An automatic feeding and discharging conveying system for sheet metal processing

Abstract

The application discloses an automatic feeding and discharging conveying system for sheet metal machining, comprising a plurality of punching machines of working procedures, a plate feeding device, a plate feeding device, a movable feeding and discharging device and a control module. The control module comprises a punching control module for controlling the punching machine, a feeding control module for controlling the plate feeding device, a feeding control module for controlling the plate feeding device, and a workpiece transfer control module for controlling the movable feeding and discharging device. The movable feeding and discharging device comprises a self-propelled trolley arranged on a production line track, an outer frame arranged on the self-propelled trolley, a lifting device, a longitudinal moving frame, a grabbing mechanism and a grabbing end carriage. The workpiece transfer control module comprises a first control unit, a second control unit, a third control unit, a fourth control unit and a suction cup control unit. The application realizes the automatic control and operation of the full sheet metal punching production line, and the stability, reliability and safety of feeding, discharging and workpiece transfer are good.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of automatic production line, and particularly relates to an automatic feeding and discharging conveying system for sheet metal machining. BACKGROUND

[0002] Automatic production lines have begun to be more and more widely used in various manufacturing industries. In the existing machining of automobile sheet metal parts, multi-process stamping machining is often required to obtain the final product. The feeding and discharging of each process and the transfer of the intermediate product between adjacent processes are often completed by manual work. Now the company's production line is to be transformed into an automatic production line, but the original stamping equipment is still retained. The sensor on the stamping equipment is used in cooperation with the feeding and discharging conveying equipment transformed on the production line to realize the automation of the production line.

[0003] There is a lack of technology in the prior art for directly transforming the production line based on the conventional manual feeding and discharging and transferring of stamping parts into an automatic production line. Even if there is similar technology, since the workpiece grabbing mode of the feeding and discharging or transferring equipment is to suck the flat top stamping part with a suction cup, the stamping part is not stable when it is transferred relative to the transferring equipment, and it is easy to cause the stamping part to slip or shake off due to the fast acceleration of the grabbing mechanism. It is also easy to cause the moving equipment to be unstable due to the large position deviation of the stamping part from the center of gravity of the equipment. There is also a lack of technology for adjusting the position of the stamping part in the case of lateral deviation of the stamping part caused by slipping during grabbing and moving. Therefore, the production line transformed by the prior art is prone to failure, and the reliability and safety are insufficient. SUMMARY

[0004] The purpose of the present application is to provide an automatic feeding and discharging conveying system for sheet metal machining, which solves the technical problem in the prior art that it is difficult to ensure that the stamping part will not fall off or deviate during the automatic feeding and discharging and conveying process, and it is difficult to adjust the position after deviation, thereby causing the operation process of the production line to lack reliability and safety.

[0005] The automatic feeding and discharging conveying system for sheet metal machining comprises a plurality of stamping machines, a plate feeding device, a plate feeding device, a movable feeding and discharging device and a control module. The control module comprises a stamping control module for controlling the stamping machine, a feeding control module for controlling the plate feeding device, a feeding control module for controlling the plate feeding device, and a workpiece transfer control module for controlling the movable feeding and discharging device.

[0006] The mobile feeding and discharging equipment comprises a self-propelled trolley arranged on a production line track, an outer frame arranged on the self-propelled trolley, a lifting device, a longitudinal moving frame, a grabbing mechanism and a grabbing end sliding frame. The outer frame is provided with openings in front and back directions. The lifting device is arranged on the top of the outer frame. The lifting end of the lifting device extends downward and is arranged on the upper surface of the longitudinal moving frame. The longitudinal moving frame is longitudinally slidably connected with the lifting end. The longitudinal moving frame is driven by a first longitudinal sliding mechanism. The grabbing end sliding frame is slidably connected with the longitudinal moving frame and moves longitudinally. The grabbing end sliding frame is driven by a second longitudinal sliding mechanism. The grabbing mechanism is arranged on the lower surface of the grabbing end sliding frame. The grabbing mechanism sucks and holds the stamping part by a grabbing suction cup. The lifting end can be moved from one end to the other end of the longitudinal moving frame by the first longitudinal sliding mechanism.

[0007] Preferably, the outer frame is symmetrically provided with the same structure of the lateral centering mechanism on the left and right sides. The lateral centering mechanism comprises a centering motor, a parallel linkage mechanism, a plurality of elastic pressing components and a bottom positioning member. The outer frame is provided with a side through slot and a frame additional housing which is in communication with the through slot. The bottom positioning member is slidably arranged in the frame additional housing and can enter the outer frame through the side through slot. The parallel linkage mechanism has a first longitudinal link arranged longitudinally. The first longitudinal link is fixed with a centering mounting plate arranged in the same direction. The centering mounting plate is uniformly arranged with a plurality of elastic pressing components along the longitudinal direction. The first longitudinal link is connected with the bottom positioning member by a longitudinal sliding structure. The elastic pressing components on the left and right sides are symmetrically pressed on the left and right sides of the stamping part after the first longitudinal link extends inward; the workpiece transfer control module further comprises a centering control unit for controlling the centering action of the lateral centering mechanism.

