slidingly connected with the upper surface of the discharge guide rail 21 through a pulley, that is, the secondary discharge cylinder 23 can move in translation by the pulley; the output shaft of the primary discharge cylinder 22 is directly connected to the secondary cylinder 23 of the discharge. Connect, the output shaft of the discharge secondary cylinder 23 is connected with the servo motor 32 through the servo motor connection block 63, and the servo motor 32 is connected with the discharge suction cup 61 through the discharge suction cup support 62; the servo motor 32 can drive the discharge suction cup support 62 and the discharge suction cup 61 rotate 180°.

As shown in Figures 1 and 2, the material receiving mechanism and the electric control box are all arranged in the main frame 18 of the discharging manipulator; wherein the material receiving mechanism includes a chute and a receiving box; the chute is a slope, and directly communicates with the receiving box , when the sheet material is dropped from the discharge grabbing mechanism, the sheet material enters the receiving box through the buffer of the chute.

The working process of the punch manipulator described in the utility model includes two parts, which are respectively the working process of the manipulator feeding structure and the working process of the manipulator discharging structure;

As shown in Figure 3, the working process of the manipulator feeding structure is as follows:

First: Workers put the sheets into the material box in turn, then manually put the material box on the feeding mechanism, and start the work button in the electric control box. After the work is started: four clamping units clamp the material box on the feeding mechanism, specifically: the output shaft of the material box fixing cylinder 37 in the clamping unit is connected with the material box positioning block 40 through the connecting rod, and the fixed cylinder The adjustment structure 38 is connected with the connecting rod through the clamping block 39, thereby the material box fixed cylinder 37, the fixed cylinder adjustment structure 38 and the material box positioning stopper 40 are formed; the material box positioning stopper is controlled by the expansion and contraction of the material box fixed cylinder 37 40 fixed bins;

Secondly: the feeding mechanism drags the feed box into the work area through the feed vertical cylinder, specifically: the feed box longitudinal cylinder 47 drives the entire feed mechanism to move relative to the feed box guide rail 28 through the feed box guide rail 28 and the roller 46; thereby the feed box Drag it into the workspace.

Then: the feeding lifting mechanism moves the feeding guide rail 4 down along the linear optical axis 8 through the expansion and contraction of the feeding lifting cylinder 1 until the material sucker 60 is located above the sheet; at this time, the positioning of the actual position of the sheet is completed by the plane positioning mechanism, specifically The action of the horizontal positioning cylinder moves to complete the horizontal positioning of the sheet; the vertical positioning cylinder acts to complete the longitudinal positioning of the sheet; the feeding lifting mechanism moves down to the designated position through the output shaft of the suction cup lifting cylinder 58, so that the feeding suction cup 60 can suck the sheet. live.

Then: the feeding lifting mechanism moves the feeding guide rail 4 upward along the linear optical axis 8 through the expansion and contraction of the feeding lifting cylinder 1, and the sheet is lifted; thereby performing the action of the first-level translation cylinder and indirectly promoting the action of the second-level translation cylinder, that is, in the first feeding Under the push of the first-stage cylinder 5, the second-stage feeding cylinder 6 translates along the guide rail, so that the sheet is placed directly under the punch; at this time, the feeding lifting cylinder 1 extends downward, and the sheet is placed on the mold of the workbench;

Finally: the feeding lifting mechanism returns to its position, ready to absorb the next piece of sheet material, at this time, start the punching machine for stamping.

As shown in Figure 4, the working process of the manipulator discharge structure is as follows:

Firstly: after the punching machine completes a stamping through the punch, the discharge secondary cylinder 2 moves, thereby pushing the discharge primary cylinder 22 to translate along the guide rail, so that the sheet placed on the workbench mold is sucked by the discharge suction cup 61 live;

Secondly: the material grabbing mechanism lifts the plate to the designated position through the expansion and contraction of the material lifting cylinder 17. At this time, the servo motor 32 works and rotates 180 degrees. After the rotation of the material is completed, the output shaft of the material lifting cylinder 17 is extended. Make the discharge sucker 61 move down, and after moving down to a certain position, place the sheet material on the mold of the workbench again; then the discharge grabbing mechanism is reset to the farthest end of the discharge primary cylinder 22;

Then: after the punch completes the second stamping through the punch, the discharge secondary cylinder 2 moves, thereby pushing the discharge primary cylinder 22 to translate along the guide rail, so that the sheet placed on the workbench mold passes through the discharge suction cup 61 suck;

And then: the discharge primary cylinder 22 and the discharge secondary cylinder 2 move the sheet material directly above the chute; loosen the suction cup, put down the sheet material, and complete the discharge process once.

