WO2022021959A1 - Multi-station fixing, clamping and automatic stamping apparatus based on multi-axis industrial robot - Google Patents

Abstract

A multi-station fixing, clamping and automatic stamping apparatus based on a multi-axis industrial robot. The apparatus comprises a base (1), wherein an operation stage (2) is fixedly arranged on one side of the base (1); a side plate (3) is fixedly arranged on one side edge of the operation stage (2); several supporting transverse plates (4) are fixedly arranged on the top of the side plate (3); a first hydraulic cylinder (5) is arranged on one side of each of the supporting transverse plates (4); first hydraulic rods (6) are arranged at extending ends of the first hydraulic cylinders (5); the ends of the first hydraulic rods (6) that are away from the first hydraulic cylinders (5) are fixedly connected to one side of a lifting plate (7); and several hanging rods (8) are arranged, at equal intervals, on the side of the lifting plate (7) that is away from the first hydraulic rods (6). The device is simple in structure and easy to operate, and can achieve automatic clamping of a workpiece during a stamping process, and can avoid manual clamping, thereby greatly improving the convenience of use; meanwhile, waste materials obtained after punching can be pushed and collected, thereby greatly improving the cleanliness of the operation stage, and providing safety for punching machining.

Description

A Multi-station Fixed Clamping Automatic Stamping Equipment Based on Multi-axis Industrial Robot technical field

The invention relates to the field of mechanical automation equipment design, in particular to a multi-position fixed clamping automatic punching equipment based on a multi-axis industrial robot.

Background technique

With the popularization of automation technology, more and more automation equipment is used in production and life. And in order to further improve the production efficiency, multi-station synchronous production is often used to realize the production of products in a streamlined manner.

The traditional stamping equipment is mostly manual operation during the stamping operation: the workpiece is placed on the die of the punch by hand, and then the workpiece is manually clamped by the clamping devices on both sides of the die. Manually loosen the clamping device, and after the relaxation is completed, the worker will take out the stamped workpiece. Manually inserting and taking out the workpiece is inefficient, and at the same time, there is an increased safety hazard; and the existing stamping equipment There is no way to collect and process the scrap after stamping, which will cause clutter on the operating table, affect the placement of the workpiece, reduce the quality of the workpiece punching, and require staff to clean it, which greatly increases the work intensity; so there are It is necessary to provide a multi-station fixed clamping automatic punching equipment based on a multi-axis industrial robot to solve the above problems.

For the problems in the related technologies, no effective solutions have been proposed so far.

technical problem

The purpose of the present invention is to provide a multi-station fixed clamping automatic punching equipment based on a multi-axis industrial robot, so as to solve the problems raised in the above background technology.

technical solutions

In order to achieve the above purpose, the present invention provides the following technical solutions: a multi-station fixed-clamping automatic punching equipment based on a multi-axis industrial robot, comprising a base, one side of the base is fixedly provided with an operating table, and one side of the operating table is A side plate is fixed on the side, a plurality of supporting horizontal plates are fixed on the top of the side plate, a first hydraulic cylinder is arranged on one side of the supporting horizontal plate, and a first hydraulic cylinder is arranged on the extending end of the first hydraulic cylinder. The end of the first hydraulic rod away from the first hydraulic cylinder is fixedly connected to one side of the lift plate, and the side of the lift plate away from the first hydraulic rod is provided with several booms at equal distances. One end of the boom away from the lifting plate is fixedly provided with an upper die, the side of the upper die away from the boom is provided with a die groove, and a punching head is fixed inside the die groove, and the punching head is provided with a punching head. Below, and located on the operating table, a compression hole is opened, and a telescopic device is arranged inside the compression hole, and one side of the telescopic device is located on the side of the side plate away from the operating table. There is a pushing device, the compression hole is away from one side of the side plate, and a waste collection device is located on the operating table, and clamping devices are provided on both sides of the compression hole, and the operating table is far away from A placing table is fixed on one side of the side plate, a first placing slot is opened in the middle of the fixed connection between the placing platform and the operating table, and a handling device is arranged in the inside of the first placing slot. One side of the first placing slot is away from the operating table, and a conveying device is provided on the placing table.

Further, the telescopic device includes a top plate, the top plate is arranged inside the compression hole, a first compression spring is fixed on one side of the top plate, and an end of the first compression spring away from the top plate is connected to the other end of the top plate. The inner bottom end of the compression hole is fixedly connected.

