An automatic loading and unloading device for punching machines capable of connecting to a line or producing on a single machine

Abstract

The present invention discloses an automatic loading and unloading device for a punch press that can be connected with a single machine for production, comprising a main frame and a four-axis robot, a loading module and a discharging module installed on the main frame, the four-axis robot comprising a first fixed plate, a fixed seat and a robot main body, the first fixed plate is fixedly installed on the main frame, the fixed seat is fixedly installed on the top of the first fixed plate, the robot main body is fixedly installed on the fixed seat, the loading module comprises a second fixed plate, a loading motor module area, and an empty tray placement motor module area, the second fixed plate is fixedly installed on the main frame, the loading motor module area and the empty tray placement motor module area are both fixedly installed on the second fixed plate, through the coordinated operation of various mechanisms, the relevant processes in the test are integrated, and the efficiency is greatly improved, thereby not only being able to minimize the production cost of the enterprise, but also being able to operate stably to improve the market competitiveness of the production enterprise.

Description

[0001] Application Areas

[0002] The invention relates to the field of industrial equipment, in particular to automatic loading and unloading equipment for punching machines capable of being connected to a line and produced by a single machine. Background Art

[0003] Punching press technology has the advantages of saving materials and energy, high efficiency, low technical requirements for operators, and the ability to make products that cannot be achieved by mechanical processing through various mold applications. Therefore, its use is becoming more and more extensive. FPC (flexible circuit board) has the characteristics of high wiring density, light weight, and thin thickness. Its material is soft and it belongs to precision electronic products. In the FPC production process, the whole product is separated and punched. In the past, manual loading and unloading were generally used, but manual loading has safety hazards and low efficiency. For thin sheet products, when loading manually, the products need to be separated. Manual separation takes more time, and it is difficult to place thin sheet products accurately. There are certain precision requirements for manual positioning and placement, which brings great difficulties and challenges to the operation and automatic production links in the corresponding manufacturing process. As the requirements for products become higher and higher, the labor cost is also higher and higher, so it can no longer meet the needs of the market. Improving production efficiency, promoting the fully automated production of punching and testing, and improving positioning accuracy are practical problems that need to be solved urgently. Therefore, a complete function, simple structure, automatic loading and unloading connection cycle punch loading and unloading equipment is in urgent need of research and promotion. Summary of the invention

[0004] The invention overcomes the shortcomings of the prior art and provides a punch press automatic loading and unloading device which can be connected with a single machine for production.

[0005] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: an automatic loading and unloading device for a punch press that can be connected to a single machine for production, comprising a main frame and a four-axis robot, a loading module, and a discharging module installed on the main frame;

[0006] The four-axis robot comprises a first fixing plate, a fixing seat and a robot body, wherein the first fixing plate is fixedly mounted on the main body frame, the fixing seat is fixedly mounted on the top of the first fixing plate, and the robot body is fixedly mounted on the fixing seat;

[0007] The feeding module includes a second fixed plate, a feeding motor module area, and an empty tray placement motor module area. The second fixed plate is fixedly mounted on the main frame. The feeding motor module area and the empty tray placement motor module area are both fixedly mounted on the second fixed plate. The feeding motor module area and the empty tray placement motor module area have the same structure, including a drawer-type tray carrier and a first lifting mechanism. The first lifting mechanism is cooperatively connected to the bottom of the drawer-type tray carrier, and a first sensor is arranged on the drawer-type tray carrier.

[0008] The discharging module includes a fourth fixed plate, a support frame, and a step-by-step discharging system. The fourth fixed plate is fixedly mounted on the main frame. The step-by-step discharging system is fixedly mounted on the fourth fixed plate. The step-by-step discharging system includes a track-type tray carrier and a second lifting mechanism. The second lifting mechanism is cooperatively connected to the bottom of the support frame.

[0009] Furthermore, in a preferred embodiment of the present invention, the robot body includes a rotating joint and an end effector, the rotating joint and the end effector are provided with a second sensor, the end effector is cooperatively connected with a suction mechanism, the suction component includes a suction cup, and a third sensor is provided in the suction cup.

