CN206750971U - Punching press metal plate factory thin flat plate material is said good-bye code fetch unit - Google Patents

Abstract

Said good-bye code fetch unit the utility model discloses a kind of punching press metal plate factory thin flat plate material, including crawl piles up mechanical arm, stacking pallet, piles up platform and electric control gear；Crawl piles up mechanical arm and piles up manipulator including mechanical arm and crawl, and the minor details that manipulator is arranged on mechanical arm, including the grasping mechanism with planar structure are piled up in crawl；Stacking pallet includes support body and sheet material stand for piling up, and sheet material stand for piling up is the barrel shape structure being vertically arranged, and the top of barrel shape structure is provided with ring port, and the inner surface size of barrel shape structure coordinates with the appearance and size gap of thin flat plate class sheet metal component；Pile up platform upper surface and be provided with workpiece locating mechanism and position sensor；Electric control gear includes industrial control computer, positioning crawl piles up loop, elapses loop of saying good-bye.This punching press metal plate factory thin flat plate material code fetch unit of saying good-bye can realize intelligent operation, avoid manually-operated potential safety hazard while improving production efficiency, the automatic code fetch especially suitable for the thin flat plate class sheet metal component of contour structures rule.

Description

Punching press metal plate factory thin flat plate material is said good-bye code fetch unit

Technical field

It the utility model is related to a kind of sheet material code fetch unit, specifically a kind of Boping sheet material suitable for punching press metal plate factory Say good-bye code fetch unit, belong to punching press metal plate technical equipment field.

Background technology

Metal plate be it is a kind of be directed to the synthesis cold machining process of sheet metal (usual thickness is in below 6mm), including cut, rush/ Cut/it is compound, folding, welding, riveting, splicing, shaping (such as body of a motor car), its significant feature is exactly Same Part thickness one Cause, the product processed by metal plate industry is called sheet metal component, and the signified sheet metal component of different industries is typically different, is used for assembling When address, generally, most important three steps of sheet metal component factory are to cut, rush/cut, roll over.

In general basic equipment includes plate shearing machine, numerical control press/laser, plasma, water jet cutting for sheet metal component processing Machine/compounding machine, bender and various auxiliary equipments such as uncoiler, levelling machine, flash trimmer, mash welder etc., at present processing are set The standby operation that realized semi-automation mostly, but the input of raw material and the output element of finished product, circulation are put in storage link etc. still Largely use manual operation.

The mode put is enumerated for the regular such as LED lamp cover thin flat plate class sheet metal component generally use of contour structures to carry out Pile up in order to transport and check quantity, and usually require to carry out smearing the specially treateds, such as LED lamp cover such as profit grease progress antirust Making be to use that once roll-in pulling is molded on roll-in lathe by circular thin flat plate lampshade semi-finished product, need before roll process Coating lubricating oil fat is damaged with reducing roll-in of the disk roller to circular thin flat plate lampshade surface of semi-finished, ensures the outward appearance matter after shaping Amount, and the use of grease easily makes generation between enumerating the thin flat plate class sheet metal component semi-finished product put be adhered, be not readily separated taking-up, leads to It is often manually to carry out separation code fetch.

Following defect be present in the mode of production of this traditional artificial code fetch operation：

1. although stamping procedure equipment has realized automation mechanized operation, the side of artificial code fetch thin flat plate class sheet metal component semi-finished product Formula causes that overall device automaticity is low, utilization rate of equipment and installations is low, production capacity is low, and manual operation storage or transhipment formality are more numerous Trivial, efficiency is low；

2. the speed that streamline conveyer belt is kept up with due to the speed of code fetch in production line just can guarantee that production is normal Carry out, therefore labor intensity of operating staff is big, and there is potential safety hazard in artificial crawl Boping sheet metal component semi-finished product, easily cause safety Accident；

3. the human factor such as the sense of responsibility of operating personnel, mood has a great influence to manufacturing schedule in artificial code fetch operation, It is unstable that efficiency is piled up in sequence.

The content of the invention

Said good-bye in view of the above-mentioned problems of the prior art, the utility model provides a kind of punching press metal plate factory thin flat plate material Code fetch unit, automaticity is higher, can realize intelligent operation, and manually-operated safety is avoided while improving production efficiency Hidden danger, the automatic code fetch especially suitable for the thin flat plate class sheet metal component of contour structures rule.