[0008] Preferably, a group of production line tracks are arranged between two adjacent stamping machines. The production line track is sequentially provided with a front area front sensor, a front area rear sensor, a rear area front sensor and a rear area rear sensor from front to rear. The front area front sensor and the rear area rear sensor are arranged at the front and rear ends of the production line track, respectively. The production line track is divided into three sections by the front area rear sensor and the rear area front sensor, which are a front waiting area, a moving area and a waiting area, respectively.

[0009] Preferably, the stamping machine is provided with a stamping sensor for detecting the start and completion of stamping action. The stamping sensor is used to send a signal to the mobile feeding and discharging equipment behind the corresponding stamping machine to start the discharging action.

[0010] Preferably, the outer frame is provided with a lateral position sensor on both sides of the inner part, which is used to detect the lateral position of the stamping part relative to the outer frame on both sides, calculate the lateral deviation of the stamping part, and accordingly send a signal to determine whether to perform the centering action; on the other hand, it is also used to detect whether the extended part of the bottom positioning part on both sides extends below the stamping part on both sides, and accordingly send a signal to determine whether the bottom positioning part reaches the first position.

[0011] Preferably, the stamping machine is provided with a stamping preparation sensor for detecting whether the stamping part or plate part to be stamped is placed successfully, which is used to send a warning signal when the feeding is inaccurate and let the movable feeding and discharging device in front of the corresponding stamping machine perform feeding recovery to recover the stamping part that is not placed well.

[0012] Preferably, the processing method using the automatic feeding and discharging conveying system comprises:

[0013] I. The plate feeding device sucks the uppermost plate and moves it to the feeding position;

[0014] II. After the plate feeding device sucks the plate in the feeding position, the plate is moved to the lower die of the process, and then the plate is placed and reset.

[0015] III. The stamping machine of each process completes stamping and resets;

[0016] IV. The movable feeding and discharging device behind the stamping machine of the previous process, including the first process, performs the initial moving action under the control of the corresponding workpiece transfer control module;

[0017] V. After entering the front waiting area, the movable feeding and discharging device performs the front waiting area moving action;

[0018] VI. After the stamping machine of the previous process resets, the movable feeding and discharging device performs the discharging action;

[0019] VII. The movable feeding and discharging device performs the discharging disengaging action; in this action, the sensor in the outer frame detects whether the lateral position of the stamping part deviates beyond the set threshold, and if so, the lateral position of the stamping part is adjusted in the next step, otherwise the lateral centering mechanism is not started;

[0020] VIII. The workpiece transfer control module controls the movable feeding and discharging device to perform the workpiece transfer action; in this action, the centering control unit can simultaneously perform the centering action;

[0021] IX. The workpiece transfer control module controls the movable feeding and discharging device to perform the rear waiting area moving action;

[0022] Ten, when the stamping part completed by the subsequent process is unloaded and separated by the other two mobile feeding and discharging devices, the current mobile feeding and discharging device performs a feeding action;

[0023] Eleven, the workpiece transfer control module controls the mobile feeding and discharging device to perform a feeding and separation action;

[0024] Twelve, the workpiece transfer control module controls the mobile feeding and discharging device to perform a reset centering action.

[0025] The advantages of the present application are that the present application realizes automatic feeding and discharging and workpiece transfer between adjacent processes from plate oiling and feeding, and the stack punch, the plate feeding device, the plate feeding device and the mobile feeding and discharging device realize collaborative automatic control between processes, thereby realizing automatic control of the full sheet metal stamping production line, and greatly improving production efficiency.

[0026] In the system, the stamping part is moved and conveyed in the production line direction, and through the same direction movement of the longitudinal moving frame and the grabbing end slide, the stamping part passes through the openings on the front and rear sides of the outer frame, realizing the effect of moving the stamping part from the front to the rear of the feeding and discharging conveying device. When approaching the punch, the present application sets up the front waiting area and the rear waiting area and the corresponding action, controls the mobile feeding and discharging device to avoid the end of the longitudinal slide to hit the lower punch seat or the upper die of the punch when approaching the punch, thereby avoiding production accidents and ensuring the safety of equipment operation.