Finally: the discharge grabbing mechanism returns to its position, ready to pick up the next sheet.

Claims (7)

1. punching machine mechanical arm, it is characterised in that include finger feed structurally and mechanically hands discharging structure；Finger feed structurally and mechanically hands discharging structure is separately positioned on feeding base and discharging base；Concrete: finger feed structure includes feeding hoisting mechanism, hopper, planar positioning mechanism, feed mechanism；Mechanical hand discharging structure includes discharging grasping mechanism, receiving mechanism and electric cabinet；

Feeding hoisting mechanism includes feeding lifting cylinder, feeding mechanical hand main body frame, feeding guide, feeding one-level cylinder, feeding secondary cylinder, roller, straight optical axis, sucker lift cylinder and charging sucker；Feeding lifting cylinder is arranged on feeding mechanical hand main body frame, concrete feeding lifting cylinder is arranged on feeding mechanical hand main body frame by feeding lifting cylinder altitude mixture control cushion block, and the output shaft of feeding lifting cylinder is connected through fixing with feeding guide after the through hole of feeding mechanical hand main body frame, it is possible to pull feeding guide up and down by stretching of feeding lifting cylinder；Four straight optical axis are arranged in feeding mechanical hand main body frame, one end of straight optical axis is fixing with feeding mechanical hand main body frame inside upper surface to be connected, the other end is fixed on straight optical axis support, and straight optical axis support is fixedly connected in feeding mechanical hand main body frame；Feeding guide is fixed on straight optical axis, and two concrete feeding guides are parallel fixing by four straight optical axis respectively, and two feeding guides can slide up and down along straight optical axis；Feeding one-level cylinder and feeding secondary cylinder are each attached to the lower surface of feeding guide, concrete: feeding one-level cylinder is directly anchored to the lower surface of feeding guide, feeding secondary cylinder is connected with the upper surface slide of feeding guide by pulley, i.e. feeding secondary cylinder can make himself can translate by the movement of pulley；The output shaft of feeding one-level cylinder is directly connected with feeding secondary cylinder, and the output shaft of feeding secondary cylinder is connected with sucker lift cylinder, and the output shaft of sucker lift cylinder is connected with charging sucker by sucker stand.

Punching machine mechanical arm the most according to claim 1, it is characterised in that planar positioning mechanism includes located lateral cylinder, longitudinal register cylinder, longitudinal register block, located lateral block, longitudinal pushing block and horizontal pushing block；The output shaft of located lateral cylinder is connected with horizontal pushing block, and longitudinal register cylinder is connected with longitudinal pushing block, and longitudinal register block and located lateral block are arranged on fixed position, for positioning the plate in hopper.

Punching machine mechanical arm the most according to claim 2, it is characterised in that described located lateral block and longitudinal register block are adjustable, are adjusted according to the size of plate；Laterally pushing block and longitudinal pushing block are the most fine-tuning, are adjusted according to the thickness of plate；During location, first shifted plate onto horizontal block by located lateral cylinder by horizontal pushing block, complete horizontal location；Longitudinal register cylinder moving afterwards, shifts onto at longitudinal register block by longitudinal pushing block by plate, completes longitudinal location, so far to complete the location of plate start position.

Punching machine mechanical arm the most according to claim 2, it is characterised in that feed mechanism includes that proximity switch support, proximity switch micro-adjusting mechanism, proximity switch I, hopper are fixed cylinder, fixing cylinder adjustment structure, hopper position block, enhancing screw motor, motor fixed rack, screw mandrel, screw rod fixing plate, rolling wheel support, roller, box for feeding odd longitudinal direction cylinder, box for feeding odd longitudinal direction cylinder contiguous block, proximity switch II, risen jacking block, jacking block pole；