To achieve these goals, this punching press metal plate factory thin flat plate material code fetch unit of saying good-bye piles up machinery including crawl Arm, stacking pallet, pile up platform and electric control gear；

Described crawl piles up mechanical arm and piles up manipulator including mechanical arm and crawl；Mechanical arm drives including at least X-coordinate Motivation structure or Y-coordinate drive mechanism and Z coordinate drive mechanism；The minor details that manipulator is arranged on mechanical arm, including tool are piled up in crawl There is the grasping mechanism of planar structure；

Described stacking pallet includes support body and sheet material stand for piling up；Support body is frame structure, including is uniformly arranged in bottom Supporting leg；Sheet material stand for piling up is vertically arranged, has the barrel shape structure for piling up cavity, and the bottom of barrel shape structure is fixedly mounted On support body, the top of barrel shape structure is provided with ring port that is horizontally disposed, being fastened in barrel shape structure, barrel shape structure it is interior Surface upwardly extends, the inner surface configuration of barrel shape structure and the profile of thin flat plate class sheet metal component concordant with the upper surface of ring port Identical and barrel shape structure inner surface size and the appearance and size gap of thin flat plate class sheet metal component coordinate；

It is described to pile up platform fixed setting and its upper surface is provided with workpiece locating mechanism and position sensor, pile up Stacking pallet detent mechanism is additionally provided with platform；

Described electric control gear is piled up loop, pushed away including industrial control computer, location of workpiece backfeed loop, positioning crawl Shifting is said good-bye loop and counting circuit, and industrial control computer is respectively with piling up the position sensor on platform, mechanical arm, crawl code Put manipulator electrical connection.

A kind of embodiment of the grasping mechanism of manipulator, described crawl arranging machine are piled up as the utility model crawl The grasping mechanism of tool hand is negative pressure grasping mechanism, and the planar structure of grasping mechanism is provided with negative pressure hole, negative pressure hole by pipeline and Vacuum cavitations control valve group is connected with negative pressure source, industrial control computer and the vacuum cavitations control valve group of described electric control gear Electrical connection.

The another embodiment of the grasping mechanism of manipulator is piled up as the utility model crawl, described crawl is piled up The grasping mechanism of manipulator is electromagnetism grasping mechanism, and the planar structure of grasping mechanism is provided with magnet coil, described automatically controlled dress The industrial control computer put electrically connects with magnet coil.

As preferred scheme of the present utility model, the described workpiece locating mechanism piled up on platform is stood including origin reference location Plate and passage clamping position riser；Origin reference location riser, which is fixedly mounted on, to be piled up on platform, the interior side elevation of origin reference location riser It is the reference plane coordinated with the profile reference plane of thin flat plate class sheet metal component workpiece；Passage clamping position riser sets up to be arranged on and piled up On platform, the interior side elevation of passage clamping position riser corresponds to the interior side elevation setting of origin reference location riser, elapses clamping position The outer side elevation of riser is connected with extension and contraction control part, industrial control computer and the extension and contraction control part of described electric control gear Electrical connection.

As further improvement of the utility model scheme, described crawl is piled up to be additionally provided with the grasping mechanism of manipulator Claw and claw horizontal extension controlling organization, claw are arranged to multiple around the geometric center of grasping mechanism planar structure and blocked The bottom face of pawl is less than the thickness of workpiece to the distance between the planar structure of grasping mechanism size, and described sheet material is piled up The position that claw is corresponded on the inner surface of the barrel shape structure of frame 22 is provided with neck being vertically arranged, coordinating with claw width dimensions, The depth dimensions of the flexible stroke and neck of claw horizontal extension controlling organization coordinates, the Industry Control meter of described electric control gear Calculation machine electrically connects with claw horizontal extension controlling organization.

As further improvement of the utility model scheme, described sheet material stand for piling up is arranged to multiple；Described machinery Arm includes X-coordinate drive mechanism, Y-coordinate drive mechanism and Z coordinate drive mechanism.

As further improvement of the utility model scheme, described crawl is piled up between manipulator and the minor details of mechanical arm C coordinate drive mechanisms are additionally provided with, the industrial control computer of described electric control gear electrically connects with C coordinate drive mechanisms.