[0027] Compared with the conventional equipment rotating around the equipment center to realize the above-mentioned stamping part orientation transfer process, the actual moving distance of the above-mentioned moving process is less in the same time, and the generated acceleration change is obviously smaller. And when moving, the stamping part can first enter the outer frame to be closer to the equipment center, and the equipment stability is better. In this way, in the process of moving the stamping part relative to the equipment and the process of moving the equipment carrying the stamping part between two punches, the stability and reliability of the present application are improved.

[0028] The present application detects whether the distance between the two sides of the stamping part and the left and right sides of the outer frame of the equipment produces a deviation through the transverse position sensor when moving the stamping part, judges whether transverse position centering is needed. Then the transverse centering mechanism is used to complete the transverse centering. When centering, the bottom of the stamping part is positioned first to avoid the bottom from being inclined in the vertical direction during adsorption, which causes centering failure. The horizontal and vertical inclination problems that easily occur during the adsorption process of the stamping part are avoided. This technology can also automatically recycle and center the stamping part that is not placed correctly or when there is a leftover in the punch that blocks the placement of the stamping part, and after the problems are eliminated, the feeding operation can continue immediately. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1This is a schematic diagram of an automated loading and unloading conveying system for sheet metal processing according to the present invention.

[0030] Figure 2 for Figure 1 The diagram shows the structure of the first process step in the structure shown.

[0031] Figure 3 for Figure 1 A schematic diagram of the structure between any two processes of the stamping machine shown.

[0032] Figure 4 for Figure 1 The diagram shows the structure of the mobile loading and unloading equipment.

[0033] Figure 5 for Figure 1 The diagram shows the structure of the longitudinal moving frame, the gripping end slide, and the gripping mechanism.

[0034] Figure 6 for Figure 1 The front view of the longitudinal moving frame and the gripping end carriage in the structure shown.

[0035] Figure 7 for Figure 4 The diagram shows the internal structure of the outer frame when the structure is aligning in a stable state.

[0036] The labels in the attached diagram are as follows: 1. Stamping machine; 2. Mobile loading and unloading equipment; 21. Lateral centering mechanism; 211. Bottom positioning component; 2111. Positioning horizontal plate; 2112. Sliding part; 2113. Longitudinal guide groove; 2114. Roller; 212. Elastic centering belt; 213. Parallel linkage mechanism; 214. Additional housing for the frame; 215. Elastic top pressing assembly; 22. Outer frame; 221. Side through groove; 222. Opening; 23. Lifting device; 231. Lifting end. 232. Sliding drive motor one; 24. Longitudinal moving frame; 241. Longitudinal rack one; 242. Longitudinal rack two; 243. Sliding gear one; 244. Sliding gear two; 25. Gripping end slide; 251. Sliding drive motor two; 26. Gripping mechanism; 27. Self-propelled trolley; 5. Production line track; 51. Front sensor of front area; 52. Rear sensor of front area; 53. Front sensor of rear area; 54. Rear sensor of rear area; 6. Stamping part; 7. Sheet metal; 8. Lower mold. Detailed Implementation

[0037] The following detailed description of the embodiments, with reference to the accompanying drawings, will further illustrate the specific implementation of the present invention, in order to help those skilled in the art to have a more complete, accurate, and in-depth understanding of the inventive concept and technical solution of the present invention.

[0038] likeFigures 1-7 As shown, the present application provides an automatic feeding and discharging conveying system for sheet metal processing, comprising a plurality of punching machines 1, a plate 7 feeding device, a plate 7 feeding device, a mobile feeding and discharging device 2 and a control module, the control module comprising a punching control module for controlling the punching machine 1, a feeding control module for controlling the plate 7 feeding device, a feeding control module for controlling the plate 7 feeding device, and a workpiece transfer control module for controlling the mobile feeding and discharging device 2.

[0039] The workpiece transfer control module comprises a first control unit for controlling the lifting of the lifting device 23, a second control unit for controlling the forward and backward movement of the longitudinal moving frame 24, a third control unit for controlling the forward and backward movement of the grabbing end sliding frame 25, a fourth control unit for controlling the forward and backward movement of the self-propelled trolley 27, and a suction disc control unit for controlling whether the grabbing mechanism 26 adsorbs the punched part 6.

