Automatic punching method applied to full-automatic feeding and punching equipment for framework plate of actuator

Abstract

The invention discloses an automatic punching method applied to full-automatic feeding and punching equipment for an actuator framework plate. A workbench and a control system device are included. A circular turntable; a framework plate feeding mechanism; the rough boring mechanisms and the fine boring mechanisms are annularly arranged on the circumferential side of the circular rotating disc, and the rough boring mechanisms and the fine boring mechanisms are arranged at intervals; the framework plate discharging mechanism is used for taking down the finished framework plates from the corresponding framework plate jig mechanisms; the jig driving mechanisms are arranged at the framework plate feeding mechanism and the framework plate discharging mechanism respectively; the framework plate jig mechanism comprises a jig body support provided with a through hole, a jig clamping assembly acting on the framework plate and a jig state reset assembly acting on the jig clamping assembly. According to the invention, the functions of full-automatic feeding, heavy boring and punching, fine boring and punching and blanking of the framework plate are realized. And the framework plate jig mechanism with a special structure is adopted, so that the framework plate can be clamped or released through the clamping end of the product clamping arm.

Description

Technical Field

[0001] The invention relates to the technical field of product parts processing of electric actuators, and in particular to an automatic punching method applied to a fully automatic feeding and punching device for an actuator skeleton plate. Background Art

[0002] Flow metering instruments, such as water meters, electricity meters, and gas meters, have become indispensable equipment in daily life and production. Taking water meters as an example, traditional water meters include a water meter housing and a metering movement inside the water meter housing. The metering movement here is basically a mechanical digital wheel that records the measured value. In order to realize the automatic switching and adjustment functions of the instrumentation, actuator components are added to the instrumentation. Actuators are divided into pneumatic actuators, electric actuators, and hydraulic actuators. Pneumatic actuators are large in size, complex in wiring, and require an air source. Hydraulic actuators are generally suitable for large workplaces due to their large size, complex structure, and high cost. Therefore, the most commonly used actuators for civil use are electric actuators.

[0003] An example of an electric actuator, which is involved in our company's prior application document CN215806651U, is an actuator with an external photoelectric positioning device, including a housing, an actuator main body, and a photoelectric positioning device. The interior of the housing is divided into a first installation area and a second installation area. The actuator main body is arranged in the first installation area, and the photoelectric positioning device is arranged in the second installation area, and the photoelectric positioning device is connected to the actuator main body in a transmission manner. The utility model reasonably divides the internal space of the housing to form a first installation area and a second installation area, abandons the original positioning gear structure, places the complete actuator main body in the first installation area, and places the photoelectric positioning device in the second installation area. The partitions between the two are more clearly defined, and the installation and connection relationship is simpler and more reliable. Among them, the "skeleton plate" is one of the core components in the actuator, which is mainly used to divide the internal space and provide installation positions and space for components such as motors and gears.

[0004] In order to meet the needs of skeleton plates, multiple holes need to be punched on the skeleton plates. In the traditional way, manual electric drills are used for drilling holes, which has many disadvantages, mainly low efficiency and poor drilling accuracy. With the development of science and technology, auxiliary electric tools and tooling have been developed, thus forming a semi-automatic drilling process, which has improved production efficiency to a certain extent, and also improved drilling accuracy by improving product positioning accuracy, but it still cannot meet the needs of intelligent manufacturing. On the other hand, there are many models of electric actuators, resulting in different shapes and holes of each skeleton plate, which still has a high processing difficulty under the semi-automatic process.

[0005] Therefore, there is an urgent need for a fully automated feeding, punching, and unloading equipment and processing method to meet the production needs of skeleton plates. Summary of the invention

[0006] In order to overcome the above-mentioned deficiencies in the prior art, the present invention provides an automatic punching method applied to a fully automatic feeding and punching device for an actuator skeleton plate.

[0007] The technical solution of the present invention to solve the technical problem is: the present invention provides an automatic punching method applied to the fully automatic feeding and punching equipment of the actuator skeleton plate, comprising the following steps:

[0008] S1, the turntable deceleration drive device is started, and the position state of the circular turntable is monitored through the positioning plate and the rotation positioning counter, so that the circular turntable moves to the initial position;

[0009] S2, the skeleton plates in the skeleton plate material box enter the skeleton plate positioning device, the skeleton plate positioning device flips and adjusts the skeleton plates in the wrong direction, and then the skeleton plate in the skeleton plate positioning device is clamped and moved to the top of the skeleton plate fixture mechanism by the skeleton plate transfer device;

[0010] S3, the jig driving mechanism at the corresponding part of the skeleton plate feeding mechanism is started, and the jig lifting cylinder lifts the jig push rod upward through the cooperation of the power output block and the jig connecting block. The rise of the jig push rod causes the linkage pull rod to tilt, and then the linkage pull rod drives the clamping end of the product clamp arm to open outward to avoid sufficient clamp arm gap, and then the skeleton plate transfer device puts the skeleton plate into the clamp arm gap, and at the same time the reset spring is squeezed and contracted to store force;

[0011] S4. The jig drive mechanism at the corresponding part of the skeleton plate feeding mechanism is started, and the jig lifting cylinder is reset downward. Under the elastic force of the reset spring, the push rod pressure plate automatically moves downward, and at the same time, the push rod pressure plate drives the jig push rod to automatically move downward, and then the jig push rod tightens the product clamp arm inward through the linkage pull rod to reduce the clamp arm gap, and at the same time, the clamping end of each product clamp arm abuts against the skeleton plate and clamps the skeleton plate;

[0012] S5, the turntable deceleration drive device is started, and the circular turntable moves one station. At the same time, under the action of the reset spring, the clamping end of the product clamping arm automatically clamps the skeleton plate;

[0013] S6, the front-stage rough boring mechanism is started, and the rough boring motor is driven down by the rough boring lifting cylinder, and the rough boring motor is started at the same time, so that the rough boring punching tool performs rough boring on the corresponding skeleton plate, and then the rough boring lifting cylinder drives the rough boring motor to rise, and the turntable deceleration drive device is started to rotate the circular turntable by one station;