As further improvement of the utility model scheme, described crawl piles up machinery and is additionally provided with pattern-recognition biography on hand Sensor, described electric control gear also judge loop including pattern-recognition, and industrial control computer is electrically connected with pattern-recognition sensor Connect.

As further improvement of the utility model scheme, described crawl piles up machinery and is additionally provided with displacement sensing on hand Device, the industrial control computer of described electric control gear electrically connect with displacement transducer.

As preferred scheme of the present utility model, described mechanical arm is gantry type mechanical arm.

Compared with prior art, this punching press metal plate factory thin flat plate material says good-bye code fetch unit due to using micro computer control Mechanical arm and crawl pile up manipulator the thin flat plate class sheet metal component piled up on platform order is piled up in sheet material stand for piling up successively, Or pile up the thin flat plate class sheet metal component order in sheet material stand for piling up in panel beating equipment successively, controlled completely using computer Automation mechanized operation, automation mechanized operation can be avoided because of influence of the human factors such as operating personnel's sense of responsibility, mood to manufacturing schedule, together When can be from the limitation of operating personnel's operative skill qualification, it is entirely avoided the drawbacks of manual operation is present；By sheet material Because machinery is piled up in industrial control computer control crawl when thin flat plate class sheet metal component order in stand for piling up is captured successively The baseplane of the workpiece being crawled is moved on hand is vertical to the distance between the upper surface of ring port of sheet material stand for piling up size Less than the control crawl of the setpoint distance of the thickness of workpiece postindustrial control computer pile up manipulator move horizontally setting away from From, therefore both made to be adhered second workpiece on the baseplane of first workpiece, crawl is piled up second in manipulator translation motion Part workpiece is to be stopped to fall into again in sheet material stand for piling up by the inner surface of the ring port of sheet material stand for piling up, realizes thin flat plate class metal plate The crawl of saying good-bye of golden part, sequence is piled up or order crawl efficiency is higher, the thin flat plate class metal plate especially suitable for contour structures rule The automatic crawl of golden part is with piling up.

Brief description of the drawings

Fig. 1 is three dimensional structure diagram of the present utility model；

Fig. 2 is three dimensional structure diagram when manipulator grabbing workpiece is piled up in the utility model crawl；

Fig. 3 is the overlooking the structure diagram that the utility model piles up platform.

In figure：1st, mechanical arm is piled up in crawl, 11, mechanical arm, 12, crawl pile up manipulator, 2, stacking pallet, 21, support body, 22nd, sheet material stand for piling up, 3, pile up platform.

Embodiment

The utility model is done furtherly with reference to accompanying drawing by taking the thin flat plate class sheet metal component semi-finished product of LED lamp cover as an example below It is bright (be below X-coordinate direction using horizontal left and right directions, horizontal fore-and-aft direction be Y-coordinate direction, vertical above-below direction as Z coordinate Direction, it is that the direction of rotary shaft rotation is C coordinate directions along vertical above-below direction).

The core of automated production is ordered into producing, i.e. sequence is most vital work in automated production.

As shown in figure 1, this punching press metal plate factory thin flat plate material is said good-bye, code fetch unit is piled up mechanical arm 1 including crawl, piled up Bracket 2, pile up platform 3 and electric control gear.

Described crawl piles up mechanical arm 1 and piles up manipulator 12 including mechanical arm 11 and crawl；Mechanical arm 11 comprises at least X Coordinate drive mechanism or Y-coordinate drive mechanism and Z coordinate drive mechanism；The end that manipulator 12 is arranged on mechanical arm 11 is piled up in crawl Section, including the grasping mechanism with planar structure, grasping mechanism can carry out fitting crawl to thin flat plate class sheet metal component.