[0040] The mobile feeding and discharging device 2 comprises a self-propelled trolley 27 arranged on the production line track 5, an outer frame 22, a lifting device 23, a longitudinal moving frame 24, a grabbing mechanism 26 and a grabbing end sliding frame 25 arranged on the self-propelled trolley 27, The outer frame 22 is provided with an open mouth 222 in the front and back direction, the lifting device 23 is installed on the top of the outer frame 22, the lifting end 231 of the lifting device 23 is downwardly extended and installed on the upper surface of the longitudinal moving frame 24, the longitudinal moving frame 24 is longitudinally slidingly connected with the lifting end 231, the longitudinal moving frame 24 is driven by a first longitudinal sliding mechanism, the grabbing end sliding frame 25 longitudinally moving is slidingly connected on the longitudinal moving frame 24, the grabbing end sliding frame 25 is driven by a second longitudinal sliding mechanism, the grabbing mechanism 26 is installed on the lower surface of the grabbing end sliding frame 25, the grabbing mechanism 26 adsorbs the punched part 6 through the grabbing suction cup, and the lifting end 231 can be moved from one end to the other end of the longitudinal moving frame 24 through the first longitudinal sliding mechanism.

[0041] The outer frame 22 is symmetrically provided with the same structure of lateral centering mechanism 21 on both sides, the lateral centering mechanism 21 includes a centering motor, a parallel linkage mechanism 213, a plurality of elastic top pressure assemblies 215 and a bottom positioning member 211, the outer frame 22 is provided with a side through slot 221 and a rack additional housing 214 which is communicated with the through slot, the bottom positioning member 211 is slidably provided in the rack additional housing 214 and can enter the outer frame 22 through the side through slot 221, the parallel linkage mechanism 213 has a first longitudinal connecting rod which is longitudinally arranged, the first longitudinal connecting rod is fixedly provided with a centering mounting plate which is symmetrically arranged, the centering mounting plate is uniformly arranged with a plurality of elastic top pressure assemblies 215 along the longitudinal direction, the first longitudinal connecting rod is connected with the bottom positioning member 211 through a longitudinal sliding structure, and the elastic top pressure assemblies 215 on both sides symmetrically top the left and right sides of the stamping part 6 after extending inward along with the first longitudinal connecting rod; the workpiece transfer control module further includes a centering control unit for controlling the centering action of the lateral centering mechanism 21.

[0042] The bottom positioning member 211 includes a sliding part 2112, a longitudinal guide groove 2113 and a positioning horizontal plate 2111, the upper surface of the positioning horizontal plate 2111 has a positioning plane, the positioning planes on both sides of the equipment are on the same horizontal plane, the longitudinal guide groove 2113 is arranged on the upper surface of the positioning horizontal plate 2111, the lower first longitudinal connecting rod is provided with a roller 2114 which is slidably matched with the longitudinal guide groove 2113, the sliding part 2112 is fixedly arranged on the front and back sides of the outer side edge of the positioning horizontal plate 2111, and the sliding part 2112 is slidably matched with a guide structure arranged on the front and back sides of the rack additional housing 214.

[0043] The side through slot 221 is provided with an elastic centering belt 212, both ends of the elastic centering belt 212 are fixedly arranged at the openings of the rack additional housing 214, the elastic centering belt 212 separates the inside of the rack additional housing 214 from the inside of the outer frame 22, and the elastic top pressure assemblies 215 partially push out the elastic centering belt 212 into the outer frame 22 when the elastic top pressure assemblies 215 are pushed out, and the elastic top pressure assemblies 215 push the stamping part 6 through the elastic centering belt 212.

[0044] The first longitudinal sliding mechanism includes a longitudinal rack one 241 which is arranged on the upper surface of the longitudinal moving frame 24, a sliding drive motor one 232 which is arranged on the lifting end 231 and a sliding gear one 243 which is engaged with the rack one, and the sliding gear one 243 is driven by the sliding motor one. The second longitudinal sliding mechanism includes a longitudinal rack two 242 which is arranged on the lower surface of the longitudinal moving frame 24, a sliding drive motor two 251 which is arranged on the grabbing end sliding frame 25 and a sliding gear two 244 which is engaged with the rack two, and the gear two is driven by the sliding motor two.

[0045] A set of production line tracks 5 is provided between two adjacent stamping machines 1, which are provided with a front zone front sensor 51, a front zone rear sensor 52, a rear zone front sensor 53 and a rear zone rear sensor 54 from front to rear. The front zone front sensor 51 and the rear zone rear sensor 54 are respectively arranged at the rear side of the front stamping machine 1 and the front side of the rear stamping machine 1. The production line tracks 5 are divided into three sections by the front zone rear sensor 52 and the rear zone front sensor 53, which are respectively a front waiting zone from the front zone front sensor 51 to the front zone rear sensor 52, a moving zone from the front zone rear sensor 52 to the rear zone front sensor 53, and a rear waiting zone from the rear zone front sensor 53 to the rear zone rear sensor 54.

[0046] The front zone rear sensor 52 is used to send a signal to end the starting moving action and start the front waiting zone moving action, and to end the unloading disengaging action and start the workpiece rotating action.