Further, the pushing device includes an L-shaped plate, one end of the L-shaped plate is fixedly connected to one side of the side plate, the L-shaped plate is fixed on a fixing block, and the fixing block is far away from the A cylinder is arranged on one side of the side plate, a rotating shaft is arranged in the middle of one side of the cylinder, and the end of the rotating shaft away from the cylinder passes through the L-shaped plate and is connected to the output end of the first motor, and the side wall of the cylinder is connected with the output end of the first motor. An arc-shaped groove is opened on the upper part, a first sliding block is arranged inside the arc-shaped groove, a connecting rod is fixed on one side of the first sliding block, and an end of the connecting rod away from the first sliding block is fixed A moving rod is provided, a first through hole is opened on the bottom of the fixing block, the moving rod is arranged in the first through hole, and an end of the moving rod away from the connecting rod is directed toward the first through hole. The outer extension of a through hole is fixedly connected to one side of the push plate, the end of the push plate away from the moving rod is provided with a push rod, and one end of the push rod is fixedly provided with a push block, and the push rod is far away from the moving rod. One end of the push block is located on the fixed block with a slot, the slot is matched with the push rod, the two sides of the push plate are located on the push rod and are fixedly sleeved A limiting baffle, the push block is far from the side of the push rod, and a plurality of second through holes matching the push block are opened on the side plate, and both sides of the moving rod are provided with Limiting device.

Further, the limiting device includes a limiting plate, the limiting plate is fixedly arranged on both sides of the moving rod, and limiting grooves are provided on both sides of the inner wall of the first through hole, and the limiting plate is The side away from the moving rod is arranged inside the limiting groove.

Further, one side of the first motor is provided with a support frame, one side of the support frame is fixedly connected to one side of the L-shaped plate, and a side of the cylinder away from the rotating shaft is fixedly provided in the middle. A rotating rod, the other end of the rotating rod is set in a groove, and the groove is opened on one side of the fixing block.

Further, the waste collection device includes a feeding port, the feeding port is opened on the operating table, and is located on the side of the compression hole away from the side plate, on the side of the feeding port A receiving groove is provided, the receiving groove is opened inside the operating table, and the receiving groove is communicated with the feeding port.

Further, the clamping device includes a second placement slot, the second placement slot is opened on the operating table on both sides of the compression hole, and the inner slide bar of the second placement slot is sleeved on the slide bar. A second sliding block is provided, one side of the second sliding block is provided with a first L-shaped rod, and one end of the first L-shaped rod is movably connected with the second sliding block through a first movable bolt, the said The other end of the first L-shaped rod is provided with a movable rod, one end of the movable rod is sleeved on the first L-shaped rod, and the end of the first L-shaped rod away from the first movable bolt is fixedly provided with A blocking piece, one end of the sliding rod is connected to the inner wall of the second placing slot through a mounting block, the movable rod is movably connected to the mounting block through a second movable bolt, and the movable rod is far away from the first One end of an L-shaped rod is fixedly provided with a pressing block, and a pressing device is provided on the upper side of the pressing block, and the end of the sliding rod away from the mounting block passes through the shock-absorbing plate and the inner wall of the second placing slot. connection, a second compression spring is sleeved on one side of the shock-absorbing plate and located on the sliding rod, and the second compression spring is arranged between the shock-absorbing plate and the second sliding block, A connecting plate is fixed on the upper side of the second sliding block, and a second L-shaped rod is fixed on the side of the connecting plate away from the second sliding block, and the second L-shaped rod is far from the connection. One end of the plate is fixed with a clamping block.

Further, the pressing device includes a right-angled trapezoidal block, the right-angled trapezoidal block is arranged on one side of the pressing block, and a third sliding block is fixed on one side of the right-angled trapezoidal block, and the third sliding block is Set inside the chute, the chute is opened on one side of the L-shaped support plate, one side of the L-shaped support plate is fixed on both sides of the upper mold, and one side of the right-angled trapezoid block is fixed There is a limit rod, the other end of the limit rod penetrates the L-shaped support plate, and extends to the other side of the L-shaped support plate and is fixedly connected with a stopper, and the right-angled trapezoid block is connected to the L-shaped support plate. between the type support plates, and a third compression spring is sleeved on the limit rod.

Further, the conveying device includes a second motor, the second motor is arranged inside the first placing slot, the output end of the second motor is provided with a vortex rod, and the upper part of the vortex rod is meshed with a vortex rod. Turbine, both ends of the turbine are fixed with a central shaft, the other end of the central shaft is connected with a support rod, and a collar is sleeved on the central axis, and a U-shaped frame is passed between the collars. Fixed connection, one side of the U-shaped frame is fixedly provided with a second hydraulic cylinder, the output end of the second hydraulic cylinder is provided with a second hydraulic rod, and one end of the second hydraulic rod penetrates the U-shaped frame, Moreover, the U-shaped frame is extended to the outside of the U-shaped frame and is fixedly connected to the mounting plate, and a plurality of mechanical grippers are fixed at the same distance on the other side of the mounting plate, and the mechanical grippers are located on one side of the compression hole.