Described stacking pallet 2 includes support body 21 and sheet material stand for piling up 22；Support body 21 is frame structure, including is uniformly arranged Supporting leg in bottom；Sheet material stand for piling up 22 is vertically arranged, has the barrel shape structure for piling up cavity, the bottom of barrel shape structure It is fixedly mounted on support body 21, the top of barrel shape structure is provided with ring port that is horizontally disposed, being fastened in barrel shape structure, bucket The inner surface of type structure upwardly extend it is concordant with the upper surface of ring port, the inner surface configuration of barrel shape structure and LED lamp cover The profile of circular thin flat plate class sheet metal component semi-finished product is identical and the circular Boping of the inner surface size of barrel shape structure and LED lamp cover The appearance and size gap of plate class sheet metal component semi-finished product coordinates, and the circular thin flat plate class sheet metal component semi-finished product of LED lamp cover can be enumerated Piled up in stratiform in the sheet material stand for piling up 22 of barrel shape structure.

It is described to pile up that platform 3 is fixedly installed and its upper surface is provided with workpiece locating mechanism and position sensor, pile up Stacking pallet detent mechanism is additionally provided with platform 3.

Described electric control gear is piled up loop, pushed away including industrial control computer, location of workpiece backfeed loop, positioning crawl Shifting is said good-bye loop and counting circuit, and industrial control computer is respectively with piling up the position sensor on platform 3, mechanical arm 11, grabbing Code fetch is put manipulator 12 and electrically connected, and industrial control computer can be piled up the crawl of manipulator 12 with control machinery arm 11 and crawl and be piled up The circular thin flat plate class sheet metal component semi-finished product and order of LED lamp cover on platform 3 are piled up in sheet material stand for piling up 22 and counted successively Number or the circular thin flat plate class sheet metal component semi-finished product of the LED lamp cover in crawl sheet material stand for piling up 22 are simultaneously sequentially piled up in metal plate successively In metalworking equipment and count.

This punching press metal plate factory thin flat plate material is said good-bye the operation principle of code fetch unit：Stacking pallet 2 is manually moved to code It is laid flat platform 3 nearby and is positioned at setting position by piling up the stacking pallet detent mechanism of platform 3, or uses logistics homing guidance Transport vehicle, which is moved to the lower section of stacking pallet 2 stacking pallet 2 is held up and held in the palm, to be carried stacking pallet 2 and is moved to that to pile up platform 3 attached The near and stacking pallet detent mechanism by piling up platform 3 is positioned at setting position, and then the Industry Control of electric control gear calculates Machine control machinery arm 11 and crawl pile up the movement of the coordinate of manipulator 12 and carry out the crawl of thin flat plate class sheet metal component semi-finished product with piling up.

Need to pile up the circular thin flat plate class sheet metal component semi-finished product order for the LED lamp cover piled up on platform 3 in plate successively When in material stand for piling up 22, location of workpiece backfeed loop is first begin to work, the circular thin flat plate class sheet metal component semi-finished product of LED lamp cover It is sequentially delivered to pile up on platform 3 by conveyer belt and after the workpiece locating mechanism progress position positioning by piling up platform 3, code The manned information of position sensor feedback workpiece on platform 3 is laid flat to industrial control computer；Positioning crawl is piled up loop and opened Beginning work, industrial control computer sends instruction control machinery arm 11 and crawl piles up manipulator 12 according to setting program coordinate It is mobile to make crawl pile up manipulator 12 to be moved to the surface setting that face piles up the geometric center of first workpiece on platform 3 The planar structure setting concordant with the upper plane of workpiece that manipulator 12 is displaced downwardly to grasping mechanism vertically is piled up in position, then crawl Distance captures to workpiece, and counting circuit works simultaneously carries out workpiece counting；Then industrial control computer sends instruction control Manipulator 12 is piled up in mechanical arm 11 processed and crawl to be made crawl pile up manipulator 12 to capture workpiece according to the movement of setting program coordinate The surface setting position of sheet material stand for piling up 22 is moved to, then crawl, which is piled up manipulator 12 and moved down vertically according to setting program, stretches Enter to setpoint distance inside sheet material stand for piling up 22, industrial control computer sends instruction again makes grasping mechanism unclamp workpiece, workpiece Fall into inside sheet material stand for piling up 22, mechanical arm 11 and crawl, which pile up manipulator 12 and return to initial position, completes first workpiece Crawl with piling up, by that analogy, until counting circuit feedback piled up quantity to set numerical value when i.e. completion sheet material stand for piling up 22 dischargeable capacitys are piled up, and stacking pallet 2 is transported through.