[0010] Furthermore, in a preferred embodiment of the present invention, the first lifting mechanism includes a first linear bearing, a first connecting plate, a first screw stepper motor, and a first fixed frame, one end of the first linear bearing is cooperatively connected to the bottom surface of the drawer-type material tray carrier, and the other end is cooperatively connected to the top surface of the first connecting plate, the first connecting plate is provided with a first through hole along the axial direction, a first slider is fixedly installed on the first through hole, the output end of the first screw stepper motor is cooperatively connected to the first threaded screw through a first coupling, and the first threaded screw is slidably connected to the first slider.

[0011] Furthermore, in a preferred embodiment of the present invention, the first fixed frame is fixedly mounted on the second fixed plate, the first screw stepper motor is fixedly mounted on the first fixed frame, the first fixed frame is provided with a first detection strip, a plurality of first light receiving probes are arranged at intervals along the length direction on the first detection strip, a first laser transmitter is arranged on one side wall of the first connecting plate, and the laser emitted by the first laser transmitter is emitted along the radial direction of the first through hole of the first connecting plate.

[0012] Furthermore, in a preferred embodiment of the present invention, the track-type material tray carrier includes a baffle, a pulley, a belt, a belt stepper motor, and a second linear bearing. The support frame is provided with a second linear bearing at intervals along the length direction, and a pulley is also provided on the baffle. The belt stepper motor is fixedly installed on the support frame. The baffle is provided with a plurality of through holes at intervals along the length direction, and the baffle is connected to the second linear bearing through the through holes. Fourth sensors are provided on the baffle at intervals along the length direction, and fifth sensors are provided at the starting end and the end of the baffle.

[0013] Furthermore, in a preferred embodiment of the present invention, the second lifting mechanism includes a third linear bearing, a second connecting plate, a second screw stepper motor, and a second fixed frame, one end of the third linear bearing is fixedly installed on the bottom of the support frame, and the other end is fixedly installed on the top of the second connecting plate, the second connecting plate is provided with a second through hole along the axial direction, and the second through hole is fixedly installed with a second slider, the second screw stepper motor is connected with a second threaded screw through a second coupling, and the second threaded screw is slidably matched with the second slider.

[0014] Furthermore, in a preferred embodiment of the present invention, the second fixed frame is fixedly mounted on the fourth fixed plate, the second screw stepper motor is fixedly mounted on the second fixed frame, the second fixed frame is provided with a second detection strip, a plurality of second light receiving probes are arranged on the second detection strip at intervals along the length direction, a second laser transmitter is arranged on one side wall of the second connecting plate, and the laser emitted by the second laser transmitter is emitted in the radial direction of the second through hole of the second connecting plate.

[0015] Furthermore, in a preferred embodiment of the present invention, a human-machine interface and a sliding window are installed on the side of the main frame, an electrical control area is provided at the bottom of the main frame, and a camera mechanism and a light compensation mechanism are installed on the top of the main frame.

[0016] A second aspect of the present invention provides a control method, which is applied to any of the above-mentioned automatic loading and unloading equipment for punching machines that can be connected to a line and produced by a single machine, and is characterized in that it includes the following steps:

[0017] Acquire the spatial information of the target object, and establish a spatial coordinate system according to the spatial information of the target object;

[0018] Get the robot's starting coordinate information and get the robot's starting position information;

[0019] Collecting the target object position information, obtaining the suction cup suction position information according to the target object position information, and establishing the suction cup route information according to the suction cup suction position information;

[0020] The second sensor collects the position information of the robot in real time, compares the position information of the robot with the suction position information of the suction cup, and determines the distance between the suction cup and the suction position;

[0021] Compare the distance between the suction cup and the suction position to obtain the distance difference;

[0022] Determine whether the distance difference is greater than the first distance and less than the second distance, and if so, generate a first operation mode, and the manipulator moves according to the first operation mode;

[0023] It is determined whether the distance difference is greater than the second distance. If so, a second operation mode is generated and the manipulator moves according to the second operation mode.

[0024] A third aspect of the present invention provides a robot error compensation method, which is applied to any of the above-mentioned punching machine automatic loading and unloading equipment that can be connected to a line and produced by a single machine, and is characterized in that it includes the following steps:

[0025] The second sensor detects the position information of the robot end effector and the rotary joint in real time;

[0026] Compare the real-time position information of the rotating joint with the preset position information of the rotating joint to calculate a first deviation rate;

[0027] If the first deviation rate is greater than a first preset threshold, the control end controls the rotating joint to adjust the position;

[0028] Compare the real-time position information of the end effector with the preset position information of the end effector to calculate a second deviation rate;

[0029] If the second deviation rate is greater than the second preset threshold, the end effector is controlled by the control end to adjust the position.

