CN207655722U - A kind of robotic stamping line - Google Patents
A kind of robotic stamping line Download PDFInfo
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- CN207655722U CN207655722U CN201721556946.1U CN201721556946U CN207655722U CN 207655722 U CN207655722 U CN 207655722U CN 201721556946 U CN201721556946 U CN 201721556946U CN 207655722 U CN207655722 U CN 207655722U
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- platform
- station
- mobile platform
- material loading
- stamping line
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Abstract
The utility model is related to a kind of robotic stamping lines, including material loading platform, workpiece, locating platform, mobile platform, stretch station, trimming station, flange station, punching station, platform of blanking, de-stacking manipulator and palletizing mechanical arm, the material loading platform is arranged in the left and right sides of mobile platform head end, it is stacked inside material loading platform and places workpiece, the left and right sides in mobile platform end is arranged in platform of blanking；One end along conveying direction in material loading platform is arranged in the locating platform, and locating platform is equipped with adjustment axis；The side of the mobile platform sets gradually along conveying direction and stretches station, trimming station, flange station, punching station；The de-stacking manipulator and palletizing mechanical arm are individually positioned in mobile platform head end and end.The utility model is coordinated by multiple conveying robots of setting, can effectively be improved the production efficiency of entire stamping line, is beneficial to the high-speed cruising of production line.
Description
Technical field
The utility model is related to the technical field of electrical engineering automation equipment, especially a kind of robotic punching press
The technical field of production line.
Background technology
For stamping line, most fast beat of the existing domestic press machine under single pattern is 12 times/min, what is equipped with
Kind automation equipment will directly determine the production capacity of stamping line, and be set since the investment of press machine is far above automation
Standby, if the production efficiency of automation equipment is less than press machine, it will cause the wastes of the part of punching press speculative investment, if whole line uses
Manipulator and the fully synchronized method of operation of press machine, it is ensured that the highest running speed of whole line reaches 12 times/min.
Existing market has the production line type of three big mainstreams：Manual stamping production line, robot automation's stamping line
With robotic stamping line.Manual stamping production line input is relatively low, but there are certain personal safety hidden danger, efficiency
It is relatively low；Robot automation's stamping line input is medium, personal safety hidden danger is not present, but production line can not be run simultaneously,
Efficiency is medium；Robotic stamping line input is slightly higher, and personal safety hidden danger is not present, and production line can be completely same
Step, efficiency are higher.
Utility model content
The purpose of this utility model is exactly to solve the problems of the prior art, proposes a kind of robotic punching production
Line is coordinated by multiple conveying robots of setting, can effectively improve the production efficiency of entire stamping line, be beneficial to
The high-speed cruising of production line.
To achieve the above object, the utility model proposes a kind of robotic stamping line, including feeding are flat
Platform, locating platform, mobile platform, stretches station, trimming station, flange station, punching station, platform of blanking, unstacker at workpiece
Tool hand and palletizing mechanical arm, the material loading platform are arranged the heap inside the left and right sides of mobile platform head end, material loading platform and stack
Workpiece is set, the left and right sides in mobile platform end is arranged in platform of blanking；The locating platform is arranged in material loading platform along defeated
The one end in direction, locating platform is sent to be equipped with adjustment axis；The side of the mobile platform sets gradually stretching along conveying direction
Station, trimming station, flange station, punching station；The de-stacking manipulator and palletizing mechanical arm are individually positioned in mobile platform
Head end and end, de-stacking manipulator are arranged at the center of left and right material loading platform, and palletizing mechanical arm is arranged in left and right platform of blanking
Center.
Preferably, industrial personal computer is arranged in the mobile platform side, industrial personal computer is electrically connected de-stacking manipulator, stacking machine
Tool hand.
Preferably, scanner is set in front of the locating platform, scanner and industry control mechatronics.
Preferably, servo motor is arranged in the locating platform side, setting servo adjusts axis on locating platform, and positioning is flat
The adjustment axis of platform reaches above workpiece.
Preferably, the de-stacking manipulator and palletizing mechanical are provided with photoelectric sensor on hand.
Preferably, the de-stacking manipulator and palletizing mechanical are equipped on hand close to switch, it is Laser Measuring close to switch
Distance meter.
Preferably, the type of the mobile platform is belt feeder, belt feeder includes that left, center, right three are disposed in parallel
Horizontal discharging conveyor belts, left discharging conveyor belts and right discharging conveyor belts move in the same direction, middle discharging conveyor belts bidirectional-movement.