[0047] The front zone front sensor 51 is used to send a signal to end the front waiting zone moving action.

[0048] The rear zone front sensor 53 is used to send a signal to end the workpiece rotating action and start the rear waiting zone moving action, and to end the feeding disengaging action and start the resetting centering action.

[0049] The rear zone rear sensor 54 is used to send a signal to end the rear waiting zone moving action.

[0050] The stamping machine 1 is provided with a stamping sensor for detecting the start and completion of the stamping action, and a stamping preparation sensor for detecting whether the stamping piece 6 or the plate piece 7 is successfully placed.

[0051] The outer frame 22 is provided with a lateral position sensor on both sides inside. The lateral position sensor can be a grating, a photosensitive sensor array or other sensor structure capable of detecting the lateral position of the stamping piece 6. The lateral position sensor can detect the lateral position of the stamping piece 6 relative to the outer frame 22, calculate the lateral offset of the stamping piece 6, and detect whether the extension parts of the bottom positioning piece 211 on both sides extend below the stamping piece 6. Therefore, the lateral position sensor is used to detect the lateral position offset of the stamping piece 6 and send a signal whether to perform the centering action, and detect whether the bottom positioning piece 211 reaches the lower side of the stamping piece 6 and send a signal whether the bottom positioning piece 211 reaches the first position.

[0052] The punch sensor is used to send a signal to the corresponding mobile feeding and discharging equipment 2 behind the punch machine 1 to start the feeding and discharging action. The punch preparation sensor is used to send a warning signal when the feeding is inaccurate and to make the corresponding mobile feeding and discharging equipment 2 in front of the punch machine 1 perform feeding recovery to recover the punch parts 6 that are not placed well.

[0053] The mobile feeding and discharging equipment 2 is provided with a first sensor for detecting the moving position of the lifting equipment 23, a second sensor for detecting the moving position of the longitudinal moving frame 24, a third sensor for detecting the moving position of the grabbing end sliding frame 25, and a fourth sensor for detecting whether the grabbing mechanism 26 adsorbs the upper plate part 7 or the punch part 6.

[0054] When the grabbing mechanism 26 of the mobile feeding and discharging equipment 2 is located in the middle of the corresponding longitudinal moving frame 24 and also in the middle of the outer frame 22, the grabbing end sliding frame 25 is located at the origin of the corresponding moving coordinate system, and the longitudinal moving frame 24 is also located at the origin of the corresponding moving coordinate system, at this time, the mobile feeding and discharging equipment 2 is in a stable state. At this time, the actual longitudinal position of the punch part 6 can also be detected by the longitudinal position sensor arranged in the outer frame 22, the longitudinal deviation of the punch part 6 is calculated, and the distance of the backward movement of the punch part 6 is adjusted according to the longitudinal deviation in the subsequent feeding action, so as to ensure that the punch part 6 is moved to the upper side of the corresponding lower die 8.

[0055] For a mobile feeding and discharging equipment 2, in the initial state, the self-propelled trolley 27 is located at the origin of the corresponding production line track 5, which is generally a position in the moving area of the production line track 5, which can be the midpoint of the moving area; the lifting end 231 of the lifting equipment 23 is located at the origin, which is generally a set position close to the highest point of the lifting end 231; the mobile feeding and discharging equipment 2 itself is in a stable state, that is, the grabbing end sliding frame 25 is located at the origin of the corresponding moving coordinate system, and the longitudinal moving frame 24 is also located at the origin of the corresponding moving coordinate system.

[0056] The processing method applying the automatic feeding and discharging conveying system includes the following steps:

[0057] I. The feeding control module controls the plate part 7 feeding equipment to suck the uppermost plate part 7 and transfer it to the feeding position, and the plate part 7 is oiled during the transfer process.

[0058] II. The feeding control module controls the grabbing mechanism 26 on the plate part 7 feeding equipment to move to the upper side of the feeding position, and after adsorbing the plate part 7, it moves upward together with the longitudinal moving frame 24 in the plate part 7 feeding equipment to the punch machine 1 of the first process, until the plate part 7 is moved to the upper side of the lower die 8 of the process, and then the plate part 7 is placed down, and the plate part 7 feeding equipment is reset.

[0059] III. Under the control of the punch control module, the punch machines 1 of each process complete the punch and reset.

[0060] Four, the mobile feeding and discharging equipment 2 behind the stamping machine 1 of the pre-process including the first process starts the initial moving action under the control of the workpiece transfer control module. The mobile feeding and discharging equipment 2 starts from the initial state, the lifting equipment 23 lowers the grabbing mechanism 26 to the set discharging initial height, and the self-propelled trolley 27 moves at a constant speed to the front direction of the stamping machine 1 until the rear end of the front waiting area.