[0030] The present invention discloses an automatic loading and unloading device for a punching machine which can be connected with a single machine for production. In combination with engineering needs, the robot and the discharging position can be interchanged for connected machine operation. The internally arranged loading and tray structure can perform different functions according to different needs. The front and rear sliding acrylic windows are adopted to make the equipment simple and easy to view and maintain the internal operation status of the equipment, and the symmetrical structure does not occupy space. The main punching material and the discharging device are completely physically isolated, thereby completely avoiding the problem of mechanical vibration affecting the positioning accuracy. The equipment has multiple application modes, high accuracy, strong versatility, and simple and quick switching of machine models. Through the coordinated operation of various mechanisms, the whole stack punching loading, punching, whole stack storage of the loading tray, waste collection by zones, and automatic connection of the punched product with the testing machine are realized, and the relevant processes in the test are integrated, which not only reduces the processes, but also greatly improves the efficiency, thereby not only can the production cost of the enterprise be reduced to the maximum extent, but also can stably operate to improve the market competitiveness of the production enterprise. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, drawings of other embodiments can be obtained based on these drawings without paying creative work.

[0032] Figure 1 It is a three-dimensional structural schematic diagram of the feeding module;

[0033] Figure 2 Schematic diagram of the three-dimensional structure of the main frame;

[0034] Figure 3 It is a schematic diagram of the three-dimensional structure of the four-axis robot;

[0035] Figure 4 It is a schematic diagram of the three-dimensional structure of the discharging module;

[0036] Figure 5 This is a schematic diagram of the installation location of the electrical controller;

[0037] Figure 6 A three-dimensional schematic diagram of a camera structure;

[0038] Figure 7 Schematic diagram of the structure of the optical compensation mechanism;

[0039] The reference numerals are as follows: 101, main frame; 102, four-axis robot; 103, feeding module; 104, discharging module; 105, first fixed plate; 106, fixed seat; 107, rotating joint; 108, end effector; 109, suction cup; 201, second fixed plate; 202, feeding motor module area; 203, empty tray placement motor module area; 204, drawer-type tray carrier; 205, first linear bearing; 206, first connecting plate; 207, first screw stepping motor; 208, first fixed frame; 209, first detection strip; 301, first laser transmitter; 302, fourth fixed plate; 303, support frame; 304, stepper Feeding and discharging system; 305, baffle; 306, pulley; 307, belt; 308, second linear bearing; 309, fifth sensor; 401, third linear bearing; 402, second connecting plate; 403, second screw stepper motor; 404, second fixing frame; 405, second detection strip; 406, second laser emission head; 407, human-machine interface; 408, sliding window; 409, camera; 501, lens; 502, camera fixing part; 503, strip high-brightness light source; 504, computer host; 505, robot host; 506, electric control board; 507, stepper motor driver; 508, belt stepper motor; 509, first sensor. DETAILED DESCRIPTION

[0040] In order to more clearly understand the above-mentioned purposes, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. These drawings are all simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the structures related to the present invention. It should be noted that the embodiments in this application and the features in the embodiments can be combined with each other without conflict.

[0041] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the scope of protection of the present application. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the invention, unless otherwise specified, "multiple" means two or more.

[0042] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood by specific circumstances.

[0043] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thoroughly understood.

[0044] Embodiment 1:

[0045] An automatic loading and unloading device for a punch press capable of being connected to a line or produced by a single machine, comprising a main frame 101, a four-axis robot 102, a loading module 103, and a discharging module 104 installed on the main frame 101;

[0046] like Figure 3 As shown, the four-axis robot 102 includes a first fixed plate 105, a fixed seat 106 and a robot body. The first fixed plate 105 is fixedly installed on the main frame 101, the fixed seat 106 is fixedly installed on the top of the first fixed plate 105, and the robot body is fixedly installed on the fixed seat 106.

