CN214768251U

CN214768251U - High-flexibility I-shaped robot punching gun

Info

Publication number: CN214768251U
Application number: CN202023147291.7U
Authority: CN
Inventors: 顾龙龙; 陈全伟; 袁国波; 万晓鹏; 胡志伟; 胡秀梅
Original assignee: Shanghai Gongzhong Machinery Technology Co ltd
Current assignee: Shanghai Gongzhong Machinery Technology Co ltd
Priority date: 2020-12-23
Filing date: 2020-12-23
Publication date: 2021-11-19
Anticipated expiration: 2030-12-23

Abstract

The utility model discloses a high-flexibility I-shaped robot punching gun, which comprises a robot, wherein a punching gun body is arranged at one end above the robot, and a punching piece is placed below the punching gun body; the punching gun comprises a punching gun body and is characterized in that the punching gun body comprises a mounting plate, a robot quick-change seat is arranged above the mounting plate, a gun body initial position calibration shaft is arranged on one side of the robot quick-change seat, and a TCP probe rod is arranged on one side of the gun body initial position calibration shaft; the punching gun with the robot only has a structure of punching one hole and is integrally moved in place by the robot, so that one punching gun can be used for a plurality of holes in one product or a plurality of different products, and the punching gun can be used for producing the holes to be punched by the same punching gun.

Description

High-flexibility I-shaped robot punching gun

Technical Field

The utility model relates to a field of punching a hole specifically is a high flexibility I type robot rifle that punches a hole.

Background

In the field of automatic punching, the automatic punching production is generally carried out by adopting a special punching machine, generally, a special punching machine is correspondingly developed for a product, the special punching machine comprises a tooling positioning clamp and a punching module, and a set of special punching machine needs to be re-developed if another similar product needs to be produced.

For example, in the punching production of the automobile floor framework, a set of special machine with positioning and punching functions needs to be developed for punching production, as shown in fig. 1, a positioning system on the special machine positions an automobile frame assembly (similar to the principle of a tool fixture), then the punching is performed, the positioning system is opened after the punching is completed, and finally the punched product is taken away.

Therefore, the conventional special punching machine is used for punching production, general equipment is huge and complicated, the function is fixed and flexible, one part corresponds to one special machine, the whole set of equipment is required to be switched for production according to requirements of various products (old equipment is not used, new equipment is used for production), the production is not flexible enough, and the effect of one machine for multiple production cannot be achieved, in addition, the cost of the special machine is relatively high, and the butt joint with peripheral related equipment and the maintenance are troublesome.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a high flexibility I type robot punching gun to current high flexibility I type robot punching gun exists following shortcoming in solving above-mentioned background art: the conventional punching special machine is huge and complicated in general equipment and poor in function fixing flexibility, one part corresponds to one special machine, the whole set of equipment is required to be switched for production according to requirements of various products (old equipment is not used, and new equipment is used for production), so that the production is not flexible enough, the effect of one machine for multiple production cannot be achieved, in addition, the cost of the special machine is relatively high, and the butt joint with peripheral related equipment and the maintenance are troublesome.

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a high flexibility I type robot rifle that punches a hole, includes the robot, the top one end of robot is provided with towards the rifle body, it has placed this piece that punches a hole to dash rifle body below.

Preferably, the gun punching body comprises a mounting plate, a robot quick-change seat is arranged above the mounting plate, a gun body initial position calibration shaft is arranged on one side of the robot quick-change seat, a TCP probe rod is arranged on one side of the gun body initial position calibration shaft, a gun body floating linear guide rail is arranged below the mounting plate, a gun body initial position calibration lining is arranged at the bottom of the gun body floating linear guide rail, a punching gun body support is arranged below the gun body initial position calibration bush, a first reset cylinder support is arranged on one side of the bottom of the punching gun body support, a first gun body initial position collision block is arranged on one side of the first reset cylinder support, a first piston initial position collision block is arranged at the bottom of the first gun body initial position collision block, and a first reset cylinder is arranged on one side, away from the first gun body initial position collision block, of the first reset cylinder support.