[0014] S7, the front-stage fine boring mechanism is started, and the fine boring motor is driven down by the fine boring lifting cylinder, and the fine boring motor is started at the same time, so that the fine boring punching tool performs fine boring on the corresponding rough boring hole; then the fine boring lifting cylinder drives the fine boring motor to rise, and the turntable deceleration drive device is started, and the circular turntable moves one station;

[0015] S8, the subsequent rough boring mechanism and fine boring mechanism are started at intervals, thereby drilling multiple holes on the skeleton plate;

[0016] S9, the jig drive mechanism at the corresponding position of the skeleton plate unloading mechanism is started, and the jig lifting cylinder lifts the jig push rod upward through the cooperation of the power output block and the jig connecting block. The rise of the jig push rod causes the linkage pull rod to tilt, and then the linkage pull rod drives the clamping end of the product clamp arm to open outward to release the skeleton plate, and then the longitudinal moving module and the vertical moving module are started and the position of the unloading pneumatic clamping device is adjusted, and then the unloading pneumatic clamping device is started to grab the skeleton plate, and then the longitudinal moving module and the vertical moving module are started again and the position of the unloading pneumatic clamping device is adjusted, and finally the unloading pneumatic clamping device releases the skeleton plate, and the finished skeleton plate is unloaded;

[0017] S10, the turntable deceleration drive device is started to move the circular turntable to the initial position, and steps S1 to S9 are repeated to realize the fully automatic feeding, punching and unloading of the next skeleton plate.

[0018] In some preferred embodiments of the present invention, the fully automatic feeding and punching equipment for the actuator skeleton plate comprises: a workbench and a control system device;

[0019] A circular turntable is driven by a turntable deceleration drive device, and a plurality of skeleton plate fixture mechanisms are arranged on the circular turntable; a positioning disk is arranged on the turntable deceleration drive device, and a rotation positioning counter is arranged on the workbench, and the positioning disk includes a solid section and a notch section, and any one of the solid section and the notch section is positioned relative to the rotation positioning counter;

[0020] A skeleton plate feeding mechanism, which is used to place the skeleton plate into the corresponding skeleton plate fixture mechanism, is arranged on the workbench and corresponds to the initial position of the circular turntable; the skeleton plate feeding mechanism includes a skeleton plate material box, a skeleton plate positioning device connected to the skeleton plate material box, and a skeleton plate transfer device for clamping the skeleton plate in the skeleton plate positioning device and moving it to the skeleton plate fixture mechanism;

[0021] A plurality of rough boring mechanisms and fine boring mechanisms, which are arranged around the circumference of the circular turntable, and the rough boring mechanisms and fine boring mechanisms are arranged at intervals from each other;

[0022] A skeleton plate unloading mechanism, which is used to remove the finished skeleton plate from the corresponding skeleton plate fixture mechanism, is arranged on the workbench and corresponds to the end station of the circular turntable;

[0023] A jig driving mechanism, which is respectively arranged at the skeleton plate feeding mechanism and the skeleton plate unloading mechanism;

[0024] The skeleton plate jig mechanism comprises a jig body bracket with a through hole, a jig clamping assembly acting on the skeleton plate, and a jig state resetting assembly acting on the jig clamping assembly;

[0025] Wherein, the jig clamping assembly includes a plurality of product clamping arms, a jig mandrel connected to the product clamping arms through a linkage pull rod, and a jig transmission block fixed to the lower end of the jig mandrel; one end of the linkage pull rod is hinged to the jig mandrel through an input shaft, and the other end of the linkage pull rod is hinged to the lower end of the product clamping arm through an output shaft, and the upper end of the product clamping arm is a clamping end, and the clamping end passes through the through hole from bottom to top, and an avoidance gap is formed between the clamping end and the through hole;

[0026] The jig state reset assembly includes a push rod pressure plate sleeved on the jig push rod, a transmission shaft connected between the push rod pressure plate and the jig body bracket, and a reset spring sleeved on the transmission shaft, the upper end of the transmission shaft is fixedly connected to the jig body bracket, the lower end of the transmission shaft is movably connected to the push rod pressure plate through a bearing, and the reset spring acts on the push rod pressure plate to make the push rod pressure plate always have a downward movement tendency, so that the push rod pressure plate drives the jig push rod to always have a downward movement tendency;

[0027] The jig transmission block can enter into the jig drive mechanism and form a transmission fit, so that the jig drive mechanism pushes the jig ejector rod upwards through the jig transmission block.

[0028] Regarding the further configuration of the equipment mechanism in the present invention, the skeleton plate jig mechanism also includes a jig connecting block, the jig body bracket is connected to the circular turntable through the jig connecting block, and the jig body bracket is located outside the circular turntable.

[0029] Regarding the further configuration of the equipment mechanism in the present invention, the jig driving mechanism includes a jig lifting cylinder fixed on the workbench and a power output block driven by the jig lifting cylinder, a transmission hole is opened on the power output block, and there are openings on both sides of the transmission hole, and the jig transmission block can enter the transmission hole through the opening, so that the power output block and the jig transmission block form a transmission match.

[0030] Regarding the further configuration of the equipment mechanism in the present invention, the jig transmission block includes a first flange, a connecting rod and a second flange arranged in sequence from top to bottom, and the power output block has an inwardly convex transmission part, and the transmission part can abut against the first flange to form a transmission fit, and the transmission part can abut against the second flange to form a limit fit.

[0031] Regarding the further configuration of the equipment mechanism in the present invention, the fixture driving mechanism also includes a guide plate, a guide hole is opened on the guide plate, a guide pin is provided on the power output block, and the guide pin extends into the guide hole and can move up and down along the guide hole.

[0032] The device mechanism of the present invention is further configured as follows: the rough boring mechanism includes a rough boring bracket, a rough boring lifting cylinder installed on the rough boring bracket, a rough boring mounting plate acted upon by the rough boring lifting cylinder, a slag cleaning brush and a rough boring motor arranged on the rough boring mounting plate, and a rough boring punching tool installed on the rough boring motor;

[0033] The fine boring mechanism comprises a fine boring bracket, a fine boring lifting cylinder installed on the fine boring bracket, a fine boring mounting plate acted upon by the fine boring lifting cylinder, a slag cleaning brush and a fine boring motor arranged on the fine boring mounting plate, and a fine boring drilling tool installed on the fine boring motor.