[0047] like Figure 3 As shown, the robot body includes a rotating joint 107 and an end effector 108, and a second sensor is provided on the rotating joint 107 and the end effector 108. The end effector 108 is connected with a suction mechanism, and the suction component includes a suction cup 109, and a third sensor is provided in the suction cup 109.

[0048] It should be noted that, first of all, the robot can be installed on the left or right side of the main frame 101 as needed. The robot can not only load and unload materials for the punch press, but also automatically place the material tray and provide the material tray for the unloading mechanism. Preferably, the robot is a four-axis robot, the first fixed plate 105 and the fixed seat 106 are made of steel plates, and the robot, the fixed seat 106, and the first fixed plate 105 are assembled in a split manner. The first fixed plate 105 is fixedly installed on the main frame 101 by bolts, and the fixed seat 106 is fixedly installed on the first fixed plate 105 by bolts. The base of the robot is fixedly installed on the fixed seat 106 by bolts, which is convenient for installation and disassembly. Secondly, the second sensor includes a position sensor and an angular velocity sensor. The robot's end effector 108 and the rotating joint 107 are both equipped with position sensors and angular velocity sensors. The position sensor and angular velocity sensor can obtain the robot's position information in real time, and the position sensor and angular velocity sensor can feed back the information to the controller in real time, so that the controller can grasp the robot's position information in real time. In this way, when the end effector 108 and the rotating joint 107 on the robot deviate, the controller can control the robot to compensate for the error, thereby improving the accuracy of loading and unloading. In addition, a third sensor is also provided in the suction cup 109, and the third sensor can be a pressure sensor. When the suction cup 109 is a target, the pressure sensor will detect the pressure value in the suction cup 109. When the pressure value in the suction cup 109 is within a preset range, the pressure sensor feeds back the information to the control, and the controller will control the robot to suck up the target. If the suction cup 109 does not have enough pressure, it will suck up the target. In the process of transferring the target, the target may fall due to the vibration of the machine or a slight collision, thereby causing a machine accident.

[0049] like Figure 1 As shown, the loading module 103 includes a second fixed plate 201, a loading motor module area 202, and an empty tray placing motor module area 203. The second fixed plate 201 is fixedly installed on the main frame 101. The loading motor module area 202 and the empty tray placing motor module area 203 are both fixedly installed on the second fixed plate 201. The loading motor module area 202 and the empty tray placing motor module area 203 have the same structure, including a drawer-type tray carrier 204 and a first lifting mechanism. The first lifting mechanism is cooperatively connected to the bottom of the drawer-type tray carrier 204. The drawer-type tray carrier 204 is provided with a first sensor 509.

[0050] like Figure 1As shown, the first lifting mechanism includes a first linear bearing 205, a first connecting plate 206, a first screw stepper motor 207, and a first fixed frame 208. One end of the first linear bearing 205 is connected to the bottom surface of the drawer-type tray carrier 204, and the other end is connected to the top surface of the first connecting plate 206. The first connecting plate 206 is provided with a first through hole along the axial direction, and a first slider is fixedly installed on the first through hole. The output end of the first screw stepper motor 207 is connected to a first threaded screw through a first coupling, and the first threaded screw is slidably connected to the first slider.

[0051] like Figure 1 As shown, the first fixing frame 208 is fixedly mounted on the second fixing plate 201, the first screw stepper motor 207 is fixedly mounted on the first fixing frame 208, the first fixing frame 208 is provided with a first detection strip 209, a plurality of first light receiving probes are arranged on the first detection strip 209 at intervals along the length direction, a first laser emitting head 301 is arranged on one side wall of the first connecting plate 206, and the laser emitted by the first laser emitting head 301 is emitted along the radial direction of the first through hole of the first connecting plate 206.