Preferably, a blanking large oil cylinder is arranged below the first piston initial position collision block, a large oil cylinder piston connector is arranged on one side of the blanking large oil cylinder, a first pressure plate guide column is arranged on one side, away from the blanking large oil cylinder, of the large oil cylinder piston connector, a male die holder is arranged on one side of the first pressure plate guide column, a first pressure rectangular die spring is arranged on one side of the male die holder, a first male die is arranged on one side of the first pressure rectangular die spring, a first pressure plate is arranged on one side of the first male die, a first female die is arranged on one side of the first pressure plate, a first female die holder is arranged on one side of the first female die, a second female die is arranged on one side of the first female die holder, a second pressure plate is arranged on one side of the second female die, a second male die is arranged on one side of the second male die, and a second rectangular die spring is arranged on one side of the second male die, one side of the second material pressing rectangular die spring is provided with a second material pressing plate guide column, the top of the second material pressing plate guide column is provided with a detection block, the top of the detection block is provided with a plurality of position detection sensors, the side wall of each position detection sensor is provided with a non-standard linear guide rail, one side of each non-standard linear guide rail is provided with a second piston initial position collision block, one side of each second piston initial position collision block is provided with a second gun body initial position collision block, one side of each second gun body initial position collision block is provided with a second reset cylinder, and the top of each first reset cylinder is provided with a second reset cylinder support. The robot sends the punching gun in an open state to a part of an axle to be punched, so that air cylinders or small oil cylinders on two sides of the whole punching gun returning to the initial position are shown in the figure and retracted, and the punching gun is in a free floating state at the moment; the oil cylinder takes oil, the piston extends out to drive the left punch to approach towards the punched material piece, and the female die is connected to the cylinder body through the transition block, so that when the punch pressing plate assembly is tightly attached to the punched material piece, the cylinder body can drive the female die to move in a reverse direction to enable the female die to be tightly attached to the other side of the punched material piece, then left punching is completed, and meanwhile a left punching completion sensor has a signal; the oil cylinder is reversed to feed oil, the piston retracts to drive the right punch to approach towards the punched material piece, and the female die is connected to the cylinder body through the transition block, so that when the punch pressing plate assembly is tightly attached to the punched material piece, the cylinder body can drive the female die to move in a reverse direction to enable the female die to be tightly attached to the other side of the punched material piece, then the right punching is finished, and meanwhile, a right punching finishing sensor has a signal; the oil cylinder is reversed again to feed oil, the piston extends to the initial position, the hydraulic valve returns to the middle discharge position when the coils at the two ends are powered off after the initial position sensor is triggered, and the punching gun is in a free floating state at the moment; the air cylinders or small oil cylinders at two sides of the whole punching gun return to the initial position are extended as shown in the figure, so that the piston position of the oil cylinder is kept at the initial position, and the whole gun also returns to the initial position and is kept; and seventhly, the punching gun is moved away by the robot, the axle finishes the punching process of a group of left and right holes at the moment, and the holes at other parts are circularly processed according to the process.

Preferably, a plurality of mounting holes are formed in the upper surface of the mounting plate.

Preferably, the punching gun body support is made of metal.

Preferably, a plurality of mounting holes are formed in the top and the bottom of the robot quick-change seat.

Preferably, the robot is a three-arm robot.

Preferably, a plurality of mounting holes are formed in the side wall of the second piston initial position collision block.

The utility model provides a high flexibility I type robot rifle that punches a hole possesses following beneficial effect:

(1) the utility model discloses robot punching gun only carries out the structure that punches a hole to whole is moved by the robot and targets in place, so a punching gun can be used in a product a plurality of holes or multiple different products, as long as the hole that will punch all can produce with a punching gun equally, can see the utility model discloses a punching gun is better than the conventional special plane function that punches a hole more comprehensive changeable flexibility.

(2) The utility model discloses robot punching gun self only has the structure of the function of punching a hole, and the structure is also more succinct relatively moreover, and also only have a relevance with the robot in addition, need not consider the butt joint problem with other equipment almost, relative and conventional special plane equipment just simply have much more, because the succinct function of punching gun self structure is distinct does not have too much encumbrance functional module, and it is also very convenient to maintain and maintain.

Drawings

Fig. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of a separating member of the present invention;

FIG. 3 is a schematic view of the gun body of the present invention;

fig. 4 is a schematic view of the robot quick-change seat of the present invention;

fig. 5 is a schematic view of a second reset cylinder support of the present invention;

fig. 6 is the schematic view of the support of the punching gun body of the utility model.