[0061] Five, after entering the front waiting area, the workpiece transfer control module controls the mobile feeding and discharging equipment 2 to perform the front waiting area moving action. The corresponding self-propelled trolley 27 moves at a reduced speed until it stops at the front end of the front waiting area (i.e. the rear side of the stamping machine 1 there), and the corresponding longitudinal moving frame 24 moves backward until the front end of the longitudinal moving frame 24 completely enters the outer frame 22, and the corresponding grabbing end sliding frame 25 moves to the front end of the longitudinal moving frame 24.

[0062] Six, after the stamping machine 1 of the first process resets, the workpiece transfer control module controls the mobile feeding and discharging equipment 2 to perform the discharging action. The corresponding longitudinal moving frame 24 moves forward, and cooperates with the lifting of the lifting equipment 23 and the suction action of the grabbing mechanism 26 to take out the stamping part 6 from the corresponding lower die 8, and the grabbing mechanism 26 returns to the discharging initial height.

[0063] Seven, the workpiece transfer control module controls the mobile feeding and discharging equipment 2 to perform the discharging separation action. The corresponding longitudinal sliding frame and grabbing end sliding frame 25 move backward at the same time until the mobile feeding and discharging equipment 2 is in a stable state, and the self-propelled trolley 27 moves backward until the rear end of the front waiting area. In this action, the sensor in the outer frame 22 detects whether the transverse position of the stamping part 6 deviates beyond the set threshold value, and if so, the transverse position of the stamping part 6 is adjusted in the next step, otherwise the transverse centering mechanism 21 is not started.

[0064] Eight, the workpiece transfer control module controls the mobile feeding and discharging equipment 2 to perform the workpiece transfer moving action. The corresponding self-propelled trolley 27 moves backward until the front end of the rear waiting area. The centering control unit can also perform the centering action at the same time during this action process.

[0065] In the centering action, the lateral centering mechanism 21 first starts to push the bottom positioning member 211 inward to the first position and pauses, at which time the inner side of the bottom positioning member 211 enters below the left and right sides of the corresponding stamping part 6. Then the lifting device 23 lowers the grabbing mechanism 26 to press the two sides of the stamping part 6 onto the corresponding bottom positioning member 211. Then the lateral centering mechanism 21 further moves the bottom positioning member 211 and the elastic pressing assembly 215 inward to the second position, and the elastic pressing assembly 215 presses the side of the stamping part 6. The grabbing mechanism 26 stops adsorbing the stamping part 6, and the stamping part 6 is centered under the equal pushing force of the two elastic pressing assemblies 215. Then the grabbing mechanism 26 adsorbs the stamping part 6 again, and the lateral centering mechanism 21 then executes the reset action. After the reset is completed, the lifting device 23 lifts the grabbing mechanism 26 to the unloading starting height again, and the entire lateral centering action is completed.

[0066] Nine, the workpiece transfer control module controls the mobile feeding and discharging device 2 to execute the rear waiting area moving action. The corresponding self-propelled trolley 27 moves at a reduced speed until it stops at the rear end of the rear waiting area (i.e. the front side of the stamping machine 1 at this position), and the corresponding longitudinal moving frame 24 moves forward until the rear end of the longitudinal moving frame 24 completely enters the outer frame 22. The corresponding grabbing end sliding frame 25 moves to the rear end of the longitudinal moving frame 24.

[0067] Ten, when the stamping part 6 completed by the rear process is unloaded and separated by the rear mobile feeding and discharging device 2, the workpiece transfer control module controls the current mobile feeding and discharging device 2 to execute the feeding action. The corresponding longitudinal moving frame 24 moves forward, and cooperates with the lifting of the lifting device 23 and the adsorption action of the grabbing mechanism 26 to place the stamping part 6 on the corresponding lower die 8. The grabbing mechanism 26 returns to the unloading starting height.

[0068] Eleven, the workpiece transfer control module controls the mobile feeding and discharging device 2 to execute the feeding and separation action. The corresponding longitudinal sliding frame and grabbing end sliding frame 25 move forward at the same time until the mobile feeding and discharging device 2 is in a stable state, and the self-propelled trolley 27 moves backward until the front end of the rear waiting area.

[0069] Twelve, the workpiece transfer control module controls the mobile feeding and discharging device 2 to execute the reset and centering action. The corresponding lifting device 23 moves the lifting end 231 in the direction of the original point, and the self-propelled trolley 27 moves in the direction of the original point of the production line track 5. The longitudinal sliding frame, the grabbing end sliding frame 25, the self-propelled trolley 27 and the lifting device 23 all perform original point centering and reach the corresponding original point, so that the mobile feeding and discharging device 2 is reset to its initial state.