Preferably, being provided with the first conveying robot among the stretching station and trimming station；The flange
The second conveying robot is provided among station and punching station；The connection of first conveying robot stretches station to trimming station
Transhipment, the second conveying robot connect transhipment of the flange station to punching station.
Preferably, the type of the mobile platform drives for T shape ball screws, third carrying implement is set on mobile platform
Tool hand, the screw and third conveying robot on ball screw are affixed.
Preferably, third conveying robot connection stretch station, trimming station, flange station, punching station it
Between transhipment.
The beneficial effects of the utility model：
1, the feeding, discharge platform of the utility model setting bilateral is coordinated, Neng Gouyou by multiple conveying robots of setting
The production efficiency of the entire stamping line of raising of effect, is beneficial to the high-speed cruising of production line.
2, determining for a set of positioning tool realization the entire production line is only arranged in mobile handling machinery in the utility model on hand
Position precision, positioning accuracy can be effectively guaranteed, and also very simple is repaired in operation.
The feature and advantage of the utility model will be described in detail by embodiment combination attached drawing.
Description of the drawings
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, other drawings may also be obtained based on these drawings.
Fig. 1 is a kind of first embodiment schematic diagram of robotic stamping line of the utility model；
Fig. 2 is a kind of second embodiment schematic diagram of robotic stamping line of the utility model.
In figure：
1- material loading platforms；2- workpiece；3- locating platforms；4- mobile platforms；5- stretches station；6- trimming stations；7- flange
Station；8- punching stations；9- platform of blanking；10- de-stacking manipulators；11- palletizing mechanical arms；The first conveying robots of 12-；13-
Second conveying robot；14- third conveying robots.
Specific implementation mode
It, below will be to the technology of the utility model to keep the purpose of this utility model, technical solution and advantage clearer
Scheme is described in detail.Obviously, the described embodiments are only a part of the embodiments of the utility model, rather than all
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are not before making creative work
Obtained all other embodiment is put, the range that the utility model is protected is belonged to.
Embodiment 1
Such as Fig. 1, a kind of automatic stamping line of the utility model, including it is material loading platform 1, workpiece 2, locating platform 3, mobile flat
Platform 4 stretches station 5, trimming station 6, flange station 7, punching station 8, platform of blanking 9, de-stacking manipulator 10 and palletizing mechanical
Hand 11, the material loading platform 1 are arranged in the left and right sides of 4 head end of mobile platform, and 1 inside of material loading platform, which stacks, places workpiece 2, under
Material platform 9 is arranged in the left and right sides of 4 end of mobile platform；The locating platform 3 is arranged in material loading platform 1 along conveying direction
One end, locating platform 3 be equipped with adjustment axis；The side of the mobile platform 4 sets gradually stretching station along conveying direction
5, trimming station 6, flange station 7, punching station 8；The de-stacking manipulator 10 and palletizing mechanical arm 11 are individually positioned in movement
4 head end of platform and end, de-stacking manipulator 10 are arranged at the center of left and right material loading platform 1, and the setting of palletizing mechanical arm 11 is in left and right
The center of platform of blanking 9.
Industrial personal computer is arranged in 4 side of the mobile platform, and industrial personal computer is electrically connected de-stacking manipulator 10, palletizing mechanical arm
11。
Scanner, scanner and industry control mechatronics are arranged in 3 front of the locating platform.3 side of the locating platform is set
Servo motor is set, setting servo adjusts axis on locating platform 3, and the adjustment axis of locating platform 3 reaches 2 top of workpiece.
The effect of locating platform 3 is finally positioned to plate, to allow the conveying robot of feeding to pick up to position
Correct plate is accurately sent into die cavity.Scanning work principle is to be scanned the plate that magnetic belt is sent to take image, then
Alternate position spike is obtained with the standard video comparison pre-saved.Industrial personal computer calculated according to alternate position spike the direction moved needed for plate and
Then amount of movement is modified the position of plate 2 by possessing multiple adjustment axis.
Because Scan orientation platform is executed by independent kinematic system, the process that plate 2 is transported in manipulator is enough to complete tune
Whole, the entire time for scanning centering without occupying whole line scans centering and is completed prior to manipulator pickup plate 2.
It is provided with photoelectric sensor on the de-stacking manipulator 10 and palletizing mechanical arm 11.The de-stacking manipulator 10 and code
It is equipped on pile manipulator 11 close to switch, is laser range finder close to switch.