[0034] A further configuration of the equipment mechanism in the present invention is that a waste slag storage box is also provided on the workbench, and the waste slag storage box is located directly below the rough boring and drilling tool and the fine boring and drilling tool.

[0035] The further configuration of the equipment mechanism in the present invention is that the skeleton plate positioning device includes a front positioning slide plate, a rear positioning slide plate, a skeleton plate positioning flipping device located between the front positioning slide plate and the rear positioning slide plate, a skeleton plate position detection device arranged on one side of the front positioning slide plate, and a first longitudinal pushing cylinder arranged at the outer end of the front positioning slide plate, the front positioning slide plate and the rear positioning slide plate are both provided with skeleton plate slides adapted to the skeleton plates, and the skeleton plate slides on the front positioning slide plate are connected to the skeleton plate material box through a skeleton plate transverse feeding channel;

[0036] The frame plate transfer device comprises a frame plate longitudinal transfer slide, a second longitudinal push cylinder arranged at one end of the frame plate longitudinal transfer slide, a longitudinal moving block slidably arranged in the frame plate longitudinal transfer slide and driven by the second longitudinal push cylinder, a downward pressure cylinder fixedly arranged on the longitudinal moving block, a vertical moving block driven by the downward pressure cylinder, and a pneumatic clamping device fixedly arranged on the vertical moving block and used for picking up the frame plate in the slide plate after adjustment;

[0037] The skeleton plate positioning and flipping device includes a driving wheel, a driven wheel, a transmission belt mounted on the driving wheel and the driven wheel, a flipping cylinder driving the driving wheel to rotate, and a rotating drum fixed in the driven wheel, and the rotating drum is respectively connected to the front positioning slide plate and the rear positioning slide plate.

[0038] Regarding the further configuration of the equipment mechanism in the present invention, the skeleton plate unloading mechanism includes a unloading bracket, a longitudinal moving module installed on the unloading bracket, a vertical moving module driven by the longitudinal moving module, and a pneumatic clamping device driven by the vertical moving module and used to pick up the skeleton plate in the corresponding skeleton plate fixture mechanism.

[0039] The beneficial effects of the present invention are:

[0040] 1. The fully automatic feeding, rough boring and drilling, fine boring and drilling and unloading functions of the skeleton plate are realized.

[0041] 2. The rough boring mechanism and the fine boring mechanism cooperate with each other, which can effectively improve the accuracy of the hole position and protect the tool to reduce the chance of tool breakage and extend its service life.

[0042] 3. A specially designed frame plate fixture mechanism is used, so that the frame plate can be clamped or released through the clamping end of the product clamp arm.

[0043] Fourth, the jig drive mechanism acts on the skeleton plate jig mechanism, which can cause the clamping end of the product clamp arm to open to release a larger clamp arm gap, thereby placing the skeleton plate into the jig body bracket, or taking out the skeleton plate in the jig body bracket for cutting.

[0044] 5. No jig driving mechanism is provided at the rough boring mechanism and the fine boring mechanism, so that under the action of the reset spring, the skeleton plate on the jig body bracket can always be automatically clamped to position the skeleton plate so that it will not loosen or move during the boring process. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0046] Figure 2 It is a plan view schematic diagram of the mechanism arrangement in the present invention.

[0047] Figure 3 It is a structural diagram of the skeleton plate feeding mechanism.

[0048] Figure 4 It is a structural diagram of the positioning mechanism.

[0049] Figure 5 It is a structural diagram of the rough boring mechanism.

[0050] Figure 6It is a structural schematic diagram of the circular turntable and the skeleton plate fixture mechanism.

[0051] Figure 7 It is a schematic diagram of the coordination between the positioning disk and the rotation positioning counter.

[0052] Figure 8 It is a structural diagram of the skeleton plate fixture mechanism.

[0053] Fig. 9 It is a working schematic diagram of the skeleton plate fixture mechanism (when the clamping end is clamped).

[0054] Fig.10 It is a working schematic diagram of the skeleton plate fixture mechanism (when the clamping end is opened).

[0055] Fig.11 It is a structural diagram of the skeleton plate blanking mechanism.

[0056] Fig.12 This is a comparison diagram of the skeleton plate before and after processing.

[0057] In the figure: 1, workbench; 2, control system device; 3, circular turntable; 301, turntable deceleration drive device; 302, positioning plate; 3021, solid section; 3022, notch section; 303, rotation positioning counter; 4, skeleton plate fixture mechanism; 401, fixture body bracket; 4011, through hole; 4011a, avoidance gap; 402, fixture clamping assembly; 4021, product clamping arm; 4021a, lower end of product clamping arm; 4021b, clamping end; 4022, linkage pull rod; 4023, fixture ejector rod; 4024, fixture transmission block; 4024a, the first a flange; 4024b, connecting rod; 4024c, second flange; 4025, input shaft; 4026, output shaft; 4027, fixture connection block; 403, fixture state reset assembly; 4031, push rod pressure plate; 4032, transmission shaft; 4033, reset spring; 4034, bearing; 5, skeleton plate feeding mechanism; 5011, driving wheel; 5012, driven wheel; 5013, transmission belt; 5014, flip cylinder; 5015, rotating drum; 5021, front slide plate for adjustment; 5022, rear slide plate for adjustment; 5024, skeleton plate position detection device; 502 5. First longitudinal push cylinder; 502a, skeleton plate slideway; 5026, skeleton plate transverse feeding channel; 5031, longitudinal transfer slide; 5032, second longitudinal push cylinder; 5033, longitudinal moving block; 5034, downward pressure cylinder; 5035, vertical moving block; 5036, pneumatic clamping device for feeding; 6. Rough boring mechanism; 601, rough boring bracket; 602, rough boring lifting cylinder; 603, rough boring mounting plate; 604, slag cleaning brush; 605, rough boring motor; 606, rough boring punching tool; 7. Fine boring mechanism; 8. Jig driving mechanism; 801, jig lifting cylinder ;802, power output block;8021, transmission hole;8021a, opening;8022, transmission part;8023, guide plate;8024, guide hole;8025, guide pin;9, waste slag storage box;10, positioning mechanism;1001, positioning table;1002, positioning cylinder;1003, positioning rod;1004, telescopic hole;1005, channel section;11, skeleton plate unloading mechanism;1101, unloading bracket;1102, longitudinal moving module;1103, vertical moving module;1104, unloading pneumatic clamping device;12, skeleton plate;1201, hole position. DETAILED DESCRIPTION