[0070] The mobile feeding and discharging device 2 between the two adjacent stamping machines 1 performs the fourth to twelfth steps under the control of the corresponding workpiece transfer control module to complete the stamping machine 1 conveying and feeding and discharging between the two adjacent stamping machines 1.

[0071] When the stamping piece 6 is not placed accurately, the stamping preparation sensor detects the situation and sends a warning signal, and the control module receives the signal and starts the mobile feeding and discharging device 2 that originally performs feeding to perform feeding recovery. The corresponding workpiece transfer control module controls the mobile feeding and discharging device 2 to immediately perform the discharging action, the corresponding longitudinal moving frame 24 moves forward, cooperates with the lifting of the lifting device 23 and the adsorption action of the grabbing mechanism 26 to take out the stamping piece 6 from the corresponding lower die 8, and the grabbing mechanism 26 returns to the discharging starting height. If the position of the stamping piece 6 to be processed is too large to be taken out, the mobile feeding and discharging device 2 returns to the state before the feeding action; otherwise, the feeding recovery action is performed.

[0072] The feeding recovery action includes: under the condition that the self-propelled trolley 27 is stationary, the corresponding longitudinal sliding frame and grabbing end sliding frame 25 move backward at the same time until the mobile feeding and discharging device 2 is in a stable state, and then the sensor in the outer rack 22 detects whether the transverse position of the stamping piece 6 deviates beyond the set threshold value. If yes, the transverse position of the stamping piece 6 is adjusted in the next step, otherwise the transverse centering mechanism 21 is not started. Because the stamping piece 6 is not placed well during feeding, the centering adjustment is usually needed. After the centering adjustment, the mobile feeding and discharging device 2 enters a waiting state, and after the operator handles the fault and sends a control command, the mobile feeding and discharging device 2 repeats the feeding action.

[0073] The above describes the present application in conjunction with the drawings, and it is obvious that the specific implementation of the present application is not limited to the above manner, as long as various non-essential improvements are made by adopting the inventive concept and technical solution of the present application, or the inventive concept and technical solution of the present application is directly applied to other occasions without improvement, all of which are within the protection scope of the present application.

Claims

1. An automatic feeding and discharging conveying system for sheet metal processing, characterized in that: The stamping machine (1) comprises a plurality of processes, a plate feeding device, a plate loading device, a mobile loading and unloading device (2), and a control module, wherein the control module comprises a stamping control module for controlling the stamping machine (1), a feeding control module for controlling the plate feeding device, a loading control module for controlling the plate loading device, and a workpiece transfer control module for controlling the mobile loading and unloading device (2); a group of production line tracks (5) is arranged between two adjacent stamping machines (1); The mobile loading and unloading device (2) comprises a self-propelled trolley (27) arranged on the production line track (5), an outer frame (22) arranged on the self-propelled trolley (27), a lifting device (23), a longitudinal moving frame (24), a grabbing mechanism (26), and a grabbing end sliding frame (25); the outer frame (22) is provided with an open mouth (222) in the front-rear direction, the lifting device (23) is installed on the top of the outer frame (22), the lifting end (231) of the lifting device (23) extends downward and is installed on the upper surface of the longitudinal moving frame (24), the longitudinal moving frame (24) is longitudinally slidably connected with the lifting end (231), the longitudinal moving frame (24) is driven by a first longitudinal sliding mechanism, the grabbing end sliding frame (25) is slidably connected on the longitudinal moving frame (24) and moves longitudinally, the grabbing end sliding frame (25) is driven by a second longitudinal sliding mechanism, the grabbing mechanism (26) is installed on the lower surface of the grabbing end sliding frame (25), the grabbing mechanism (26) absorbs the stamping part (6) by a grabbing suction cup, and the lifting end (231) can move from one end of the longitudinal moving frame (24) to the other end by the first longitudinal sliding mechanism; The outer frame (22) is symmetrically provided with a same structure of a transverse centering mechanism (21) on the left and right sides, the transverse centering mechanism (21) comprises a centering motor, a parallel linkage mechanism (213), a plurality of elastic pressing components (215), and a bottom positioning member (211), the outer frame (22) is provided with a side through slot (221) and a frame additional housing (214) in communication with the through slot on the left and right sides, the bottom positioning member (211) is slidably arranged in the frame additional housing (214) and can enter the outer frame (22) through the side through slot (221), the parallel linkage mechanism (213) has a first longitudinal link arranged longitudinally, the first longitudinal link is fixed with a same-direction arranged centering mounting plate, a plurality of elastic pressing components (215) are uniformly arranged on the centering mounting plate in the longitudinal direction, the first longitudinal link is connected with the bottom positioning member (211) through a longitudinal sliding structure, and the elastic pressing components (215) on the left and right sides symmetrically press on the left and right sides of the stamping part (6) after extending inward along the first longitudinal link; the workpiece transfer control module further comprises a centering control unit for controlling the transverse centering mechanism (21) to perform a centering action. The outer frame (22) is provided with a lateral position sensor on both sides inside, which is used to detect whether the extended part of the bottom positioning member (211) on both sides is extended into the lower part of the left and right sides of the stamping part (6), and accordingly sends a signal of whether the bottom positioning member (211) reaches the first position; the bottom positioning member (211) is pushed in to reach the first position and pause, and then the lifting device (23) lowers the grabbing mechanism (26) to press the two sides of the stamping part (6) to the corresponding bottom positioning member (211); The lateral slot (221) is provided with an elastic centering belt (212), both ends of the elastic centering belt (212) are fixed at the opening of the frame additional shell (214), the elastic centering belt (212) separates the inside of the frame additional shell (214) from the inside of the outer frame (22), and the elastic centering belt (212) is partially pushed out into the outer frame (22) when the elastic pressing assembly (215) is pushed out, and the elastic pressing assembly (215) presses the stamping part (6) through the elastic centering belt (212).