[0052] It should be noted that the loading motor module area 202 is installed at the left front of the main frame, and cooperates with the robot to automatically realize the whole stack of pallet materials; the empty tray placement motor module area 203 is installed at the right front of the main frame, and cooperates with the robot to automatically realize the whole stack of pallets. The second fixed plate 201 is fixedly installed on the main frame 101 by bolts. Driven by the first lifting mechanism, the drawer-type tray carrier 204 can move up and down, and its working principle is: by driving the first screw stepper motor 207, the first screw stepper motor 207 drives the first threaded screw to rotate, and the first slider can slide with the first threaded screw. The first slider is fixedly installed on the first connecting plate 206, so that the first connecting plate 206 can also move with the first slider, and then supported and guided by the first linear bearing 205, thereby realizing the process of the drawer-type tray carrier 204 moving up and down. When the drawer-type tray carrier 204 needs to move up, the first screw stepper motor 207 rotates forward; when the drawer-type tray carrier 204 descends, the first screw stepper motor 207 reverses. In addition, a first sensor is also installed on the drawer-type material tray carrier 204. The first sensor can be a photoelectric sensor. Through the photoelectric sensor, the height position of the drawer-type material tray carrier 204 can be detected in real time, and the detected height position information can be fed back to the controller in real time. The controller can control the first screw stepper motor 207 according to the information, and intelligently cooperate with the robot to load the material, making the equipment more intelligent and automated.

[0053] It should be noted that the first laser emitting head 301 can irradiate the emitted laser onto the first light receiving probe of the first detection strip 209, and the several light receiving probes on the first detection strip 209 are numbered in sequence from top to bottom. Through the first laser emitting head 301 and the first light receiving probe, the position of the first connecting plate 206 can be accurately sensed. The sensing principle is: when the first connecting plate 206 moves up and down, the first laser emitting head 301 moves with the first connecting plate 206. When it moves to a certain height, the laser emitted by the first laser head can irradiate a certain light receiving probe of the first detection ring, and this light receiving probe will generate a photoelectric signal when irradiated by the laser. Then, according to the number information of the light receiving probe that generates the photoelectric signal, the height position of the first connecting plate 206 can be determined. In this way, the height position of the first connecting plate 206 can be accurately and quickly identified, and the identified height position information can be fed back to the controller in real time. The controller can control the first screw stepper motor 207 according to the information, and intelligently cooperate with the robot to load materials, making the equipment more intelligent and automated.

[0054] like Figure 4 As shown, the discharging module 104 includes a fourth fixed plate 302, a support frame 303, and a step-by-step discharging system 304. The fourth fixed plate 302 is fixedly mounted on the main frame 101. The step-by-step discharging system 304 is fixedly mounted on the fourth fixed plate 302. The step-by-step discharging system 304 includes a rail-type tray platform and a second lifting mechanism. The second lifting mechanism is cooperatively connected to the bottom of the support frame 303.

[0055] like Figure 4 As shown, the track-type tray carrier includes a baffle 305, a pulley 306, a belt 307, a belt stepper motor, and a second linear bearing 308. The support frame 303 is provided with second linear bearings 308 at intervals along the length direction. The baffle 305 is also provided with a pulley 306. The belt stepper motor is fixedly installed on the support frame. The baffle 305 is provided with a plurality of third through holes at intervals along the length direction. The baffle 305 is connected with the second linear bearing 308 through the third through holes. Fourth sensors are provided on the baffle 305 at intervals along the length direction, and fifth sensors are provided at the starting end and the end of the baffle 305.

[0056] It should be noted that the discharging module is installed at the rear right of the main frame for its positioning and installation. The discharging module can be installed on the left or right side according to the needs to realize the functions of punching machine product discharging and testing machine feeding and conveying. First, a set of belt stepping system constitutes the front and rear discharging. The belt stepping system is composed of two sets of identical belt stepping motors, pulleys, belts, and second linear bearings. The belt stepping system is set to two sets, which are respectively set on the baffles 305 on both sides. The belt stepping motor drives the pulley to rotate, thereby driving the belt to move, so as to complete the discharging process and make the discharging process smoother. Secondly, the starting position and the end position of the baffle 305 are equipped with a fifth sensor, which can be an infrared sensor. When the infrared sensor at the starting position detects the material, the infrared sensor can feed back the information to the controller, and the controller controls the driving belt stepper motor to drive, thereby completing the unloading process; when the infrared sensor at the end position detects the material, the infrared sensor can feed back the information to the controller, and the controller controls the driving belt stepper motor to stop rotating, so that the unloading process can be automatically realized, and the start and stop of the belt stepper motor can be intelligently controlled, which can save energy. In addition, the baffle 305 is also spaced along the length direction with a fourth sensor, which can be an infrared sensor, and the conveying position of the material on the belt can be grasped in real time through the infrared sensor.