De-stacking manipulator 10 acts simple, it can be achieved that Y-direction (direction between two material loading platforms 1) and Z-direction are (vertical
Ground direction) quick movement, meet requirement.Double plate detection sensors are installed on de-stacking manipulator 10, can avoid
Manipulator picks up double-piece and is sent into die cavity to mold damage.It is provided with photoelectricity on the de-stacking manipulator 10 and palletizing mechanical arm 11
Sensor and close switch.De-stacking manipulator 10 installs photoelectric sensor, detects the pickup situation of plate.
The type of the mobile platform 4 is belt feeder, and belt feeder includes the horizontal discharging disposed in parallel of left, center, right three
Conveyer belt, left discharging conveyor belts and right discharging conveyor belts move in the same direction, middle discharging conveyor belts bidirectional-movement.
Belt feeder is preferably magnetic belt machine.In high speed manufacturing processes, to ensure to convey quality, avoiding plate from sliding is
It is very necessary.Magnetic conveyer belt can effectively prevent the sliding of plate 2 in the use of high-speed line, and guarantee is provided for centering.Magnetic
Property belt secondary positioning can be avoided excessive adjustment occur 2 accurate delivery of plate to processing stations.
In order to coordinate magnetic conveyer belt, magnetic force can be connected close to switch on de-stacking manipulator 10 and palletizing mechanical arm 11
Separator, can detach plate, and main purpose is to prevent more plates simultaneously into die cavity and mold damage.For iron plate part, divide
From mode can take magnetic separation mode, provide adequate preparation for the fast removal of manipulator.Magnetic separtor has and can disappear
Magnetic function protects the operation safe and convenient of operative employee.
It is provided with the first conveying robot 12 among the stretching station 5 and trimming station 6；The flange station 7 and punching
The second conveying robot 13 is provided among hole station 8；The connection of first conveying robot 12 stretches station 5 to trimming station 6
Transhipment, the second conveying robot 13 connect the transhipment that flange station 7 arrives punching station 8.
The movement of first conveying robot 12 and the second conveying robot 13 includes the linear of X-direction (workpiece conveying direction)
Movement and the rotary motion around Y-direction (direction between two material loading platforms 1).
Embodiment 2
Such as Fig. 2, agent structure is identical with first embodiment, in addition to the type of mobile platform 4 and conveying robot.The shifting
The type of moving platform 4 drives for T shape ball screws, setting third conveying robot 14 on mobile platform 4, the silk on ball screw
It is female affixed with third conveying robot 14.
The connection of third conveying robot 14 stretches between station 5, trimming station 6, flange station 7, punching station 8
Transhipment.
The quantity of third conveying robot 14 is at least two, hinged by middle part, and motion mode is that folding and expanding is completed, X
The linear movement of the linear movement in direction (workpiece conveying direction) and Y-direction (direction between two material loading platforms 1).
Utility model works process：
A kind of robotic stamping line of the utility model during the work time, when specifically used, including four big
Workflow：Feeding line, transmission line, punch line and lower stockline.
Feeding line flow is：De-stacking manipulator 10 is sent to locating platform 3 from picking up work piece 2 on material loading platform 1, and workpiece 2 passes through
Instrument is over-scanned, locating platform 3 is modified the location of workpiece according to scanning result.De-stacking manipulator 10 can realize both direction
Quickly movement, meets requirement.Photoelectric sensor and the pickup close to switch detection workpiece are installed on de-stacking manipulator 10
Situation also can avoid double workpiece of manipulator pickup and be sent into die cavity to mold damage.The effect of locating platform 3 is to workpiece 2
It is finally positioned, to allow feeding manipulator pickup to be accurately sent into die cavity to the correct workpiece in position.Because of Scan orientation platform 3
It is executed by independent kinematic system, the process that workpiece is transported in manipulator is enough to complete adjustment, and entire Scan orientation platform 3 is not necessarily to
Occupy the time of whole line.
In production process, when having produced a pile material heap, what left side material loading platform 1 was installed detects last material close to switch,
System industrial personal computer sends transfer pile material heap production ordering, the needs of de-stacking manipulator 10 be switched on another material loading platform in right side 1 after
Continuous production.Two material loading platforms 1 are provided on pipeline can enable the continuity of production ensure, and when certain side feeding is flat
When the failure of platform 1 needs off-line maintenance, production line can use another material loading platform 1 to maintain production.In terms of workpiece positioning,
Change it is traditional be detected close to switch detection mode using laser range finder, improve workpiece traveling precision and survey
Away from stability.