Further, the conveying device includes an installation slot, the installation slot is opened on one side of the placing table, the inside of the installation slot is provided with a conveyor belt, and one side of the base is provided with a control panel, the control panel An emergency stop button, a start switch and a controller are respectively arranged on the upper part, and the first motor, the second motor, the first hydraulic cylinder, the second hydraulic cylinder and the conveyor belt are all electrically connected with the controller.

beneficial effect

(1) The device has a simple structure and simple operation, and can automatically clamp the workpiece during the punching process, avoiding manual clamping, greatly increasing the convenience of use, and at the same time, it can push and collect the waste after punching. , which greatly increases the cleanliness of the operating table and provides the safety of punching processing;

(2) The telescopic device can push out the waste on the punched workpiece, avoid the waste remaining in the compression hole, increase the removal of waste, and greatly increase the convenience of use;

(3) The pushing device can push the waste out of the top plate on the telescopic device after punching, avoiding manual manual cleaning, greatly increasing the safety of use and increasing the convenience of use;

(4) The two sides of the moving rod are connected with the inner wall of the first through hole through the limiting device, and the limiting device can increase the stability of the telescopic movement of the moving rod;

(5) There is a support frame on one side of the first motor, which can support the first motor, avoid the suspension of the first motor, greatly increase the safety of use, and put the first motor in the air. The support frame is fixedly connected with the L-shaped plate, which increases the stability of the support frame;

(6) The waste collection device can collect the punched waste, avoid the accumulation of waste on the operating table, and greatly increase the safety of use. The punched waste is pushed to the feed port by the pusher The feeding port falls into the storage tank, and then the staff cleans it regularly, which greatly increases the safety of use;

(7) The clamping device can clamp the workpiece placed on the compression hole, avoid the shaking of the workpiece during punching, greatly increase the stability during the punching process, and avoid the offset of the punching position. Greatly improved the quality of punching;

(8) The pressing device can drive the clamping device to clamp and relax the workpiece, which increases the convenience of use. The movement is stable, and a limit rod is set on one side of the right-angled trapezoid block, and a third compression spring is sleeved on the limit rod, which can buffer the right-angled trapezoid block and greatly increase the safety of use. ;

(9) The handling device can transport the workpiece on the compression hole to the conveyor belt, and then transport the unprocessed workpiece on the conveyor belt to the compression hole, which increases the safety of use, realizes automatic loading and unloading of workpieces, and avoids manual loading and unloading. Putting the workpiece greatly increases the safety performance of the use and greatly improves the work efficiency.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings required in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some of the present invention. In the embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

1 is a front view of a multi-station fixed-clamping automatic punching device based on a multi-axis industrial robot according to an embodiment of the present invention;

2 is a cross-sectional view of a multi-station fixed-clamping automatic punching device based on a multi-axis industrial robot according to an embodiment of the present invention;

Fig. 3 is the enlarged view of A place in Fig. 2;

4 is a schematic structural diagram of a clamping device in a multi-station fixed clamping automatic punching equipment based on a multi-axis industrial robot according to an embodiment of the present invention;

5 is a top view of a multi-station fixed-clamping automatic punching device based on a multi-axis industrial robot according to an embodiment of the present invention;

Fig. 6 is an enlarged view at B in Fig. 5;

7 is a schematic diagram of a connection structure between a turbine and a worm in a multi-station fixed-clamping automatic stamping device based on a multi-axis industrial robot according to an embodiment of the present invention;

8 is a side cross-sectional view of an operating table in a multi-station fixed-clamping automatic punching equipment based on a multi-axis industrial robot according to an embodiment of the present invention;

9 is a schematic structural diagram of a pushing device in a multi-station fixed-clamping automatic punching equipment based on a multi-axis industrial robot according to an embodiment of the present invention;

10 is a cross-sectional view of a pushing device in a multi-station fixed-clamping automatic punching equipment based on a multi-axis industrial robot according to an embodiment of the present invention;

FIG. 11 is a schematic structural diagram of a limiting device in a multi-station fixed-clamping automatic punching equipment based on a multi-axis industrial robot according to an embodiment of the present invention.

Reference number:

1. Base; 2. Operating table; 3. Side plate; 4. Supporting horizontal plate; 5. The first hydraulic cylinder; 6. The first hydraulic rod; 7. Lifting plate; 8. Boom; , punching head; 11, compression hole; 12, placement table; 13, first placement slot; 14, top plate; 15, first compression spring; 16, L-shaped plate; 17, fixed block; 18, cylinder; 19, shaft ;20, the first motor; 21, the arc slot; 22, the first slider; 23, the connecting rod; 24, the moving rod; 25, the first through hole; 26, the push plate; 27, the push rod; 28, the push block; 29, slot; 30, limit baffle; 31, second through hole; 32, limit plate; 33, limit slot; 34, support frame; 35, rotary rod; 36, feed port; 37 , storage slot; 38, second placement slot; 39, sliding rod; 40, second slider; 41, first L-shaped rod; 42, first movable bolt; 43, movable rod; 44, blocking plate; 45, Installation block; 46, second movable bolt; 47, pressing block; 48, shock absorber plate; 49, second compression spring; 50, connecting plate; 51, second L-shaped rod; 52, clamping block; 53, right-angled trapezoid block; 54, the third slider; 55, the chute; 56, the L-shaped support plate; 57, the limit rod; 58, the third compression spring; 59, the second motor; 60, the worm; 61, the turbine; 62 63, support rod; 64, U-shaped frame; 65, collar; 66, second hydraulic cylinder; 67, second hydraulic rod; 68, mounting plate; 69, mechanical gripper; 70, mounting groove; 71. Conveyor belt.