[0057] like Figure 4 As shown, the second lifting mechanism includes a third linear bearing 401, a second connecting plate 402, a second screw stepper motor 403, and a second fixed frame 404. One end of the third linear bearing 401 is fixedly installed at the bottom of the support frame 303, and the other end is fixedly installed at the top of the second connecting plate 402. The second connecting plate 402 is provided with a second through hole along the axial direction, and a second slider is fixedly installed in the second through hole. The second screw stepper motor 403 is connected with a second threaded screw through a second coupling, and the second threaded screw is slidably matched with the second slider.

[0058] It should be noted that, driven by the second lifting mechanism, the track-type tray carrier can move up and down, and its working principle is: by driving the second screw stepper motor 403, the second screw stepper motor 403 drives the second threaded screw to rotate, and the second slider can slide with the second threaded screw. The second slider is fixedly mounted on the second connecting plate 402, so that the second connecting plate 402 can also move with the second slider, and then supported and guided by the third linear bearing 401, thereby realizing the up and down movement of the track-type tray carrier.

[0059] like Figure 4As shown, the second fixing frame 404 is fixedly mounted on the fourth fixing plate 302, the second screw stepper motor 403 is fixedly mounted on the second fixing frame 404, the second fixing frame 404 is provided with a second detection strip 405, a plurality of second light receiving probes are arranged on the second detection strip 405 at intervals along the length direction, a second laser emitting head 406 is arranged on one side wall of the second connecting plate 402, and the laser emitted by the second laser emitting head 406 is emitted in the radial direction of the second through hole of the second connecting plate 402.

[0060] It should be noted that the second laser emitting head 406 can irradiate the emitted laser onto the second light receiving probe of the second detection strip 405, and the several light receiving probes on the second detection strip 405 are numbered in sequence from top to bottom. Through the second laser emitting head 406 and the second light receiving probe, the position of the second connecting plate 402 can be accurately sensed. The sensing principle is: when the second connecting plate 402 moves up and down, the second laser emitting head 406 moves with the second connecting plate 402. When it moves to a certain height, the laser emitted by the second laser head can irradiate two light receiving probes of the second detection ring, and this light receiving probe will generate a photoelectric signal when irradiated by the laser. Then, according to the number information of the light receiving probe that generates the photoelectric signal, the height position of the second connecting plate 402 can be determined. In this way, the height position of the second connecting plate 402 can be accurately and quickly identified, and the identified height position information can be fed back to the controller in real time. The controller can control the second screw stepper motor 403 according to the information, and intelligently cooperate with the robot to unload materials, making the equipment more intelligent and automated.

[0061] like Figure 2 , 5 As shown in FIGS. 6 and 7 , a human-machine interface 407 and a push-pull window 408 are also installed on the side of the main frame 101 , an electrical control area is provided at the bottom of the main frame 101 , and a camera mechanism and a light compensation mechanism are installed on the top of the main frame 101 .

[0062] It should be noted that the human-machine interface and control button area are installed in front of the main frame to control and feedback the entire equipment. The electrical control area is installed below the main frame to install the electrical hardware of the computer, robot host and the entire equipment. The camera mechanism can be installed on the upper left or right of the main frame as needed to automatically identify the position of the loaded material.

[0063] It should be noted that the appearance of the device adopts a front and rear sliding acrylic window method to make the device simple and easy to view and maintain the internal operating status of the device. The symmetrical structure does not take up space. The camera mechanism includes a camera 409, a lens 501, and a camera fixing part 502. The light compensation mechanism includes a strip high-brightness light source 503, and the camera mechanism and the light compensation mechanism are both installed on the top of the main frame 101. The electrical control area includes a computer host 504, a robot host 505, an electric control board 506, and a stepper motor driver 507.

[0064] The working process of this equipment is as follows: a whole stack of products is placed in the loading area → the loading camera identifies the shape of the pallet and the products in the pallet → the four-axis robot absorbs the products in the pallet according to the position identified by the loading camera → the four-axis robot places the products on the punch press according to the set position → the robot detection device confirms that the product is placed correctly → the robot moves to the loading area to absorb the empty pallet to the empty pallet storage area, and at the same time the punch press punches the product → after punching, the robot moves to the top of the product to absorb the product → discard the product waste into the material box → the product is placed on the discharge module → this cycle is followed to complete the overall automatic punching and loading and unloading production.