The first transmission line flow is：The Magnetic Conveyor Belt of mobile platform 4 can effectively prevent work in the use of high-speed line
The sliding of part 2.2 accurate delivery of workpiece to processing stations can be avoided secondary positioning from excessive adjustment occur by Magnetic Conveyor Belt.Conveying
Band 4 is mainly made of the horizontal discharging belt conveyer in left, center, right three.Left and right belt feeder can only be run to left or right respectively, and in
Between belt feeder then allow to left or right run, when two axis robots pick up to dual-workpiece when, industrial personal computer by send instruction requires magnetic
Property belt inverted running, rack is recycled by dual-workpiece.
The design of bilateral belt discharging blanking workpiece can improve the speed of blanking workpiece.It installs the end of left and right belt feeder
There is photoelectric sensor to be acted on for workpiece sensing, when workpiece 2 has little time blanking workpiece and runs to belt ends, photoelectric sensor
It could be made that and feed back and industrial personal computer is made to send out the signal that unilateral belt stops, workpiece is avoided to fall；Prevent palletizing mechanical arm 11 simultaneously
Placing workpiece 2 again causes to accumulate and disfiguring workpiece.When that can not restore certain side belt feeder failure short time, production line is permitted
Perhaps unilateral belt feeder carries out degraded running and maintains production, and damage or can then be repaired offline there are the belt feeder of failure or therefore
Barrier excludes.
Second of transmission line flow be：In high speed manufacturing processes, to ensure to convey quality, ensure the positioning accurate of workpiece 2
Degree is very important.Mobile platform 4 is driven by ball screw, and the cunning of workpiece 2 can be effectively prevent using the self-locking performance of lead screw
It moves, guarantee is provided for mobile platform 4.Third conveying robot 14 on mobile platform 4 can be by 2 accurate delivery of workpiece to processing
On station.
The workflow of punch line is：First conveying robot 12, the second conveying robot 13 or third conveying robot
The revised iron plate part of 14 take-off locations is simultaneously sent into forcing press die cavity；Conveying robot will be completed to stretch station respectively between forcing press
5, trimming station 6, flange station 7,8 process of punching station；Handling machinery is provided with positioning tool on hand, and each station up and down is all
Gripping action is carried out to same anchor point, can ensure that the positioning accuracy of the entire production line, conveying robot are complete by punching press in this way
At workpiece be sent on blanking transition platform.The workpiece that punching press is completed is sent on mobile platform 4 by conveying robot；Mobile platform
Workpiece is sent out fence by 4 by palletizing mechanical arm 11 carries out stacking outside.
The course of work of lower stockline is：When production line high-speed is run, it is desirable that the speed of blanking workpiece is also accelerated therewith.Code
Workpiece is sent out and carries out stacking outside fence by pile manipulator 11.The design of bilateral platform of blanking 9 can improve the speed of blanking workpiece.
When having accumulated a pile material heap, that is installed on left side platform of blanking 9 detects that last material, system industrial personal computer send transfer close to switch
The accumulation instruction of pile material heap, the needs of palletizing mechanical arm 11, which are switched on another platform of blanking in right side 9, continues stacking.It is arranged on pipeline
Two platform of blanking 9 can enable the continuity of production ensure.
The feeding, discharge platform of bilateral is arranged in the utility model, is coordinated by multiple conveying robots of setting, Neng Gouyou
The production efficiency of the entire stamping line of raising of effect, is beneficial to the high-speed cruising of production line.Mobile handling machinery on hand
The positioning accuracy that a set of positioning tool realizes the entire production line is only set, and positioning accuracy can be effectively guaranteed, operation repair
Also very simple.
Above description is only a specific implementation of the present invention, but the scope of protection of the utility model is not limited to
In this, any one skilled in the art within the technical scope disclosed by the utility model, can readily occur in variation
Or replace, it should be covered within the scope of the utility model.Therefore, the scope of protection of the utility model should be with the power
Subject to the protection domain that profit requires.
Claims (10)
1. a kind of robotic stamping line, it is characterised in that：Including material loading platform (1), workpiece (2), locating platform
(3), mobile platform (4), stretch station (5), trimming station (6), flange station (7), punching station (8), platform of blanking (9),
De-stacking manipulator (10) and palletizing mechanical arm (11), the material loading platform (1) are arranged in the left and right two of mobile platform (4) head end
Side, internal stack of material loading platform (1) place workpiece (2), and platform of blanking (9) is arranged in the left and right sides of mobile platform (4) end；
In material loading platform (1) along one end of conveying direction, locating platform (3) is equipped with adjustment axis for locating platform (3) setting；Institute
The side for stating mobile platform (4) sets gradually stretching station (5), trimming station (6), flange station (7), punching along conveying direction
Hole station (8)；The de-stacking manipulator (10) and palletizing mechanical arm (11) are individually positioned in mobile platform (4) head end and end,
De-stacking manipulator (10) setting is arranged in the center of left and right material loading platform (1), palletizing mechanical arm (11) in left and right platform of blanking (9)
Center.