Need successively to pile up the circular thin flat plate class sheet metal component semi-finished product order of the LED lamp cover in sheet material stand for piling up 22 When in panel beating equipment, loop starts are piled up in positioning crawl, and industrial control computer sends instruction control machinery arm 11 Pile up manipulator 12 with crawl makes crawl pile up the coordinate of manipulator 12 to be moved to face sheet material stand for piling up according to setting program movement The surface setting position of 22 inner surface geometric centers, then crawl, which is piled up manipulator 12 and is displaced downwardly to vertically according to setting program, grabs Take the planar structure of the mechanism setpoint distance concordant with the upper plane of first workpiece of the superiors in sheet material stand for piling up 22 Workpiece is captured, counting circuit works simultaneously carries out workpiece counting；Then industrial control computer sends instruction control machine Tool arm 11 and crawl pile up manipulator 12 according to the movement of setting program coordinate make crawl pile up manipulator 12 it is vertical on move to setting Distance, the baseplane for the workpiece being now crawled are small to the distance between the upper surface of ring port of sheet material stand for piling up 22 size In the thickness of workpiece, then industrial control computer send instruction control machinery arm 11 and crawl pile up manipulator 12 according to The movement of setting program coordinate makes crawl pile up manipulator 12 to move horizontally setpoint distance, now both made the baseplane of first workpiece On be adhered second workpiece, crawl piles up in the translation motion of manipulator 12 second workpiece i.e. by the annular of sheet material stand for piling up 22 The inner surface of port, which stops to fall into again, realizes operation of saying good-bye in sheet material stand for piling up 22, then industrial control computer sends instruction Manipulator 12 is piled up in control machinery arm 11 and crawl to be made crawl pile up manipulator 12 to capture work according to the movement of setting program coordinate Workpiece is simultaneously unclamped in setting position that part is moved in panel beating equipment, and mechanical arm 11 and crawl are piled up manipulator 12 and returned to initially Position is to complete the crawl of first workpiece, say good-bye and pile up, by that analogy, until counting circuit feedback has captured quantity to setting The crawl of all workpiece in sheet material stand for piling up 22 is completed during fixed number value, says good-bye and piles up, to 2 turns of the stacking pallet of zero load Fortune.

A kind of embodiment of the grasping mechanism of manipulator 12 is piled up as the utility model crawl, described crawl is piled up The grasping mechanism of manipulator 12 is negative pressure grasping mechanism, and the planar structure of grasping mechanism is provided with negative pressure hole, and negative pressure hole passes through pipe Road and vacuum cavitations control valve group are connected with negative pressure source, and industrial control computer and the vacuum cavitations of described electric control gear control Valve group electrically connects；Industrial control computer can realize the keying of negative-pressure adsorption environment by opening and closing vacuum cavitations control valve group.

For irony thin flat plate class sheet metal component, piled up as the utility model crawl manipulator 12 grasping mechanism it is another Kind of embodiment, the grasping mechanism that manipulator 12 is piled up in described crawl are electromagnetism grasping mechanisms, the planar structure of grasping mechanism Magnet coil is provided with, the industrial control computer of described electric control gear electrically connects with magnet coil；Industrial control computer The keying of electromagnetic adsorption environment can be realized by opening and closing magnet coil.

The described workpiece locating mechanism piled up on platform 3 be able to can also be used by the way of guiding movement positioning By way of reference plane clamping position, because the latter's positioning is more accurate, therefore preferred the latter, i.e. as of the present utility model Preferred scheme, as shown in figure 3, the described workpiece locating mechanism piled up on platform 3 includes origin reference location riser and passage clamps Position riser；Origin reference location riser, which is fixedly mounted on, to be piled up on platform 3, and the interior side elevation of origin reference location riser is and thin flat plate class The reference plane that the profile reference plane of sheet metal component workpiece coordinates；Passage clamping position riser sets up to be arranged on and piled up on platform 3, elapses The interior side elevation that the interior side elevation of clamping position riser corresponds to origin reference location riser is set, and elapses the outer edge-on of clamping position riser Face is connected with extension and contraction control part, and the industrial control computer of described electric control gear electrically connects with extension and contraction control part；Industry Control computer can be by controlling the flexible of extension and contraction control part to realize that passage clamping position riser is forced into benchmark Positioning riser and the thin flat plate class sheet metal component workpiece elapsed between clamping position riser make the profile of thin flat plate class sheet metal component workpiece Reference plane is bonded the accurate reference plane positioning for realizing workpiece with the interior side elevation of origin reference location riser.