[0058] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0059] Embodiment 1

[0060] Reference Figures 1 to 12, an actuator skeleton plate fully automatic feeding and punching equipment, including: a workbench 1 and a control system device 2; a circular turntable 3, which is driven by a turntable reduction drive device 301, and a plurality of skeleton plate 12 fixture mechanisms 4 are arranged on the circular turntable 3; a positioning disk 302 is provided on the turntable reduction drive device 301, and a rotation positioning counter 303 is provided on the workbench 1, and the positioning disk 302 includes a solid section 3021 and a notch section 3022, and any one of the solid section 3021 and the notch section 3022 is relative to the rotation positioning counter 303; for every rotation of the circular turntable 3, the positioning disk 302 rotates one circle accordingly, so through the cooperation of the positioning disk 302 and the rotation positioning counter 303, one is that the number of equipment operation circles and the output can be counted, and the other is that the real-time process status can be fed back to the control system device 2. A skeleton plate 12 feeding mechanism 5, which is used to place the skeleton plate 12 into the corresponding skeleton plate 12 fixture mechanism 4, is arranged on the workbench 1 and corresponds to the initial work position of the circular turntable 3; the skeleton plate 12 feeding mechanism 5 includes a skeleton plate 12 material box (not shown in the figure), a skeleton plate 12 positioning device connected to the skeleton plate 12 material box, and a skeleton plate 12 transfer device for clamping the skeleton plate 12 in the skeleton plate 12 positioning device and moving it to the skeleton plate 12 fixture mechanism 4; a plurality of rough boring mechanisms 6 and fine boring mechanisms 7, which are arranged in a ring on the circumference of the circular turntable 3, and the rough boring mechanisms 6 and fine boring mechanisms 7 are arranged at intervals from each other; each hole position 1201 adopts a combination of rough boring and fine boring when boring the hole, so that the hole position 1201 formed on the skeleton plate 12 is more accurate. The skeleton plate 12 unloading mechanism 11 , which is used to remove the finished skeleton plate 12 from the corresponding skeleton plate 12 fixture mechanism 4 , is arranged on the workbench 1 and corresponds to the end station of the circular turntable 3 .The major difference between the present invention and the prior art is that: the jig driving mechanism 8 is respectively arranged at the feeding mechanism 5 of the skeleton plate 12 and the unloading mechanism 11 of the skeleton plate 12; the jig mechanism 4 of the skeleton plate 12 includes a jig body bracket 401 with a through hole 4011, a jig clamping component 402 acting on the skeleton plate 12, and a jig state reset component 403 acting on the jig clamping component 402; wherein the jig clamping component 402 includes a plurality of product clamping arms 4021, which are connected by a linkage pull rod 4022 is a jig push rod 4023 that is transmission-connected to the product clamp arm 4021, and a jig transmission block 4024 that is fixed to the lower end of the jig push rod 4023; one end of the linkage pull rod 4022 is hinged to the jig push rod 4023 through an input shaft 4025, and the other end of the linkage pull rod 4022 is hinged to the lower end of the product clamp arm 4021 through an output shaft 4026, and the upper end of the product clamp arm 4021 is a clamping end 4021b, and the clamping end 4021b passes through the through hole 4021 from bottom to top. The through hole 4011 is provided, and an avoidance gap 4011a is formed between the clamping end 4021b and the through hole 4011; the fixture state reset component 403 includes a push rod pressure plate 4031 sleeved on the fixture push rod 4023, a transmission shaft 4032 connected between the push rod pressure plate 4031 and the fixture body bracket 401, and a reset spring 4033 sleeved on the transmission shaft 4032, the upper end of the transmission shaft 4032 is fixedly connected to the fixture body bracket 401, and the lower end of the transmission shaft 4032 is fixedly connected to the fixture body bracket 401, and the lower end of the transmission shaft 4032 is fixedly connected to the fixture body bracket 401. The bearing 4034 is movably connected to the push rod pressure plate 4031, and the return spring 4033 acts on the push rod pressure plate 4031 so that the push rod pressure plate 4031 always has a movement tendency to move downward, so that the push rod pressure plate 4031 drives the jig push rod 4023 to always have a movement tendency to move downward; the jig transmission block 4024 can enter into the jig driving mechanism 8 and form a transmission match, so that the jig driving mechanism 8 pushes the jig push rod 4023 upward through the jig transmission block 4024.

[0061] The above content is the basic structural scheme of the punching equipment in the present invention. Compared with the prior art, its distinguishing features and beneficial effects are: 1. It realizes the full-automatic feeding, rough boring and punching, fine boring and punching and unloading functions of the skeleton plate 12; 2. The rough boring mechanism 6 and the fine boring mechanism 7 cooperate with each other, which can effectively improve the accuracy of the hole position 1201 and protect the tool to reduce the probability of tool breakage and extend the service life; 3. The specially structured skeleton plate 12 fixture mechanism 4 is adopted, so that the skeleton plate 12 can be clamped or released through the clamping end 4021b of the product clamping arm 4021; 4. The fixture drive Mechanism 8 acts on the jig mechanism 4 of the skeleton plate 12, which can cause the clamping end 4021b of the product clamping arm 4021 to open to release a larger clamping arm gap, thereby placing the skeleton plate 12 into the jig body bracket 401, or taking out the skeleton plate 12 in the jig body bracket 401 for cutting; Fifth, no jig driving mechanism 8 is set at the rough boring mechanism 6 and the fine boring mechanism 7, so that under the action of the reset spring 4033, the skeleton plate 12 on the jig body bracket 401 can always be automatically clamped to position the skeleton plate 12 so that it will not loosen or move during the boring process.

[0062] In conventional non-standard equipment, the jig mechanism is directly mounted on the upper end of the circular turntable 3 and does not extend out of the outer edge of the circular turntable 3. However, in the present invention, since the jig drive mechanism 8, the rough boring mechanism 6 and the fine boring mechanism 7 are all used in the vertical direction, the circular turntable 3 will cause structural interference. In order to solve the defects of the prior art, a preferred configuration of the present invention is as follows: the jig mechanism 4 of the skeleton plate 12 also includes a jig connection block 4027, and the jig body bracket 401 is connected to the circular turntable 3 through the jig connection block 4027, and the jig body bracket 401 is located on the outside of the circular turntable 3 to avoid the circular turntable 3 and provide sufficient working space.