2. a kind of robotic stamping line as described in claim 1, it is characterised in that：The mobile platform (4)
Industrial personal computer is arranged in side, and industrial personal computer is electrically connected de-stacking manipulator (10), palletizing mechanical arm (11).
3. a kind of robotic stamping line as claimed in claim 2, it is characterised in that：The locating platform (3)
Scanner, scanner and industry control mechatronics are arranged in front.
4. a kind of robotic stamping line as described in claim 1, it is characterised in that：The locating platform (3)
Servo motor is arranged in side, and setting servo adjusts axis on locating platform (3), and the adjustment axis of locating platform (3) reaches workpiece (2)
Top.
5. a kind of robotic stamping line as described in claim 1, it is characterised in that：The de-stacking manipulator
(10) and on palletizing mechanical arm (11) it is provided with photoelectric sensor.
6. a kind of robotic stamping line as described in claim 1, it is characterised in that：The de-stacking manipulator
(10) and on palletizing mechanical arm (11) it is equipped with close to switch, is laser range finder close to switch.
7. a kind of robotic stamping line as described in claim 1, it is characterised in that：The mobile platform (4)
Type be belt feeder, belt feeder include the horizontal discharging conveyor belts disposed in parallel of left, center, right three, left discharging conveyor belts and
Right discharging conveyor belts move in the same direction, middle discharging conveyor belts bidirectional-movement.
8. a kind of robotic stamping line as described in claim 1, it is characterised in that：The stretching station
(5) and among trimming station (6) it is provided with the first conveying robot (12)；The flange station (7) and punching station (8) are intermediate
It is provided with the second conveying robot (13)；First conveying robot (12) connection stretches station (5) and turns to trimming station (6)
Fortune, the second conveying robot (13) connect the transhipment that flange station (7) arrives punching station (8).
9. a kind of robotic stamping line as described in claim 1, it is characterised in that：The mobile platform (4)
Type be the driving of T shape ball screws, setting third conveying robot (14) on mobile platform (4), the screw on ball screw
It is affixed with third conveying robot (14).
10. a kind of robotic stamping line as claimed in claim 9, it is characterised in that：The third carrying implement
Tool hand (14) connection stretches the transhipment between station (5), trimming station (6), flange station (7), punching station (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721556946.1U CN207655722U (en) | 2017-11-20 | 2017-11-20 | A kind of robotic stamping line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721556946.1U CN207655722U (en) | 2017-11-20 | 2017-11-20 | A kind of robotic stamping line |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207655722U true CN207655722U (en) | 2018-07-27 |
Family
ID=62946267
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721556946.1U Active CN207655722U (en) | 2017-11-20 | 2017-11-20 | A kind of robotic stamping line |
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| Country | Link |
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| CN (1) | CN207655722U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109261799A (en) * | 2018-11-13 | 2019-01-25 | 广东亿恒工业装备有限公司 | A kind of automatic water heater liner stretching production line |
| CN109483250A (en) * | 2018-12-21 | 2019-03-19 | 江苏扬力数控机床有限公司 | A kind of production line and production technology of strip workpiece |
| CN109647974A (en) * | 2018-12-17 | 2019-04-19 | 山东时风（集团）有限责任公司 | Auto parts multistation progressive stamping line and its Sheet Metal Forming Technology |
| CN109940089A (en) * | 2019-04-16 | 2019-06-28 | 广州中益机械有限公司 | A kind of skylight sash side is into belt feeder automatic production device |
-
2017
- 2017-11-20 CN CN201721556946.1U patent/CN207655722U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109261799A (en) * | 2018-11-13 | 2019-01-25 | 广东亿恒工业装备有限公司 | A kind of automatic water heater liner stretching production line |
| CN109647974A (en) * | 2018-12-17 | 2019-04-19 | 山东时风（集团）有限责任公司 | Auto parts multistation progressive stamping line and its Sheet Metal Forming Technology |
| CN109483250A (en) * | 2018-12-21 | 2019-03-19 | 江苏扬力数控机床有限公司 | A kind of production line and production technology of strip workpiece |
| CN109940089A (en) * | 2019-04-16 | 2019-06-28 | 广州中益机械有限公司 | A kind of skylight sash side is into belt feeder automatic production device |
| CN109940089B (en) * | 2019-04-16 | 2024-04-09 | 广州中益机械有限公司 | Automatic production device for side-entry belt conveyor of skylight frame |
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