In the figure: 1. mounting a plate; 2. a robot quick-change seat; 3. the initial position of the gun body is marked on the shaft; 4. a TCP probe rod; 5. the gun body floats the linear guide rail; 6. calibrating a lining at the initial position of the gun body; 7. a punching gun body support; 8. a first reset cylinder support; 9. a first reset cylinder; 10. the initial position of the first gun body hits the piece; 11. a first piston initial position bump; 12. blanking a large oil cylinder; 13. a large oil cylinder piston connector; 14. a first swage plate guide post; 15. a convex die holder; 16. a first swage rectangular die spring; 17. a first male die; 18. a first pressure plate; 19. a first female die; 20. a first female die holder; 21. a second female die; 22. a second pressure plate; 23. a second male die; 24. a second swage rectangular die spring; 25. a second swage plate guide post; 26. a detection block; 27. a position detection sensor; 28. a non-standard linear guide rail; 29. the second piston initial position strikes the piece; 30. a second reset cylinder; 31. the second gun body initial position bumps; 32. a second reset cylinder support; 33. a robot; 34. punching the gun body; 35. and (6) punching the workpiece.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

As shown in fig. 1-6, the utility model provides a technical solution: a high-flexibility I-shaped robot punching gun is provided with a robot 33, wherein a punching gun body 34 is arranged at one end above the robot 33, and a punching piece 35 is placed below the punching gun body 34;

towards rifle body 34 including mounting panel 1, the top of mounting panel 1 is provided with robot quick change seat 2, one side of robot quick change seat 2 is provided with rifle body initial position calibration axle 3, one side of rifle body initial position calibration axle 3 is provided with TCP probe rod 4, the below of mounting panel 1 is provided with rifle body floating linear guide 5, the bottom of rifle body floating linear guide 5 is provided with rifle body initial position calibration bush 6, the below of rifle body initial position calibration bush 6 is provided with punching gun body support 7, bottom one side of punching gun body support 7 is provided with first cylinder support 8 that resets, one side of first cylinder support 8 that resets is provided with first rifle body initial position and hits piece 10, the bottom that first rifle body initial position collided piece 10 is provided with first piston initial position and hits piece 11, first cylinder support 8 that resets is kept away from one side that first rifle body initial position collided piece 10 is provided with first cylinder support that resets 9, a blanking large oil cylinder 12 is arranged below the first piston initial position collision block 11, a large oil cylinder piston connector 13 is arranged on one side of the blanking large oil cylinder 12, a first pressure plate guide post 14 is arranged on one side of the large oil cylinder piston connector 13 away from the blanking large oil cylinder 12, a male die holder 15 is arranged on one side of the first pressure plate guide post 14, a first pressure rectangular die spring 16 is arranged on one side of the male die holder 15, a first male die 17 is arranged on one side of the first pressure rectangular die spring 16, a first pressure plate 18 is arranged on one side of the first male die 17, a first female die 19 is arranged on one side of the first pressure plate 18, a first female die holder 20 is arranged on one side of the first female die 19, a second female die 21 is arranged on one side of the first female die holder 20, and a second female die 22 is arranged on one side of the second female die 21, a second punch 23 is arranged on one side of the second pressing plate 22, a second pressing rectangular die spring 24 is arranged on one side of the second punch 23, a second pressing plate guide post 25 is arranged on one side of the second pressing rectangular die spring 24, a detection block 26 is arranged on the top of the second pressing plate guide post 25, a plurality of position detection sensors 27 are arranged on the top of the detection block 26, a non-standard linear guide rail 28 is arranged on the side wall of each position detection sensor 27, a second piston initial position collision block 29 is arranged on one side of the non-standard linear guide rail 28, a second gun body initial position collision block 31 is arranged on one side of the second piston initial position collision block 29, a second reset cylinder 30 is arranged on one side of the second gun body initial position collision block 31, and a second reset cylinder support 32 is arranged on the top of the first reset cylinder 30. The robot sends a punching gun in an open state to a part of an axle to be punched, so that air cylinders or small oil cylinders on two sides of the whole punching gun returning to an initial position retract as shown in 09 and 30 in figure 3, and the punching gun is in a free floating state at the moment; the oil cylinder takes oil, the piston extends out to drive the left punch to approach towards the punched material piece, and the female die is connected to the cylinder body through the transition block, so that when the punch pressing plate assembly is tightly attached to the punched material piece, the cylinder body can drive the female die to move in a reverse direction to enable the female die to be tightly attached to the other side of the punched material piece, then left punching is completed, and meanwhile a left punching completion sensor has a signal; the oil cylinder is reversed to feed oil, the piston retracts to drive the right punch to approach towards the punched material piece, and the female die is connected to the cylinder body through the transition block, so that when the punch pressing plate assembly is tightly attached to the punched material piece, the cylinder body can drive the female die to move in a reverse direction to enable the female die to be tightly attached to the other side of the punched material piece, then the right punching is finished, and meanwhile, a right punching finishing sensor has a signal; the oil cylinder is reversed again to feed oil, the piston extends to the initial position, the hydraulic valve returns to the middle discharge position when the coils at the two ends are powered off after the initial position sensor is triggered, and the punching gun is in a free floating state at the moment; extending out the cylinders or small oil cylinders at two sides of the whole punching gun returning to the initial position as shown in 09 and 30 in figure 3, so that the whole gun also returns to the initial position and is kept while the piston position of the oil cylinder is kept at the initial position; and seventhly, the punching gun is moved away by the robot, the axle finishes the punching process of a group of left and right holes at the moment, and the holes at other parts are circularly processed according to the process.