Embodiments of the present invention

Below, in conjunction with the accompanying drawings and specific embodiments, the invention is further described:

Example 1:

1-11, according to an embodiment of the present invention, a multi-station fixed-clamping automatic punching device based on a multi-axis industrial robot includes a base 1, and an operation table 2 is fixed on one side of the base 1, and the operation One side of the table 2 is fixedly provided with a side plate 3, a plurality of support transverse plates 4 are fixed on the top of the side plate 3, and a first hydraulic cylinder 5 is arranged on one side of the support transverse plate 4, and the first hydraulic pressure The extending end of the cylinder 5 is provided with a first hydraulic rod 6, and one end of the first hydraulic rod 6 away from the first hydraulic cylinder 5 is fixedly connected to one side of the lifting plate 7, and the lifting plate 7 is far away from the first hydraulic cylinder 5. One side of a hydraulic rod 6 is equidistantly provided with a plurality of hangers 8 , and one end of the hanger 8 away from the lift plate 7 is fixedly provided with an upper mold 9 . There is a die groove on the side, and a punching head 10 is fixed inside the die groove. Below the punching head 10, and on the operating table 2, a compression hole 11 is opened. There is a telescopic device, one side of the telescopic device is located on the side of the side plate 3 away from the operating table 2 with a pushing device, the compression hole 11 is away from the side plate 3 side, Moreover, a waste collection device is provided on the operating table 2, a clamping device is provided on both sides of the compression hole 11, and a placing table 12 is fixed on the side of the operating table 2 away from the side plate 3, A first placing groove 13 is opened in the middle of the fixed connection between the placing table 12 and the operating table 2 , and a handling device is arranged inside the first placing groove 13 , and the first placing groove 13 is far away from the operation. On one side of the table 2, and on the placing table 12, there is a transfer device, which is simple in structure and simple in operation, and can automatically clamp the workpiece during the punching process, avoid manual clamping, and greatly increase the The convenience of use is improved, and the waste after punching can be pushed and collected, which greatly increases the cleanliness of the operating table and provides the safety of punching processing.

Embodiment 2:

Referring to FIGS. 2 and 3 , for a telescopic device, the telescopic device includes a top plate 14 , the top plate 14 is arranged inside the compression hole 11 , and a first compression spring 15 is fixed on one side of the top plate 14 , the end of the first compression spring 15 away from the top plate 14 is fixedly connected with the inner bottom end of the compression hole 11 , and the telescopic device can push out the waste on the punched workpiece to prevent the waste from remaining in the compression hole. In the middle, the removal of waste is increased, which greatly increases the convenience of use.

Embodiment three:

Please refer to FIGS. 5 , 9 and 10 . For the pushing device, the pushing device includes an L-shaped plate 16 . One end of the L-shaped plate 16 is fixedly connected to one side of the side plate 3 . The mold plate 16 is fixed on a fixed block 17, the side of the fixed block 17 away from the side plate 3 is provided with a cylinder 18, and a rotating shaft 19 is arranged in the middle of one side of the cylinder 18, and the rotating shaft 19 is far from the One end of the cylinder 18 penetrates the L-shaped plate 16 and is connected to the output end of the first motor 20 , an arc-shaped groove 21 is formed on the side wall of the cylinder 18 , and a first sliding block is arranged inside the arc-shaped groove 21 22. A connecting rod 23 is fixed on one side of the first sliding block 22, and a moving rod 24 is fixed on one end of the connecting rod 23 away from the first sliding block 22. The bottom of the fixing block 17 is provided with a moving rod 24. There is a first through hole 25 , the moving rod 24 is disposed in the first through hole 25 , and the end of the moving rod 24 away from the connecting rod 23 extends to the outside of the first through hole 25 and One side of the push plate 26 is fixedly connected, one end of the push plate 26 away from the moving rod 24 is provided with a push rod 27, and one end of the push rod 27 is fixedly provided with a push block 28, and the push rod 27 is away from the One end of the push block 28 is located on the fixing block 17 and a slot 29 is opened. The slot 29 is matched with the push rod 27. A limit baffle 30 is fixedly sleeved on the push rod 27 , the push block 28 is away from the side of the push rod 27 , and a number of first blocks matching the push block 28 are opened on the side plate 3 . There are two through holes 31. There are limit devices on both sides of the moving rod 24. The pushing device can push the waste out of the top plate 14 on the telescopic device after punching, so as to avoid manual cleaning and greatly increase the safety of use. , while increasing the convenience of use.

Embodiment 4:

Referring to FIGS. 9 , 10 and 11 , for the limiting device, the limiting device includes a limiting plate 32 , and the limiting plate 32 is fixed on both sides of the moving rod 24 . Limiting slots 33 are provided on both sides of the inner wall of the hole 25 , and the side of the limiting plate 32 away from the moving rod 24 is arranged inside the limiting groove 33 , and the limiting device can increase the stability of the telescopic movement of the moving rod. sex.