Grabbing workpiece is more securely adsorbed in order to realize that manipulator 12 is piled up in crawl, is further changed as of the present utility model Enter scheme, as shown in Fig. 2 described crawl is piled up and claw and claw horizontal extension control are additionally provided with the grasping mechanism of manipulator 12 Mechanism processed, claw are arranged to multiple and claw bottom face to grasping mechanism around the geometric center of grasping mechanism planar structure The distance between planar structure size be less than the thickness of workpiece, the inner surface of the described barrel shape structure of sheet material stand for piling up 22 The position of upper corresponding claw is provided with neck being vertically arranged, coordinating with claw width dimensions, claw horizontal extension controlling organization The depth dimensions of flexible stroke and neck coordinate, the industrial control computer of described electric control gear and claw horizontal extension control Mechanism electrical connection processed；Industrial control computer can be by controlling claw horizontal extension control machine during workpiece is piled up in crawl Bi Shixian clamping workpieces are opened and closed to the small range of the flexible realization control claw of structure, meanwhile, first control claw to close and finish clamping work Carrying out negative-pressure adsorption after part again can be rectified a deviation to the absorption position of workpiece, ensure to adsorb workpiece, Jin Ershi in accurate location Now more securely adsorb grabbing workpiece.

Efficiency is piled up in order to further improve crawl, as further improvement of the utility model scheme, described sheet material Stand for piling up 22 is arranged to multiple；Described mechanical arm 11 includes X-coordinate drive mechanism, Y-coordinate drive mechanism and Z coordinate driving machine Structure；Crawl pile up during industrial control computer can complete a sheet material stand for piling up 22 crawl pile up after control machinery Arm 11, which is moved to another sheet material stand for piling up 22, to carry out crawl and piles up, and then realizes that improving crawl piles up efficiency.

In order to further realize flexible crawl, the change for piling up angle of non-circular workpiece is easy to implement, is used as this practicality New further improvement project, described crawl are additionally provided with the drive of C coordinates between piling up the minor details of manipulator 12 and mechanical arm 11 Motivation structure, the industrial control computer of described electric control gear electrically connect with C coordinate drive mechanisms；Manipulator 12 is piled up in crawl can To carry out rotation translation by C coordinates drive mechanism before workpiece is piled up, and then realize the change for piling up angle of non-circular workpiece Change.

Industrial control computer can be sensed by pattern-recognition first before absorption captures thin flat plate class sheet metal component semi-finished product Device and displacement transducer carry out pattern-recognition and crawl positioning to workpiece according to setting program, and then realize and be accurately positioned absorption simultaneously Crawl, so as to realize that the positioning of accurate location is piled up.

In order to further realize that crawl piles up the accurate crawl of manipulator 12 with piling up, as of the present utility model further Improvement project, described crawl are piled up and pattern-recognition sensor are additionally provided with manipulator 12, and described electric control gear also includes mould Formula identification judges loop, and industrial control computer electrically connects with pattern-recognition sensor；Manipulator 12 is piled up when crawl to be grabbed Pattern-recognition judges that loop is first begin to work when taking or piling up, and pattern-recognition sensor gathers the top of thin flat plate class sheet metal component Face information and by drawing position deviation amount compared with the standard top end face model built in central control computer, center The first line position for piling up manipulator 12 to crawl according to departure of control computer is captured or piled up again after rectifying a deviation, and then Realization is more accurately captured or piled up.

In order to realize more accurately pattern-recognition, as further improvement of the utility model scheme, described crawl code Put and displacement transducer is additionally provided with manipulator 12, industrial control computer and the displacement transducer of described electric control gear are electrically connected Connect；Industrial control computer can realize that crawl piles up manipulator 12 to Boping according to the feedback of setting program and displacement transducer The top end face of plate class sheet metal component carries out coordinate movement stepping and approached, and then the numerical value of implementation pattern sensor collection carries out numerical value and forced Closely, so as to according to curvilinear function obtain the more accurate amount of deflection, realize more accurately pattern-recognition.