A plurality of mounting holes are formed in the upper surface of the mounting plate.

The punching gun body support 7 is made of metal.

A plurality of mounting holes are formed in the top and the bottom of the robot 33 quick-change seat.

The robot 33 is a three-arm robot.

The side wall of the second piston initial position collision block 29 is provided with a plurality of mounting holes.

In the field of automatic punching of a robot when in use, the robot has the advantages of high flexibility, low noise, simple structure, relatively small volume, low cost, light weight, comprehensive, stable and reliable functions, simple maintenance, wide application range and the like, the robot sends a punching gun in an open state to a part of an axle to be punched, so that cylinders or small cylinders at two sides of the whole punching gun returning to an initial position retract as shown in 09 and 30 in figure 3, and the punching gun is in a free floating state at the moment; the oil cylinder takes oil, the piston extends out to drive the left punch to approach towards the punched material piece, and the female die is connected to the cylinder body through the transition block, so that when the punch pressing plate assembly is tightly attached to the punched material piece, the cylinder body can drive the female die to move in a reverse direction to enable the female die to be tightly attached to the other side of the punched material piece, then left punching is completed, and meanwhile a left punching completion sensor has a signal; the oil cylinder is reversed to feed oil, the piston retracts to drive the right punch to approach towards the punched material piece, and the female die is connected to the cylinder body through the transition block, so that when the punch pressing plate assembly is tightly attached to the punched material piece, the cylinder body can drive the female die to move in a reverse direction to enable the female die to be tightly attached to the other side of the punched material piece, then the right punching is finished, and meanwhile, a right punching finishing sensor has a signal; the oil cylinder is reversed again to feed oil, the piston extends to the initial position, the hydraulic valve returns to the middle discharge position when the coils at the two ends are powered off after the initial position sensor is triggered, and the punching gun is in a free floating state at the moment; extending out the cylinders or small oil cylinders at two sides of the whole punching gun returning to the initial position as shown in 09 and 30 in figure 3, so that the whole gun also returns to the initial position and is kept while the piston position of the oil cylinder is kept at the initial position; and seventhly, the punching gun is moved away by the robot, the axle finishes the punching process of a group of left and right holes at the moment, and the holes at other parts are circularly processed according to the process.

Therefore, the robot punching gun is much smaller than the conventional special machine punching equipment in volume and simpler in structure. The conventional special punching machine equipment is provided with a stack of complex positioning mechanisms and punching functional modules aiming at punched workpieces; the robot punching gun only has a structure for punching one hole, and the whole robot moves in place, so that one punching gun can be used for a plurality of holes in one product or a plurality of different products, and the punching gun can be used for production as long as the holes to be punched are the same, therefore, the utility model discloses the punching gun of the embodiment of the utility model has more comprehensive, changeable and better flexibility than the conventional special punching machine; the robot punching gun only has a structure for punching one hole, and the whole robot moves in place, so that one punching gun can be used for various different products, the punching production can be realized by one gun for multiple purposes as long as the punched holes are different, and the punching gun of the punching equipment is not required to be switched no matter which products are produced, and the products to be produced are simply positioned and placed in a punching station as long as the same hole is punched; the robot punching gun can be used for different product production projects for punching the same hole, and can produce various products with one-time cost investment, so that the punching cost is shared by various product production projects, and the cost is greatly reduced compared with the conventional special machine punching; the robot punching gun has a structure with a punching function, the structure is relatively simple, the robot punching gun is only related to a robot, the butt joint problem is hardly considered with other equipment, the robot punching gun is simpler than conventional special machine equipment, and the maintenance and the service are also convenient because the punching gun has a simple structure and bright functions and does not have excessive encumbrance functional modules; the robot punching gun has a distinct function, only a punching function module is reserved and improved, the punching function is more professional and reliable, and a workpiece positioning structure with strong pertinence and no interchangeability is removed. The punching machine has the advantages that the punching machine is simple in structure and small in size, meanwhile, the punching function can be more professional and reliable, the requirements for space and peripheral equipment are reduced, and the adaptability to various working conditions is greatly improved; the robot punching gun adopts a mode that a hydraulic cylinder and a rectangular die spring are driven by one main drive and one auxiliary drive, the hydraulic cylinder drives a punch to provide cutting force to ensure that punching is finished, the rectangular die spring drives a pressure plate assembly, so that the pressure plate can press a workpiece before the punch starts to contact the workpiece in the punching process and after the punch finishes punching and is separated from the workpiece, the workpiece and the punching gun are in a relatively fixed state in the whole process, and the effects of avoiding the condition that the punch pulls the material and reducing the noise generated in punching can be achieved; the punching gun of the robot returns to the initial position by adopting the cylinders at two sides or the small oil cylinder piston to extend out to enable the oil cylinder piston to keep the initial position and simultaneously enable the whole gun to return to the initial position and keep the initial position, and meanwhile, the punching gun has the return initial positions of two positions, so that the efficiency is improved, the energy consumption is reduced, and the signal interaction is reduced, thereby the failure rate is reduced.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a high flexibility I type robot punching gun which characterized in that: the punching gun comprises a robot (33), wherein a punching gun body (34) is arranged at one end above the robot (33), and a punching piece (35) is placed below the punching gun body (34);