[0063] During the boring process, a relatively large amount of waste slag will be generated. If it is not collected and cleaned in time, it will cause the equipment and production site to be dirty and messy, and seriously enter various mechanisms to damage parts and components, affecting normal production and processing. In order to solve the waste slag, the preferred setting of the equipment mechanism in the present invention is that a waste slag storage box 9 is also provided on the workbench 1, and the waste slag storage box 9 is located directly below the rough boring and punching tool 606 and the fine boring and punching tool. On the one hand, the waste slag in the processing of the rough boring mechanism 6 and the fine boring mechanism 7 can fall and be collected in the waste slag storage box 9; on the other hand, during the movement of the circular turntable 3, the slag cleaning brush 604 can contact the skeleton plate 12 and the corresponding skeleton plate 12 fixture mechanism 4 to clean the waste slag that was not originally dropped into the waste slag storage box 9, so that the skeleton plate 12 and the skeleton plate 12 fixture mechanism 4 remain clean and tidy when entering the next station. Finally, when the waste residue in the waste residue storage box 9 reaches a certain amount, the staff can clean it out of the equipment.

[0064] Embodiment 2

[0065] This embodiment provides a more specific structural scheme of multiple mechanisms based on the structural basis of the first embodiment. Figures 1 to 11 , as follows:

[0066] 1. The jig driving mechanism 8 includes a jig lifting cylinder 801 fixed on the workbench 1 and a power output block 802 driven by the jig lifting cylinder 801. The power output block 802 is provided with a transmission hole 8021, and both sides of the transmission hole 8021 have openings 8021a. The jig transmission block 4024 can enter the transmission hole 8021 through the opening 8021a, so that the power output block 802 and the jig transmission block 4024 form a transmission match.

[0067] During the rotation of the circular turntable 3, the jig transmission block 4024 can enter and exit the transmission hole 8021 through the lateral opening 8021a, thereby playing a function similar to a clutch, that is, when the jig transmission hole 8021 enters the transmission hole 8021, transmission engagement is achieved, and when the jig transmission hole 8021 leaves the transmission hole 8021, transmission separation is achieved.

[0068] More specifically, the jig transmission block 4024 includes a first flange 4024a, a connecting rod 4024b and a second flange 4024c arranged in sequence from top to bottom, and the power output block 802 has an inwardly convex transmission part 8022, and the transmission part 8022 can be abutted against the first flange 4024a to form a transmission fit, and the transmission part 8022 can be abutted against the second flange 4024c to form a limit fit.

[0069] Another setting of the jig drive mechanism 8 is that the jig drive mechanism 8 also includes a guide plate 8023, a guide hole 8024 is opened on the guide plate 8023, and a guide pin 8025 is provided on the power output block 802. The guide pin 8025 extends into the guide hole 8024 and can move up and down along the guide hole 8024, so that the movement trajectory of the jig drive mechanism 8 is smoother and more reliable.

[0070] 2. Rough boring mechanism 6: including a rough boring bracket 601, a rough boring lifting cylinder 602 installed on the rough boring bracket 601, a rough boring mounting plate 603 acted upon by the rough boring lifting cylinder 602, a slag cleaning brush 604 and a rough boring motor 605 arranged on the rough boring mounting plate 603, and a rough boring punching tool 606 installed on the rough boring motor 605;

[0071] The fine boring mechanism 7 includes a fine boring bracket, a fine boring lifting cylinder installed on the fine boring bracket, a fine boring mounting plate acted upon by the fine boring lifting cylinder, a slag cleaning brush 604 and a fine boring motor arranged on the fine boring mounting plate, and a fine boring drilling tool installed on the fine boring motor.

[0072] The structures of the fine boring mechanism 7 and the rough boring mechanism 6 are almost identical, and are not shown separately in the drawings of the specification.

[0073] First, the rough boring operation of the hole position 1201 is performed by the rough boring mechanism 6, and then the fine boring operation of the hole position 1201 is performed by the fine boring mechanism 7, so as to accurately form the hole position 1201 on the skeleton plate 12. On the other hand, there are multiple rough boring mechanisms 6 and fine boring mechanisms 7, and different boring positions 1201 and tools can be selected according to needs to meet the processing requirements of the skeleton plate 12.

[0074] 3. Feeding mechanism 5 of skeleton plate 12: wherein the positioning device of skeleton plate 12 comprises a front slide plate 5021 for positioning, a rear slide plate 5022 for positioning, a skeleton plate 12 positioning flipping device located between the front slide plate 5021 and the rear slide plate 5022 for positioning, a skeleton plate 12 position detection device 5024 arranged on one side of the front slide plate 5021 for positioning, and a first longitudinal pushing cylinder 5025 arranged at the outer end of the front slide plate 5021 for positioning, the front slide plate 5021 for positioning and the rear slide plate 5022 for positioning are both provided with a skeleton plate 12 slide 502a adapted to the skeleton plate 12, the skeleton plate 12 slide 502a on the front slide plate 5021 for positioning passes through the skeleton plate 12 The transverse feeding channel 5026 is connected to the frame plate 12 material box; further, the frame plate 12 transfer device includes a frame plate 12 longitudinal transfer slide 5031, a second longitudinal push cylinder 5032 arranged at one end of the frame plate 12 longitudinal transfer slide 5031, a longitudinal moving block 5033 slidably arranged in the frame plate 12 longitudinal transfer slide 5031 and driven by the second longitudinal push cylinder 5032, a downward pressure cylinder 5034 fixed on the longitudinal moving block 5033, a vertical moving block 5035 driven by the downward pressure cylinder 5034, and a pneumatic clamping device 5036 fixed on the vertical moving block 5035 and used to take the frame plate 12 in the slide plate 5022 after adjustment. Preferably, the frame plate 12 material box described in the present invention is a vibrating frame plate 12 material box, which can realize automatic discharging. The positioning and flipping device of the skeleton plate 12 includes a driving wheel 5011, a driven wheel 5012, a transmission belt 5013 mounted on the driving wheel 5011 and the driven wheel 5012, a flipping cylinder 5014 for driving the driving wheel 5011 to rotate, and a rotating drum 5015 fixed in the driven wheel 5012. The rotating drum 5015 is respectively connected to the front positioning slide plate 5021 and the rear positioning slide plate 5022.