Described mechanical arm 11 can use multi-joint centralized Control mechanical arm, can also use frame-type split control machine Tool arm, or the mechanical arm using other forms such as Delta mechanical arms, due to the multi-joint mechanical arm of the first scheme and the 3rd The control of the Delta mechanical arms of kind scheme is centralized Control, and accurately coordinate control is more complicated for it, need to pass through Industry Control and calculate Machine largely calculates, software control procedure is complicated, and manufacturing cost is higher, computer control burden weight, easily breaks down；Second Scheme is controlled using split, i.e., several coordinate systems control respectively, and control is relatively easy, direct, is less prone to failure, therefore preferably Second scheme, i.e. as preferred scheme of the present utility model, described mechanical arm 11 is gantry type mechanical arm.

This punching press metal plate factory thin flat plate material code fetch unit of saying good-bye is Digital Control unit, is number bus factory metal plate A part for part production system, it can be seamlessly connected with the number bus of number bus factory and realize concentration digital management, no It is confined to above-mentioned specific control mode.

This punching press metal plate factory thin flat plate material says good-bye code fetch unit due to the mechanical arm 11 using micro computer control and crawl Manipulator 12 is piled up to pile up the thin flat plate class sheet metal component piled up on platform 3 order in the sheet material stand for piling up 22 successively or by plate Thin flat plate class sheet metal component order in material stand for piling up 22 is piled up in panel beating equipment successively, is controlled completely using computer automatic Change operation, automation mechanized operation can be avoided because of influence of the human factors such as operating personnel's sense of responsibility, mood to manufacturing schedule, while can From the limitation of operating personnel's operative skill qualification, it is entirely avoided the drawbacks of manual operation is present；Piled up by sheet material Because manipulator is piled up in industrial control computer control crawl when thin flat plate class sheet metal component order in frame 22 is captured successively 12 it is vertical on move to the baseplane of the workpiece being crawled to the distance between the upper surface of ring port of sheet material stand for piling up 22 chi The postindustrial control computer control crawl of the setpoint distance of the very little thickness less than workpiece, which is piled up manipulator 12 and moved horizontally, to be set Set a distance, therefore both made to be adhered second workpiece on the baseplane of first workpiece, the translation motion of manipulator 12 is piled up in crawl In second workpiece be to be stopped to fall into again in sheet material stand for piling up 22 by the inner surface of the ring port of sheet material stand for piling up 22, realize The crawl of saying good-bye of thin flat plate class sheet metal component, sequence is piled up or order crawl efficiency is higher, especially suitable for contour structures rule The automatic crawl of thin flat plate class sheet metal component is with piling up.

Claims (10)

1. The code fetch unit 1. a kind of punching press metal plate factory thin flat plate material is said good-bye, it is characterised in that including crawl pile up mechanical arm (1), Stacking pallet (2), pile up platform (3) and electric control gear；

   Described crawl piles up mechanical arm (1) and piles up manipulator (12) including mechanical arm (11) and crawl；Mechanical arm (11) is at least Including X-coordinate drive mechanism or Y-coordinate drive mechanism and Z coordinate drive mechanism；Crawl piles up manipulator (12) and is arranged on machinery The minor details of arm (11), including the grasping mechanism with planar structure；

   Described stacking pallet (2) includes support body (21) and sheet material stand for piling up (22)；Support body (21) is frame structure, including uniform It is arranged on the supporting leg of bottom；Sheet material stand for piling up (22) is vertically arranged, has the barrel shape structure for piling up cavity, barrel shape structure Bottom be fixedly mounted on support body (21), the top of barrel shape structure is provided with ring that is horizontally disposed, being fastened in barrel shape structure Shape port, the inner surface of barrel shape structure upwardly extend it is concordant with the upper surface of ring port, the inner surface configuration of barrel shape structure with The profile of thin flat plate class sheet metal component is identical and the inner surface size of barrel shape structure and the appearance and size gap of thin flat plate class sheet metal component Coordinate；

   It is described to pile up platform (3) fixed setting and its upper surface is provided with workpiece locating mechanism and position sensor, pile up flat Platform is additionally provided with stacking pallet detent mechanism on (3)；