2. The automatic feeding and discharging conveying system for sheet metal processing according to claim 1, characterized in that: The production line track (5) is provided with a front zone front sensor (51), a front zone rear sensor (52), a rear zone front sensor (53) and a rear zone rear sensor (54) from front to back, and the front zone front sensor (51) and the rear zone rear sensor (54) are separately arranged at the front and rear ends of the production line track (5); the production line track (5) is divided into three sections by the front zone rear sensor (52) and the rear zone front sensor (53), which are respectively a front waiting area, a moving area and a waiting area.

3. The automatic feeding and discharging conveying system for sheet metal processing according to claim 1 or 2, characterized in that: The stamping machine (1) is provided with a stamping sensor for detecting the start and completion of stamping action, and the stamping sensor is used to send a signal to start the unloading action of the mobile unloading device (2) behind the corresponding stamping machine (1).

4. The automatic feeding and discharging conveying system for sheet metal processing according to claim 3, characterized in that: The lateral position sensor is used to detect the lateral position of the stamping part (6) relative to the outer frame (22), calculate the lateral offset of the stamping part (6), and accordingly send a signal of whether to execute the centering action.

5. The automatic feeding and discharging conveying system for sheet metal processing according to claim 4, characterized in that: The stamping machine (1) is provided with a stamping preparation sensor for detecting whether the stamping part (6) or the plate (7) to be stamped is placed successfully, and the stamping preparation sensor is used to send a warning signal when the feeding is inaccurate and to make the mobile unloading device (2) in front of the corresponding stamping machine (1) perform unloading recovery to recover the stamping part (6) that is not placed well.

6. The automatic feeding and discharging conveying system for sheet metal processing according to claim 1, characterized in that: The processing method using the automatic unloading conveying system comprises: I. The plate feeding device sucks the uppermost plate (7) and moves it to the feeding position; II. After the plate feeding device adsorbs the plate (7) in the feeding position, the plate (7) is moved to the lower die (8) of the process, and then the plate (7) is lowered and reset; III. The stamping machine (1) of each process completes stamping and resets; IV. The mobile unloading device (2) behind the stamping machine (1) of the previous process including the first process executes the initial moving action under the control of the corresponding workpiece transfer control module; V. After entering the front waiting area, the mobile unloading device (2) executes the front waiting area moving action; Six, after the current stamping machine (1) resets, the mobile feeding and discharging device (2) performs a discharging action; Seven, the mobile feeding and discharging device (2) performs a discharging separation action; in this action, the sensor in the outer frame (22) detects whether the transverse position of the stamping part (6) deviates beyond the set threshold value, if yes, the transverse position of the stamping part (6) is adjusted in the next step, otherwise the transverse centering mechanism (21) is not started; Eight, the workpiece transfer control module controls the mobile feeding and discharging device (2) to perform a workpiece transfer action; the centering control unit can simultaneously perform a centering action during the action process; Nine, the workpiece transfer control module controls the mobile feeding and discharging device (2) to perform a post-waiting area movement action; Ten, after the stamping part (6) completed by the subsequent process is discharged by the subsequent mobile feeding and discharging device (2), the current mobile feeding and discharging device (2) performs a feeding action; Eleven, the workpiece transfer control module controls the mobile feeding and discharging device (2) to perform a feeding separation action; Twelve, the workpiece transfer control module controls the mobile feeding and discharging device (2) to perform a reset correction action.

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