[0075] Preferably, it also includes a positioning mechanism 10, which includes a positioning platform 1001 arranged between the positioning device of the skeleton plate 12 and the rear adjustment slide plate 5022, a positioning cylinder 1002 located on one side of the positioning platform 1001, and a positioning rod 1003 driven by the positioning cylinder 1002, the positioning platform 1001 is provided with a telescopic hole 1004 adapted to the positioning rod 1003, the positioning rod 1003 is penetrated through the telescopic hole 1004 and can move laterally along the telescopic hole 1004, and the positioning rod 1003 is provided with a channel section 1005 adapted to the slide 502a of the skeleton plate 12 and the rotating drum 5015 respectively. The specific use of the positioning mechanism 10 is as follows: when it is recognized that the position of the frame plate 12 is wrong, the positioning cylinder 1002 is started to control the positioning rod 1003 to move and make the channel section 1005 and the slideway 502a of the frame plate 12 staggered, that is, the non-channel section 1005 of the positioning rod 1003 forms a blocking effect. At this time, when the first longitudinal pushing cylinder 5025 pushes the frame plate 12 forward again, the frame plate 12 interferes with the positioning and cannot be successfully pushed to the slideway plate 5022 after the adjustment, forming a To achieve a positioning effect, ensure that the entire skeleton plate 12 is properly and correctly located in the rotating drum 5015, start the flip cylinder 501469 to drive the rotating drum 5015 to rotate, thereby realizing the adjustment function of the position of the skeleton plate 12, and then reset the positioning cylinder 1002, so that the channel section 1005 on the positioning rod 1003 is adapted to the slide 502a of the skeleton plate 12, and then the adjusted skeleton plate 12 can be pushed into the adjusted slide plate 5022 through the first longitudinal pushing cylinder 5025.

[0076] 4. The unloading mechanism 11 for the skeleton plate 12 includes an unloading bracket 1101, a longitudinal moving module 1102 installed on the unloading bracket 1101, a vertical moving module 1103 driven by the longitudinal moving module 1102, and an unloading pneumatic clamping device 1104 driven by the vertical moving module 1103 and used to pick up the corresponding skeleton plate 12 in the fixture mechanism 4.

[0077] Embodiment 3

[0078] Reference Figures 1 to 11 In this embodiment, an automatic punching method is provided, which is applied to the actuator skeleton plate fully automatic feeding and punching device as described above, and is characterized in that it includes the following steps:

[0079] S1, the turntable deceleration drive device 301 is started, and the position state of the circular turntable 3 is monitored through the positioning plate 302 and the rotation positioning counter 303, so that the circular turntable 3 moves to the initial position;

[0080] S2, the skeleton plate 12 in the skeleton plate 12 material box enters the skeleton plate 12 positioning device, the skeleton plate 12 positioning device flips and adjusts the skeleton plate 12 in the wrong direction, and then the skeleton plate 12 in the skeleton plate 12 positioning device is clamped and moved to the top of the skeleton plate 12 fixture mechanism 4 by the skeleton plate 12 transfer device;

[0081] S3, the jig driving mechanism 8 at the corresponding position of the feeding mechanism 5 of the skeleton plate 12 is started, and the jig lifting cylinder 801 lifts the jig push rod 4023 upward through the cooperation of the power output block 802 and the jig connecting block 4027. The rise of the jig push rod 4023 causes the linkage rod 4022 to tilt, and then the linkage rod 4022 drives the clamping end 4021b of the product clamping arm 4021 to open outward to avoid sufficient clamping arm gap, and then the skeleton plate 12 transfer device puts the skeleton plate 12 into the clamping arm gap, and at the same time, the reset spring 4033 is squeezed and contracted to store force;

[0082] S4, the jig drive mechanism 8 at the corresponding position of the feeding mechanism 5 of the skeleton plate 12 is started, and the jig lifting cylinder 801 is reset downward. Under the elastic force of the reset spring 4033, the push rod pressure plate 4031 automatically moves downward. At the same time, the push rod pressure plate 4031 drives the jig push rod 4023 to automatically move downward, and then the jig push rod 4023 tightens the product clamping arm 4021 inward through the linkage pull rod 4022 to reduce the clamping arm gap. At the same time, the clamping end 4021b of each product clamping arm 4021 abuts against the skeleton plate 12 and clamps the skeleton plate 12;

[0083] S5, the turntable deceleration drive device 301 is started, and the circular turntable 3 is moved and rotated by one station. At the same time, under the action of the return spring 4033, the clamping end 4021b of the product clamping arm 4021 automatically clamps the skeleton plate 12;

[0084] S6, the front-stage rough boring mechanism 6 is started, and the rough boring motor 605 is driven to descend by the rough boring lifting cylinder 602, and the rough boring motor 605 is started at the same time, so as to perform rough boring on the corresponding skeleton plate 12 by the rough boring punching tool 606, and then the rough boring lifting cylinder 602 drives the rough boring motor 605 to rise, and then the turntable deceleration drive device 301 is started to move the circular turntable 3 to rotate one station;

[0085] S7, the front-stage fine boring mechanism 7 is started, and the fine boring motor is driven down by the fine boring lifting cylinder, and the fine boring motor is started at the same time, so that the fine boring punching tool performs fine boring on the corresponding rough boring hole; then the fine boring lifting cylinder drives the fine boring motor to rise, and the turntable deceleration drive device 301 is started, and the circular turntable 3 is moved and rotated by one station;

[0086] S8, the subsequent rough boring mechanism 6 and fine boring mechanism 7 are started at intervals, thereby drilling a plurality of holes on the skeleton plate 12;

[0087] S9, the jig driving mechanism 8 at the corresponding position of the unloading mechanism 11 of the skeleton plate 12 is started, and the jig lifting cylinder 801 lifts the jig push rod 4023 upward through the cooperation of the power output block 802 and the jig connecting block 4027. The rise of the jig push rod 4023 causes the linkage pull rod 4022 to tilt, and then the linkage pull rod 4022 drives the clamping end 4021b of the product clamp arm 4021 to open outward to release the skeleton plate 12, and then the longitudinal moving module 1102 and the vertical moving module 1103 are started and the position of the unloading pneumatic clamping device 1104 is adjusted, and then the unloading pneumatic clamping device 1104 is started to grab the skeleton plate 12, and then the longitudinal moving module 1102 and the vertical moving module 1103 are started again and the position of the unloading pneumatic clamping device 1104 is adjusted, and finally the unloading pneumatic clamping device 1104 releases the skeleton plate 12, and the finished skeleton plate 12 is unloaded;

[0088] S10 , the turntable deceleration drive device 301 is started to move the circular turntable 3 to the initial position, and steps S1 to S9 are repeated to realize the fully automatic feeding, punching and unloading of the next skeleton plate 12 .