Embodiment 5:

Referring to FIGS. 5 , 9 and 10 , for the first motor 20 , a support frame 34 is provided on one side of the first motor 20 , and one side of the support frame 34 is connected to one side of the L-shaped plate 16 . A rotating rod 35 is fixed in the middle of one side of the cylinder 18 away from the rotating shaft 19, and the other end of the rotating rod 35 is set in a groove, and the groove is opened in the fixing block 17. On one side, the support frame 34 can play a supporting role for the first motor 20, so as to avoid the suspension of the first motor 20, which greatly increases the safety of use.

Embodiment 6:

Referring to FIGS. 1 , 5 and 8 , for waste collection, the waste collection device includes a feed port 36 , the feed port 36 is opened on the operating table 2 , and is located away from the compression hole 11 . One side of the side plate 3 and one side of the feeding port 36 are provided with a receiving groove 37 , the receiving groove 37 is opened inside the operating table 2 , and the receiving groove 37 is connected to the feeding port. 36 are connected, the waste collection device can collect the punched waste, avoid the accumulation of waste on the operating table, and greatly increase the safety of use. The punched waste is pushed by the pusher to the feed port 36 and then It falls into the storage tank 37 from the feeding port, and is then cleaned regularly by the staff, which greatly increases the safety of use.

Embodiment 7:

Referring to FIGS. 1 , 2 , 3 and 4 , for the clamping device, the clamping device includes a second placement slot 38 , and the second placement slot 38 is opened on the operating table 2 on both sides of the compression hole 11 . On the inner slide bar 39 of the second placement slot 38, a second slider 40 is sleeved on the slide bar 39, and a first L-shaped rod 41 is provided on one side of the second slider 40, so One end of the first L-shaped rod 41 is movably connected with the second sliding block 40 through the first movable bolt 42 , and the other end of the first L-shaped rod 41 is provided with a movable rod 43 , and one end of the movable rod 43 The first L-shaped rod 41 is sleeved on the first L-shaped rod 41 , the end of the first L-shaped rod 41 away from the first movable bolt 42 is fixed with a blocking piece 44 , and one end of the sliding rod 39 is connected with the mounting block 45 . The inner wall of the second placement slot 38 is connected, the movable rod 43 is movably connected to the mounting block 45 through the second movable bolt 46 , and the end of the movable rod 43 away from the first L-shaped rod 41 is fixed. A pressing block 47 is provided, and a pressing device is provided on the upper side of the pressing block 47 , and the end of the sliding rod 39 away from the mounting block 45 is connected to the inner wall of the second placing slot 38 through the shock-absorbing plate 48 , one side of the shock-absorbing plate 48, and a second compression spring 49 is set on the sliding rod 39, and the second compression spring 49 is arranged on the shock-absorbing plate 48 and the second sliding Between the blocks 40, a connecting plate 50 is fixed on the upper side of the second sliding block 40, and a second L-shaped rod 51 is fixed on the side of the connecting plate 50 away from the second sliding block 40, so The end of the second L-shaped rod 51 away from the connecting plate 50 is fixedly provided with a clamping block 52, and the clamping device can clamp the workpiece placed on the compression hole 11, so as to avoid the shaking of the workpiece during punching. Greatly increases the stability of the punching process, avoids the offset of the punching position, and greatly improves the quality of the punching.

Embodiment 8:

Referring to FIGS. 1 , 2 and 3 , for the pressing device, the pressing device includes a right-angled trapezoid block 53 , the right-angled trapezoidal block 53 is arranged on one side of the pressing block 47 , and the right-angled trapezoidal block 53 A third slider 54 is fixed on one side of the L-shaped support plate 54, the third slider 54 is arranged inside the chute 55, and the chute 55 is opened on one side of the L-shaped support plate 56, and the L-shaped support plate 56 One side of the upper mold 9 is fixedly arranged on both sides of the upper mold 9, one side of the right-angled trapezoid block 53 is fixedly provided with a limit rod 57, and the other end of the limit rod 57 penetrates the L-shaped support plate 56, and , extends to the other side of the L-shaped support plate 56 and is fixedly connected with the stopper, between the right-angled trapezoid block 53 and the L-shaped support plate 56, and is located on the limit rod 57. The third compression spring 58, the pressing device can drive the clamping device to clamp and relax the workpiece, which increases the convenience of use. The stability of the movement of the right-angled trapezoid block 53 is improved, and a limit rod is arranged on one side of the right-angled trapezoid block 53, and a third compression spring 58 is sleeved on the limit rod 57, which can buffer the right-angled trapezoid block 53. function, greatly increasing the safety of use.