[0065] Embodiment 2:

[0066] A second aspect of the present invention provides a control method, which is applied to any of the above-mentioned automatic loading and unloading equipment for punching machines that can be connected to a line and produced by a single machine, and is characterized in that it includes the following steps:

[0067] S102: Acquire the spatial information of the target object, and establish a spatial coordinate system according to the spatial information of the target object;

[0068] S104: Acquire the robot's starting coordinate information to obtain the robot's starting position information;

[0069] S106: collecting the target object position information, obtaining the suction cup suction position information according to the target object position information, and establishing the suction cup route information according to the suction cup suction position information;

[0070] S108: collecting the position information of the robot in real time through the second sensor, comparing the position information of the robot with the suction position information of the suction cup, and determining the distance between the suction cup and the suction position;

[0071] S110: Compare the distance between the suction cup and the suction position to obtain a distance difference;

[0072] S112: Determine whether the distance difference is greater than the first distance and less than the second distance. If so, generate a first operation mode, and the manipulator moves according to the first operation mode;

[0073] S114: Determine whether the distance difference is greater than the second distance. If so, generate a second operation mode, and the manipulator moves according to the second operation mode.

[0074] It should be noted that the first operation mode is uniform acceleration movement, and the second operation mode is uniform deceleration movement. Through the second sensor, the distance between the suction cup and the suction position can be measured in real time, and the movement speed of the robot end effector and the rotating joint can be adjusted in real time according to the distance, which can intelligently shorten the robot movement time and improve work efficiency. And the best suction position can be identified through the camera mechanism, making the suction cup more stable during the suction process.

[0075] Embodiment three:

[0076] A third aspect of the present invention provides a robot error compensation method, which is applied to any of the above-mentioned punching machine automatic loading and unloading equipment that can be connected to a line and produced by a single machine, and is characterized in that it includes the following steps:

[0077] S202: Detecting the position information of the robot end effector and the rotation joint in real time through the second sensor;

[0078] S204: Compare the real-time position information of the rotational joint with the preset position information of the rotational joint to calculate a first deviation rate;

[0079] S206: If the first deviation rate is greater than a first preset threshold, the control end controls the rotation joint to adjust the position;

[0080] S208: Compare the real-time position information of the end effector with the preset position information of the end effector to calculate a second deviation rate;

[0081] S210: If the second deviation rate is greater than the second preset threshold, the control end controls the end effector to adjust the position.

[0082] It should be noted that the motors that control the movement and rotation of the robot will inevitably have cumulative errors. When the deviation rate of the robot's coordinate change is greater than the preset threshold, it indicates that the robot's posture error is in an abnormal range and error compensation is required.

[0083] The above is based on the ideal embodiment of the present invention, and its description is relatively specific and detailed, but it cannot be understood as limiting the scope of the invention patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be based on the attached claims.