[0089] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any way. Any simple modification, change and equivalent structural change made to the above embodiment according to the technical essence of the invention still falls within the protection scope of the technical solution of the present invention.

Claims

1. The automatic punching method applied to the fully automatic feeding and punching equipment of the actuator skeleton plate is characterized in that: The steps include: S1, the turntable deceleration drive device (301) is started, and the position state of the circular turntable (3) is monitored through the positioning plate (302) and the rotation positioning counter (303), so that the circular turntable (3) moves to the initial position; S2, the skeleton plate (12) in the skeleton plate (12) material box enters the skeleton plate (12) positioning device, the skeleton plate (12) positioning device flips and adjusts the skeleton plate (12) in the wrong direction, and then the skeleton plate (12) in the skeleton plate (12) positioning device is clamped and moved to the top of the skeleton plate (12) fixture mechanism (4) by the skeleton plate (12) transfer device; S3, the jig drive mechanism (8) at the corresponding position of the feeding mechanism (5) of the skeleton plate (12) is started, and the jig lifting cylinder (801) lifts the jig push rod (4023) upward through the cooperation of the power output block (802) and the jig connecting block (4027). The rise of the jig push rod (4023) causes the linkage pull rod (4022) to tilt, and then the linkage pull rod (4022) drives the clamping end (4021b) of the product clamping arm (4021) to open outward to avoid sufficient clamping arm gap, and then the skeleton plate (12) transfer device puts the skeleton plate (12) into the clamping arm gap, and at the same time the return spring (4033) is squeezed and contracted to accumulate force; S4, the jig drive mechanism (8) at the corresponding position of the feeding mechanism (5) of the skeleton plate (12) is started, and the jig lifting cylinder (801) is reset downward, and the push rod pressure plate (4031) is automatically moved downward under the elastic force of the reset spring (4033), and at the same time, the push rod pressure plate (4031) drives the jig push rod (4023) to automatically move downward, and then the jig push rod (4023) is tightened inward with the product clamping arm (4021) through the linkage pull rod (4022) to reduce the clamping arm gap, and at the same time, the clamping end (4021b) of each product clamping arm (4021) is against the skeleton plate (12) and clamps the skeleton plate (12); S5, the turntable deceleration drive device (301) is started, and the circular turntable (3) is moved and rotated by one station. At the same time, under the action of the return spring (4033), the clamping end (4021b) of the product clamping arm (4021) automatically clamps the skeleton plate (12); S6, the front-stage rough boring mechanism (6) is started, and the rough boring motor (605) is driven to descend by the rough boring lifting cylinder (602), and at the same time, the rough boring motor (605) is started to perform rough boring on the corresponding frame plate (12) by the rough boring punching tool (606), and then the rough boring lifting cylinder (602) drives the rough boring motor (605) to rise, and then the turntable deceleration drive device (301) is started to move the circular turntable (3) to rotate one station; S7, the front-stage fine boring mechanism (7) is started, and the fine boring motor is driven down by the fine boring lifting cylinder, and the fine boring motor is started at the same time, so that the fine boring punching tool performs fine boring on the corresponding rough boring hole; then the fine boring lifting cylinder drives the fine boring motor to rise, and the turntable deceleration drive device (301) is started, so that the circular turntable (3) moves and rotates one station; S8, the subsequent rough boring mechanism (6) and fine boring mechanism (7) are started at intervals, thereby drilling a plurality of holes on the skeleton plate (12); S9, the jig drive mechanism (8) at the corresponding position of the skeleton plate (12) unloading mechanism (11) is started, and the jig lifting cylinder (801) lifts the jig push rod (4023) upward through the cooperation of the power output block (802) and the jig connecting block (4027). The jig push rod (4023) rises to cause the linkage pull rod (4022) to tilt, and then the linkage pull rod (4022) drives the clamping end (4021b) of the product clamp arm (4021) to open outward to release the skeleton plate (12), and then the longitudinal The forward moving module (1102) and the vertical moving module (1103) are started and the position of the pneumatic clamping device (1104) for unloading is adjusted. Then, the pneumatic clamping device (1104) for unloading is started to grab the skeleton plate (12). Then, the longitudinal moving module (1102) and the vertical moving module (1103) are started again and the position of the pneumatic clamping device (1104) for unloading is adjusted. Finally, the pneumatic clamping device (1104) for unloading releases the skeleton plate (12), and the finished skeleton plate (12) is unloaded. S10, the turntable deceleration drive device (301) is started to move the circular turntable (3) to the initial position, and steps S1 to S9 are repeated to realize the fully automatic feeding, punching and unloading of the next skeleton plate (12).