towards rifle body (34) including mounting panel (1), the top of mounting panel (1) is provided with robot quick change seat (2), one side of robot quick change seat (2) is provided with rifle body initial position calibration axle (3), one side of rifle body initial position calibration axle (3) is provided with TCP probe rod (4), the below of mounting panel (1) is provided with rifle body floating linear guide (5), the bottom of rifle body floating linear guide (5) is provided with rifle body initial position calibration bush (6), the below of rifle body initial position calibration bush (6) is provided with punching gun body support (7), bottom one side of punching gun body support (7) is provided with first cylinder support (8) that resets, one side of first cylinder support (8) that resets is provided with first rifle body initial position and hits piece (10), the bottom of first rifle body initial position piece (10) is provided with first piston initial position and hits piece (11) and hits ) A first reset cylinder (9) is arranged on one side, away from the first gun body initial position collision block (10), of the first reset cylinder support (8);

a blanking large oil cylinder (12) is arranged below the first piston initial position impact block (11), a large oil cylinder piston connector (13) is arranged on one side of the blanking large oil cylinder (12), a first pressure plate guide post (14) is arranged on one side, far away from the blanking large oil cylinder (12), of the large oil cylinder piston connector (13), a convex die holder (15) is arranged on one side of the first pressure plate guide post (14), a first pressure rectangular die spring (16) is arranged on one side of the convex die holder (15), a first convex die (17) is arranged on one side of the first pressure rectangular die spring (16), a first pressure plate (18) is arranged on one side of the first convex die (17), a first concave die (19) is arranged on one side of the first pressure plate (18), a first concave die holder (20) is arranged on one side of the first concave die (19), a second concave die (21) is arranged on one side of the first concave die holder (20), a second pressure plate (22) is arranged on one side of the second female die (21), a second male die (23) is arranged on one side of the second pressure plate (22), a second pressure rectangular die spring (24) is arranged on one side of the second male die (23), a second pressure plate guide post (25) is arranged on one side of the second pressure rectangular die spring (24), a detection block (26) is arranged on the top of the second pressure plate guide post (25), a plurality of position detection sensors (27) are arranged on the top of the detection block (26), a non-standard linear guide rail (28) is arranged on the side wall of each position detection sensor (27), a second piston initial position collision block (29) is arranged on one side of the non-standard linear guide rail (28), a second gun body initial position collision block (31) is arranged on one side of the second piston initial position collision block (29), and a second reset cylinder (30) is arranged on one side of the second gun body initial position collision block (31), and a second reset cylinder support (32) is arranged at the top of the second reset cylinder (30).

2. The high flexibility type I robotic punch gun of claim 1, wherein: a plurality of mounting holes are formed in the upper surface of the mounting plate.

3. The high flexibility type I robotic punch gun of claim 1, wherein: the punching gun body support (7) is made of metal.

4. The high flexibility type I robotic punch gun of claim 1, wherein: and a plurality of mounting holes are formed in the top and the bottom of the quick-change seat of the robot (33).

5. The high flexibility type I robotic punch gun of claim 1, wherein: the robot (33) is a three-arm robot.

6. The high flexibility type I robotic punch gun of claim 1, wherein: the side wall of the second piston initial position collision block (29) is provided with a plurality of mounting holes.