Embodiment 9:

Please refer to FIGS. 5 , 6 , and 7 . As for the conveying device, the conveying device includes a second motor 59 . The second motor 59 is arranged inside the first placing slot 13 . The output end is provided with a worm shaft 60 , a turbine 61 is meshed above the worm shaft 60 , both ends of the turbine 61 are fixed with a central shaft 62 , and the other end of the central shaft 62 is connected with a support rod 63 . , the central shaft 62 is sleeved with a collar 65, the collars 65 are fixedly connected by a U-shaped frame 64, and a second hydraulic cylinder 66 is fixed on one side of the U-shaped frame 64. The output end of the second hydraulic cylinder 66 is provided with a second hydraulic rod 67 , one end of the second hydraulic rod 67 penetrates the U-shaped frame 64 and extends to the outside of the U-shaped frame 64 and is fixed to the mounting plate 68 The other side of the mounting plate 68 is fixed with a number of mechanical grippers 69 equidistantly. The mechanical grippers 69 are located on one side of the compression hole 11. The conveying device can transport the workpiece on the compression hole 11 to the The unprocessed workpiece on the conveyor belt is then transported to the compression hole 11, which increases the safety of use, realizes automatic loading and unloading of workpieces, avoids manual loading and unloading of workpieces, greatly increases the safety performance of use, and greatly improves the work. efficient.

Embodiment ten:

Referring to FIG. 5 , for the conveying device, the conveying device includes an installation slot 70 , the installation slot 70 is opened on one side of the placing table 12 , and a conveying belt 71 is arranged inside the installation slot 70 . One side of the base 1 is provided with a control panel, which is respectively provided with an emergency stop button, a start switch and a controller, the first motor 20, the second motor 59, the first hydraulic cylinder 5, the second hydraulic cylinder 66. The conveyor belts 71 are all electrically connected to the controller. The conveyor belts 71 can transfer unprocessed workpieces and transfer the workpieces placed on the conveyor belts 71 after processing to the next process, which greatly increases the convenience of use.

In summary, with the help of the above-mentioned technical solutions of the present invention, in order to facilitate the understanding of the above-mentioned technical solutions of the present invention, the working principle or operation mode of the present invention in the actual process is described in detail below:

In practical application, firstly, the workpiece to be processed is placed on the conveyor belt 71 for transmission, and then the second motor 59 is activated. The second motor 59 will drive the worm shaft 60 to rotate, and the rotation of the worm shaft 60 will drive the rotation of the turbine 61 . , the rotation of the turbine 61 will drive the rotation of the central shaft 62. Since the collar 65 is fixed on the central shaft 62, it will drive the U-shaped frame 64 to rotate. When the U-shaped frame 64 rotates to the designated position, control the The controller will control the second hydraulic cylinder 66 to start, drive the second hydraulic rod 67 to extend, and at the same time start the mechanical gripper 69 to grip the workpiece on the conveyor belt 71. After gripping, the controller will drive the second motor 59 to reverse. Rotate in the opposite direction, thereby driving the vortex rod 60 to rotate in the opposite direction. Similarly, it will drive the U-shaped frame 64 to rotate to the specified position on the side of the measurement. The controller will start the second hydraulic cylinder 66 to start, and move the workpiece to the compression hole 11. At the position of the compression hole 11, a displacement sensor is arranged on one side of the compression hole 11, and the displacement sensor is electrically connected with the controller to increase the accuracy of workpiece placement. In this way, the placement of the workpiece is realized, and then the controller will control the activation of the first hydraulic cylinder 5, and the first hydraulic cylinder 5 will drive the first hydraulic rod 6 to extend, thereby driving the lifting plate 7 to descend, thereby realizing the descending of the upper die 9. , so as to realize the punching of the workpiece and the clamping of the upper die, the right-angled trapezoidal blocks 53 on both sides will be driven to descend. The pressing block 47 is pressed down and pushed. After the clamping block 52 clamps the workpiece, the upper die 9 continues to descend, which will cause the third slider 54 to slide inside the chute 55, while the third compression spring 58 can play a buffering role, which greatly increases the safety of use. After stamping, the upper die 9 rises, the compression device will rise, and the stamped waste will rise under the drive of the first compression spring 15 and the top plate 14. At the same time, the controller will drive the first motor 20 to start, and the start of the first motor 20 will drive the rotation of the cylinder 18 through the rotating shaft 19. Since the surface of the cylinder 18 is provided with an arc-shaped groove 21, the interior of the arc-shaped groove 21 is provided with There is a first slider 22, which will drive the first slider 22 to move, the movement of the first slider 22 will drive the movement of the moving rod 24, and the movement of the moving rod 24 will drive the movement of the push plate 26, pushing the The movement of the plate 26 will drive the movement of the push rod 27, and the push rod 27 will drive the push block 28 to push out the waste material on the workpiece through the second through hole 31, and the waste material will slide into the receiving slot 37 through the feeding port 36. In the process of collecting the waste, after the waste is pushed and the push block is retracted, the controller will start the second motor 59 to transfer, drive the U-shaped frame 64 to rotate, and make the mechanical gripper 69 perform the processing on the processed workpiece. After clamping, after the workpiece clamping is completed, the controller starts the second motor 59 in reverse again to drive the U-shaped frame 64 to rotate in the reverse direction, and starts the second hydraulic cylinder 66 to make the second hydraulic rod 67 expand and contract. U-frame 64 After reaching the designated position, the controller controls the mechanical gripper 69 to relax, so as to realize the relaxation of the workpiece, and realize that the processed workpiece is placed on the conveyor belt 71 for transmission. Automatic clamping is performed to avoid manual clamping, which greatly increases the convenience of use. At the same time, it can push and collect the waste after punching, which greatly increases the cleanliness of the operating table and provides the safety of punching processing.