Proximity switch I is disposed proximate on switch bracket by proximity switch micro-adjusting mechanism, and proximity switch I is arranged on slab edge position, for detecting the height of plate original position；Plate is placed in hopper, and hopper is placed on feed mechanism frame upper surface；Feed mechanism framework is provided with multiple clamping unit, each clamping unit is fixed cylinder, fixing cylinder adjustment structure and hopper position block by hopper and is formed, hopper is fixed cylinder and is arranged in fixing cylinder adjustment structure, fixing cylinder adjustment structure is arranged on feed mechanism frame upper surface, hopper is fixed the output shaft of cylinder and is connected with hopper position block by connecting rod, and fixing cylinder adjustment structure is connected with connecting rod by clamping block, thus hopper is fixed cylinder, fixing cylinder adjustment structure and hopper position block composition integrally；Facilitate hopper to fix the flexible of cylinder, control hopper position block and fix hopper；Enhancing screw motor is arranged in feed mechanism framework by motor fixed rack, and the lower surface of motor fixed rack is provided with proximity switch II, for judging the extreme higher position of screw rod fixing plate；The output shaft of lead screw motor is connected with screw mandrel one end, and the other end of screw mandrel is connected with feed mechanism framework inner bottom surface after screw rod fixing plate；For threadeding between screw mandrel with screw rod fixing plate, when lead screw motor works, screw rod fixing plate moves up and down along screw mandrel；Rising jacking block and be arranged on feed mechanism frame inner surface, one end of jacking block pole is fixing with rising jacking block to be connected, and the other end is fixing with screw rod fixing plate after passing motor fixed rack to be connected；Rolling wheel support is fixed on feed mechanism framework outer bottom, and roller is arranged on rolling wheel support, corresponding with the hopper guide rail being arranged on base, and box for feeding odd longitudinal direction cylinder is connected with feed mechanism framework by box for feeding odd longitudinal direction cylinder contiguous block；When box for feeding odd longitudinal direction cylinder operation, box for feeding odd longitudinal direction cylinder can drive whole feed mechanism along case guide rail relative motion by roller.

Punching machine mechanical arm the most according to claim 4, it is characterised in that described hopper is used for placing plate, and during work, hopper is placed on feed mechanism；Described hopper and air accumulator are arranged in feeding mechanical hand main body frame, and all cylinders are all connected with air accumulator by two five-way electromagnetic valves, and air accumulator provides source of the gas for all cylinders.

Punching machine mechanical arm the most according to claim 1, it is characterised in that mechanical hand discharging structure includes discharging grasping mechanism, receiving mechanism and electric cabinet；

Discharging grasping mechanism is similar with feeding hoisting mechanism；Concrete: discharging grasping mechanism includes discharging lifting cylinder, discharging mechanical hand main body frame, discharge guide, discharging one-level cylinder, discharging secondary cylinder, roller, guide rail straight optical axis, servomotor, discharging sucker, discharging sucker stand, servomotor contiguous block；Discharging lifting cylinder is arranged on discharging mechanical hand main body frame, concrete discharging lifting cylinder is arranged on discharging mechanical hand main body frame by altitude mixture control cushion block, and the output shaft of discharging lifting cylinder is connected through fixing with discharge guide after the through hole of discharging mechanical hand main body frame, it is possible to pull discharge guide up and down by stretching of discharging lifting cylinder；Four discharge guide straight optical axis are arranged in discharging mechanical hand main body frame, one end of guide rail straight optical axis is fixing with discharging mechanical hand main body frame inside upper surface to be connected, the other end is fixed on straight optical axis support, and straight optical axis support is fixedly connected in discharging mechanical hand main body frame；Discharge guide is fixed on guide rail straight optical axis, and two concrete discharge guides are parallel fixing by four guide rail straight optical axis respectively, and two discharge guides can slide up and down along guide rail straight optical axis；Discharging one-level cylinder and discharging secondary cylinder are each attached to the lower surface of discharge guide, concrete: discharging one-level cylinder is directly anchored to the lower surface of discharge guide, discharging secondary cylinder is connected with the upper surface slide of discharge guide by pulley, i.e. discharging secondary cylinder can make himself can translate by the movement of pulley；The output shaft of discharging one-level cylinder is directly connected with discharging secondary cylinder, and the output shaft of discharging secondary cylinder is connected with servomotor by servomotor contiguous block, and servomotor is connected with discharging sucker by discharging sucker stand；Servomotor can order about discharging sucker stand and rotate with discharging sucker.

Punching machine mechanical arm the most according to claim 6, it is characterised in that receiving mechanism and electric cabinet are arranged in discharging mechanical hand main body frame；Wherein receiving mechanism includes chute and rewinding case；Chute is slope, and the most through with rewinding case, and when plate is from discharging grasping mechanism let-down, plate enters rewinding case by the buffering of chute.