   Described electric control gear includes industrial control computer, location of workpiece backfeed loop, loop is piled up in positioning crawl, passage divides Zhang Huilu and counting circuit, industrial control computer is respectively with piling up the position sensor on platform (3), mechanical arm (11), grabbing Code fetch puts manipulator (12) electrical connection.
2. The code fetch unit 2. punching press metal plate factory thin flat plate material according to claim 1 is said good-bye, it is characterised in that described grabs The grasping mechanism that code fetch puts manipulator (12) is negative pressure grasping mechanism, and the planar structure of grasping mechanism is provided with negative pressure hole, negative pressure Hole is connected by pipeline and vacuum cavitations control valve group with negative pressure source, the industrial control computer and negative pressure of described electric control gear Control control valve group electrical connection.
3. The code fetch unit 3. punching press metal plate factory thin flat plate material according to claim 1 is said good-bye, it is characterised in that described grabs The grasping mechanism that code fetch puts manipulator (12) is electromagnetism grasping mechanism, and the planar structure of grasping mechanism is provided with magnet coil, institute The industrial control computer for the electric control gear stated electrically connects with magnet coil.
4. The code fetch unit 4. punching press metal plate factory thin flat plate material according to claim 1 is said good-bye, it is characterised in that described code The workpiece locating mechanism being laid flat on platform (3) includes origin reference location riser and passage clamping position riser；Origin reference location riser is fixed Installed in piling up on platform (3), the interior side elevation of origin reference location riser is the profile reference plane with thin flat plate class sheet metal component workpiece The reference plane of cooperation；Passage clamping position riser sets up to be arranged on and piled up on platform (3), elapses the interior edge-on of clamping position riser The interior side elevation that face corresponds to origin reference location riser is set, and the outer side elevation and extension and contraction control part for elapsing clamping position riser connect Connect, the industrial control computer of described electric control gear electrically connects with extension and contraction control part.
5. The code fetch unit 5. the punching press metal plate factory thin flat plate material according to Claims 1-4 any claim is said good-bye, it is special Sign is that described crawl, which is piled up, is additionally provided with claw and claw horizontal extension controlling organization on the grasping mechanism of manipulator (12), Claw is arranged to multiple and claw bottom face to the planar junction of grasping mechanism around the geometric center of grasping mechanism planar structure The distance between structure size is less than the thickness of workpiece, is corresponded on the inner surface of described sheet material stand for piling up (22) barrel shape structure The position of claw is provided with neck being vertically arranged, coordinating with claw width dimensions, and claw horizontal extension controlling organization stretches The depth dimensions of stroke and neck coordinates, industrial control computer and the claw horizontal extension controlling organization of described electric control gear Electrical connection.
6. The code fetch unit 6. the punching press metal plate factory thin flat plate material according to Claims 1-4 any claim is said good-bye, it is special Sign is that described sheet material stand for piling up (22) is arranged to multiple；Described mechanical arm (11) includes X-coordinate drive mechanism, Y-coordinate Drive mechanism and Z coordinate drive mechanism.
7. The code fetch unit 7. punching press metal plate factory thin flat plate material according to claim 6 is said good-bye, it is characterised in that described grabs Code fetch is additionally provided with C coordinate drive mechanisms, the work of described electric control gear between putting the minor details of manipulator (12) and mechanical arm (11) Industry control computer electrically connects with C coordinate drive mechanisms.
8. The code fetch unit 8. punching press metal plate factory thin flat plate material according to claim 7 is said good-bye, it is characterised in that described grabs Code fetch, which is put, is additionally provided with pattern-recognition sensor on manipulator (12), described electric control gear also judges loop including pattern-recognition, Industrial control computer electrically connects with pattern-recognition sensor.
9. The code fetch unit 9. punching press metal plate factory thin flat plate material according to claim 8 is said good-bye, it is characterised in that described grabs Code fetch is put and displacement transducer is additionally provided with manipulator (12), the industrial control computer and displacement transducer of described electric control gear Electrical connection.
10. The code fetch unit 10. the punching press metal plate factory thin flat plate material according to Claims 1-4 any claim is said good-bye, its It is characterised by, described mechanical arm (11) is gantry type mechanical arm.