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

Claims (10)

A multi-station fixed-clamping automatic punching device based on a multi-axis industrial robot, characterized in that it comprises a base (1), and an operation table (2) is fixedly arranged on one side of the base (1), and the operation table (2) A side plate (3) is fixedly arranged on one side of the side plate (3), a plurality of supporting transverse plates (4) are fixedly arranged on the top of the side plate (3), and a first hydraulic cylinder is arranged on one side of the supporting transverse plate (4). (5), the extending end of the first hydraulic cylinder (5) is provided with a first hydraulic rod (6), the end of the first hydraulic rod (6) away from the first hydraulic cylinder (5) and the lift One side of the plate (7) is fixedly connected, the side of the lift plate (7) away from the first hydraulic rod (6) is equidistantly provided with several booms (8), and the boom (8) is far away from all the One end of the lift plate (7) is fixedly provided with an upper mold (9), the side of the upper mold (9) away from the hanger (8) is provided with a mold groove, and the inside of the mold groove is fixedly provided with a mold groove. A punching head (10), below the punching head (10), and located on the operating table (2), is provided with a compression hole (11), and a telescopic device is arranged inside the compression hole (11), so One side of the telescopic device, and a pushing device is provided on the side of the side plate (3) away from the operating table (2), and the compression hole (11) is away from the side of the side plate (3). On one side, a waste collection device is located on the operating table (2), and clamping devices are provided on both sides of the compression hole (11), and the operating table (2) is far away from the side plate (3). A placing table (12) is fixed on one side of the The inside of (13) is provided with a conveying device, the first placing slot (13) is away from one side of the operating table (2), and a conveying device is provided on the placing table (12). The multi-station fixed-clamping automatic punching equipment based on a multi-axis industrial robot according to claim 1, wherein the telescopic device comprises a top plate (14), and the top plate (14) is arranged on the compression Inside the hole (11), a first compression spring (15) is fixed on one side of the top plate (14), and the end of the first compression spring (15) away from the top plate (14) and the compression hole (11) fixed connection at the inner bottom end. The multi-station fixed-clamping automatic punching equipment based on a multi-axis industrial robot according to claim 2, wherein the pushing device comprises an L-shaped plate (16), and the L-shaped plate (16) One end of the L-shaped plate (16) is fixedly connected to one side of the side plate (3), and the L-shaped plate (16) is fixedly arranged on a fixing block (17), and the fixing block (17) is far away from the side of the side plate (3). A cylinder (18) is provided on one side, a rotating shaft (19) is provided in the middle of one side of the cylinder (18), and the end of the rotating shaft (19) away from the cylinder (18) penetrates the L-shaped plate (16) Connected to the output end of the first motor (20), an arc-shaped slot (21) is opened on the side wall of the cylinder (18), and a first slider (22) is arranged inside the arc-shaped slot (21). , a connecting rod (23) is fixed on one side of the first sliding block (22), and a moving rod (24) is fixed on one end of the connecting rod (23) away from the first sliding block (22), A first through hole (25) is opened on the bottom of the fixing block (17), the moving rod (24) is arranged in the first through hole (25), and the moving rod (24) is far away from One end of the connecting rod (23) extends to the outside of the first through hole (25) and is fixedly connected to one side of the push plate (26), and the push plate (26) is away from the edge of the moving rod (24). One end is provided with a push rod (27), one end of the push rod (27) is fixedly provided with a push block (28), the push rod (27) is away from the end of the push block (28), and is located at the end of the push rod (27). The fixed block (17) is provided with a slot (29), the slot (29) is matched with the push rod (27), and the two sides of the push plate (26) are located in the push rod (26). A limit baffle plate (30) is fixedly sleeved on the rod (27), the push block (28) is away from the side of the push rod (27), and a number of holes are provided on the side plate (3). The second through hole (31) matched with the push block (28) is provided with limiting devices on both sides of the moving rod (24). The multi-station fixed-clamping automatic punching equipment based on a multi-axis industrial robot according to claim 3, characterized in that the limit device comprises a limit plate (32), and the limit plate (32) Fixed on both sides of the moving rod (24), limiting slots (33) are provided on both sides of the inner wall of the first through hole (25), and the limiting plate (32) is far away from the moving rod ( 24) is arranged inside the limiting groove (33). The multi-station fixed-clamping automatic punching equipment based on a multi-axis industrial robot according to claim 4, characterized in that a support frame (34) is provided on one side of the first motor (20), and the first motor (20) is provided with a support frame (34). One side of the support frame (34) is fixedly connected with one side of the L-shaped plate (16), and a rotating rod (35) is fixed in the middle of one side of the cylinder (18) away from the rotating shaft (19), The other end of the rotating rod (35) is set in a groove, and the groove is opened on one side of the fixing block (17). The multi-station fixed-clamping automatic punching equipment based on a multi-axis industrial robot according to claim 5, wherein the waste collection device comprises a feed port (36), and the feed port (36) It is opened on the operating table (2), and is located on the side of the compression hole (11) away from the side plate (3), and a receiving groove (37) is provided on one side of the feeding port (36). ), the receiving groove (37) is opened inside the operating table (2), and the receiving groove (37) is communicated with the feeding port (36). The multi-station fixed clamping automatic punching equipment based on a multi-axis industrial robot according to claim 6, wherein the clamping device comprises a second placement groove (38), and the second placement groove ( 38) Opened on the operating table (2) on both sides of the compression hole (11), the inner sliding rod (39) of the second placing slot (38), the sliding rod (39) is sleeved with a first sliding rod (39). Two sliding blocks (40), one side of the second sliding block (40) is provided with a first L-shaped rod (41), and one end of the first L-shaped rod (41) passes through a first movable bolt (42) Actively connected with the second slider (40), the other end of the first L-shaped rod (41) is provided with a movable rod (43), and one end of the movable rod (43) is sleeved on the first L-shaped rod (41). On the L-shaped rod (41), one end of the first L-shaped rod (41) away from the first movable bolt (42) is fixedly provided with a blocking plate (44), and one end of the sliding rod (39) is installed by The block (45) is connected with the inner wall of the second placement groove (38), the movable rod (43) is movably connected with the mounting block (45) through the second movable bolt (46), and the movable rod (43) is movably connected with the mounting block (45). (43) A pressing block (47) is fixed at one end away from the first L-shaped rod (41), a pressing device is provided on the upper side of the pressing block (47), and the sliding rod (39) is far away from One end of the mounting block (45) is connected to the inner wall of the second placement groove (38) through a shock-absorbing plate (48), and one side of the shock-absorbing plate (48) is located on the sliding rod ( 39) A second compression spring (49) is set on the upper sleeve, and the second compression spring (49) is arranged between the damping plate (48) and the second slider (40), and the second A connecting plate (50) is fixed on the upper side of the slider (40), and a second L-shaped rod (51) is fixed on the side of the connecting plate (50) away from the second slider (40). A clamping block (52) is fixed at one end of the second L-shaped rod (51) away from the connecting plate (50). The multi-station fixed-clamping automatic punching equipment based on a multi-axis industrial robot according to claim 7, wherein the pressing device comprises a right-angled trapezoidal block (53), and the right-angled trapezoidal block (53) Set on one side of the pressing block (47), a third sliding block (54) is fixed on one side of the right-angled trapezoidal block (53), and the third sliding block (54) is set on the chute (55) ), the chute (55) is opened on one side of the L-shaped support plate (56), and one side of the L-shaped support plate (56) is fixed on both sides of the upper mold (9), A limit rod (57) is fixed on one side of the right-angled trapezoid block (53), and the other end of the limit rod (57) penetrates the L-shaped support plate (56), and is supported to the L-shaped The other side of the plate (56) is extended and fixedly connected to the stopper, between the right-angled trapezoidal block (53) and the L-shaped support plate (56), and is sleeved on the limit rod (57). There is a third compression spring (58). The multi-station fixed-clamping automatic punching equipment based on a multi-axis industrial robot according to claim 8, wherein the conveying device comprises a second motor (59), and the second motor (59) is configured to Inside the first placement slot (13), the output end of the second motor (59) is provided with a worm (60), and a turbine (61) is meshed above the worm (60), so Both ends of the turbine (61) are fixedly provided with a central shaft (62), the other end of the central shaft (62) is connected with a support rod (63), and a sleeve is sleeved on the central shaft (62). ring 65), the collars (65) are fixedly connected by a U-shaped frame (64), and a second hydraulic cylinder (66) is fixed on one side of the U-shaped frame (64). The output end of the cylinder (66) is provided with a second hydraulic rod (67). The outer extension is fixedly connected to the mounting plate (68), and the other side of the mounting plate (68) is fixed with a number of mechanical grippers (69) at equal distances, and the mechanical grippers (69) are located in the compression hole (11). ) on the side. The multi-station fixed-clamping automatic punching equipment based on a multi-axis industrial robot according to claim 8, characterized in that, the conveying device comprises an installation groove (70), and the installation groove (70) is opened in the On one side of the placing table (12), a conveyor belt (71) is provided inside the mounting groove (70), and a control panel is provided on one side of the base (1), and emergency stops are respectively provided on the control panels. A button, a start switch and a controller, the first motor (20), the second motor (59), the first hydraulic cylinder (5), the second hydraulic cylinder (66), and the conveyor belt (71) are all electrically connected to the controller connect.