Claims

1. An automatic loading and unloading device for a punch press that can be connected to a single machine for production, comprising a main frame, a four-axis robot, a loading module, and a discharging module installed on the main frame. Features: The four-axis robot comprises a first fixing plate, a fixing seat and a robot body, wherein the first fixing plate is fixedly mounted on the main body frame, the fixing seat is fixedly mounted on the top of the first fixing plate, and the robot body is fixedly mounted on the fixing seat; The feeding module includes a second fixed plate, a feeding motor module area, and an empty tray placement motor module area. The second fixed plate is fixedly mounted on the main frame. The feeding motor module area and the empty tray placement motor module area are both fixedly mounted on the second fixed plate. The feeding motor module area and the empty tray placement motor module area have the same structure, including a drawer-type tray carrier and a first lifting mechanism. The first lifting mechanism is cooperatively connected to the bottom of the drawer-type tray carrier, and a first sensor is arranged on the drawer-type tray carrier. The discharging module includes a fourth fixed plate, a support frame, and a step-by-step discharging system. The fourth fixed plate is fixedly mounted on the main frame. The step-by-step discharging system is fixedly mounted on the fourth fixed plate. The step-by-step discharging system includes a track-type tray carrier and a second lifting mechanism. The second lifting mechanism is connected to the bottom of the support frame. The robot body comprises a rotating joint and an end effector, the rotating joint and the end effector are provided with a second sensor, the end effector is cooperatively connected with a suction mechanism, the suction mechanism comprises a suction cup, and a third sensor is provided in the suction cup; The first lifting mechanism includes a first linear bearing, a first connecting plate, a first screw stepping motor, and a first fixed frame. One end of the first linear bearing is connected to the bottom surface of the drawer-type tray carrier, and the other end is connected to the top surface of the first connecting plate. The first connecting plate is provided with a first through hole along the axial direction. A first slider is fixedly installed on the first through hole. The output end of the first screw stepping motor is connected to a first threaded screw through a first coupling. The first threaded screw is slidably connected to the first slider. The first fixing frame is fixedly mounted on the second fixing plate, the first screw stepping motor is fixedly mounted on the first fixing frame, the first fixing frame is provided with a first detection strip, a plurality of first light receiving probes are arranged at intervals along the length direction of the first detection strip, a first laser emitting head is arranged on a side wall of the first connecting plate, and the laser emitted by the first laser emitting head is emitted along the radial direction of the first through hole of the first connecting plate; The track-type tray carrier includes a baffle, a pulley, a belt, a belt stepper motor, and a second linear bearing. The support frame is provided with second linear bearings at intervals along the length direction. The baffle is also provided with a pulley. The belt stepper motor is fixedly mounted on the support frame. The baffle is provided with a plurality of through holes at intervals along the length direction. The baffle is connected with the second linear bearing through the through holes. Fourth sensors are provided at intervals along the length direction on the baffle, and fifth sensors are provided at the starting end and the tail end of the baffle. The second lifting mechanism includes a third linear bearing, a second connecting plate, a second screw stepping motor, and a second fixed frame, one end of the third linear bearing is fixedly installed at the bottom of the support frame, and the other end is fixedly installed at the top of the second connecting plate, the second connecting plate is provided with a second through hole along the axial direction, and the second through hole is fixedly installed with a second slider, the second screw stepping motor is connected with a second threaded screw through a second coupling, and the second threaded screw is slidably matched with the second slider; The second fixing frame is fixedly mounted on the fourth fixing plate, the second screw stepping motor is fixedly mounted on the second fixing frame, the second fixing frame is provided with a second detection strip, a plurality of second light receiving probes are arranged at intervals along the length direction on the second detection strip, a second laser emitting head is arranged on one side wall of the second connecting plate, and the laser emitted by the second laser emitting head is emitted along the radial direction of the second through hole of the second connecting plate; A human-machine interface and a sliding window are also installed on the side of the main frame, an electrical control area is arranged at the bottom of the main frame, and a camera mechanism and a light compensation mechanism are installed on the top of the main frame.

2. A control method, applied to the punching machine automatic loading and unloading equipment that can be connected to the line and produced by a single machine as described in claim 1, It is characterized in that The following steps are involved: Acquire the spatial information of the target object, and establish a spatial coordinate system according to the spatial information of the target object; Get the robot's starting coordinate information and get the robot's starting position information; Collecting the target object position information, obtaining the suction cup suction position information according to the target object position information, and establishing the suction cup route information according to the suction cup suction position information; The second sensor collects the position information of the robot in real time, compares the position information of the robot with the suction position information of the suction cup, and determines the distance between the suction cup and the suction position; Compare the distance between the suction cup and the suction position to obtain the distance difference; Determine whether the distance difference is greater than the first distance and less than the second distance, and if so, generate a first operation mode, and the manipulator moves according to the first operation mode; It is determined whether the distance difference is greater than the second distance. If so, a second operation mode is generated and the manipulator moves according to the second operation mode.

3. A robot error compensation method, applied to the punch press automatic loading and unloading equipment that can be connected to a line and produced by a single machine as described in claim 1, It is characterized in that The following steps are involved: The second sensor detects the position information of the robot end effector and the rotary joint in real time; Compare the real-time position information of the rotating joint with the preset position information of the rotating joint to calculate a first deviation rate; If the first deviation rate is greater than a first preset threshold, the control end controls the rotating joint to adjust the position; Compare the real-time position information of the end effector with the preset position information of the end effector to calculate a second deviation rate; If the second deviation rate is greater than the second preset threshold, the end effector is controlled by the control end to adjust the position.

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