2. The automatic punching method for the fully automatic feeding and punching equipment for the actuator skeleton plate according to claim 1 is characterized in that: The fully automatic feeding and punching equipment for the actuator skeleton plate (12) comprises: A workbench (1) and a control system device (2); A circular turntable (3) is driven by a turntable deceleration drive device (301), and a plurality of skeleton plates (12) and fixture mechanisms (4) are arranged on the circular turntable (3); a positioning plate (302) is arranged on the turntable deceleration drive device (301), and a rotation positioning counter (303) is arranged on the workbench (1), and the positioning plate (302) includes a solid section (3021) and a notch section (3022), and any one of the solid section (3021) and the notch section (3022) is positioned relative to the rotation positioning counter (303); A skeleton plate (12) feeding mechanism (5) is used to place the skeleton plate (12) into a corresponding skeleton plate (12) fixture mechanism (4), which is arranged on the workbench (1) and corresponds to the initial working position of the circular turntable (3); the skeleton plate (12) feeding mechanism (5) comprises a skeleton plate (12) material box, a skeleton plate (12) positioning device connected to the skeleton plate (12) material box, and a skeleton plate (12) transfer device used to clamp the skeleton plate (12) in the skeleton plate (12) positioning device and move it to the skeleton plate (12) fixture mechanism (4); A plurality of rough boring mechanisms (6) and fine boring mechanisms (7), which are arranged around the circumference of the circular rotating disk (3), and the rough boring mechanisms (6) and fine boring mechanisms (7) are arranged at intervals from each other; A skeleton plate (12) unloading mechanism (11), which is used to remove the finished skeleton plate (12) from the corresponding skeleton plate (12) fixture mechanism (4), is arranged on the workbench (1) and corresponds to the end station of the circular turntable (3); A jig driving mechanism (8) which is respectively arranged at the feeding mechanism (5) of the skeleton plate (12) and the unloading mechanism (11) of the skeleton plate (12); The invention is characterized in that: the jig mechanism (4) of the skeleton plate (12) comprises a jig body support (401) provided with a through hole (4011), a jig clamping component (402) acting on the skeleton plate (12), and a jig state resetting component (403) acting on the jig clamping component (402); The jig clamping assembly (402) includes a plurality of product clamping arms (4021), a jig top rod (4023) connected to the product clamping arms (4021) through a linkage pull rod (4022), and a jig transmission block (4024) fixed at the lower end of the jig top rod (4023); one end of the linkage pull rod (4022) is hinged to the jig top rod (4023) through an input shaft (4025). , the other end of the linkage pull rod (4022) is hinged to the lower end of the product clamping arm (4021) through an output shaft (4026), the upper end of the product clamping arm (4021) is a clamping end (4021b), the clamping end (4021b) passes through the through hole (4011) from bottom to top, and an avoidance gap (4011a) is formed between the clamping end (4021b) and the through hole (4011); The jig state reset component (403) comprises a push rod pressure plate (4031) sleeved on the jig push rod (4023), a transmission shaft (4032) connected between the push rod pressure plate (4031) and the jig body bracket (401), and a reset spring (4033) sleeved on the transmission shaft (4032), the upper end of the transmission shaft (4032) being fixedly connected to the jig body bracket (401), the lower end of the transmission shaft (4032) being movably connected to the push rod pressure plate (4031) via a bearing (4034), the reset spring (4033) acting on the push rod pressure plate (4031) so that the push rod pressure plate (4031) always has a downward movement tendency, so that the push rod pressure plate (4031) drives the jig push rod (4023) to always have a downward movement tendency; The jig transmission block (4024) can enter into the jig drive mechanism (8) and form a transmission fit, so that the jig drive mechanism (8) pushes the jig push rod (4023) upwards through the jig transmission block (4024).

3. The automatic punching method for the fully automatic feeding and punching equipment for the actuator skeleton plate according to claim 2 is characterized in that: The skeleton plate (12) jig mechanism (4) further comprises a jig connection block (4027), and the jig body bracket (401) is connected to the circular turntable (3) via the jig connection block (4027), so that the jig body bracket (401) is located outside the circular turntable (3).

4. The automatic punching method for the fully automatic feeding and punching equipment for the actuator skeleton plate according to claim 3 is characterized in that: The jig driving mechanism (8) comprises a jig lifting cylinder (801) fixed on the workbench (1) and a power output block (802) driven by the jig lifting cylinder (801); a transmission hole (8021) is provided on the power output block (802), and openings (8021a) are provided on both sides of the transmission hole (8021); the jig transmission block (4024) can enter the transmission hole (8021) through the opening (8021a), so that the power output block (802) and the jig transmission block (4024) form a transmission match.

5. The automatic punching method for the fully automatic feeding and punching equipment for the actuator skeleton plate according to claim 4 is characterized in that: The jig transmission block (4024) includes a first flange (4024a), a connecting rod (4024b) and a second flange (4024c) arranged in sequence from top to bottom, and the power output block (802) has an inwardly convex transmission part (8022), and the transmission part (8022) can abut against the first flange (4024a) and form a transmission fit, and the transmission part (8022) can abut against the second flange (4024c) and form a limit fit.

6. The automatic punching method for the fully automatic feeding and punching equipment for the actuator skeleton plate according to claim 5 is characterized in that: The jig driving mechanism (8) further comprises a guide plate (8023), a guide hole (8024) is provided on the guide plate (8023), a guide pin (8025) is provided on the power output block (802), and the guide pin (8025) extends into the guide hole (8024) and can move up and down along the guide hole (8024).

7. The automatic punching method for the fully automatic feeding and punching equipment for the actuator skeleton plate according to claim 6 is characterized in that: The rough boring mechanism (6) comprises a rough boring bracket (601), a rough boring lifting cylinder (602) mounted on the rough boring bracket (601), a rough boring mounting plate (603) acted upon by the rough boring lifting cylinder (602), a slag cleaning brush (604) and a rough boring motor (605) arranged on the rough boring mounting plate (603), and a rough boring punching tool (606) mounted on the rough boring motor (605); The fine boring mechanism (7) comprises a fine boring bracket, a fine boring lifting cylinder mounted on the fine boring bracket, a fine boring mounting plate acted upon by the fine boring lifting cylinder, a slag cleaning brush (604) and a fine boring motor arranged on the fine boring mounting plate, and a fine boring drilling tool mounted on the fine boring motor.

8. The automatic punching method for the fully automatic feeding and punching equipment for the actuator skeleton plate according to claim 7 is characterized in that: The workbench (1) is also provided with a waste slag storage box (9), and the waste slag storage box (9) is located directly below the rough boring and punching tool (606) and the fine boring and punching tool.

9. The automatic punching method for the fully automatic feeding and punching equipment for the actuator skeleton plate according to claim 8 is characterized in that: The frame plate (12) positioning device comprises a front positioning slide plate (5021), a rear positioning slide plate (5022), a frame plate (12) positioning flipping device located between the front positioning slide plate (5021) and the rear positioning slide plate (5022), a frame plate (12) position detection device (5024) arranged on one side of the front positioning slide plate (5021), and a first longitudinal pushing cylinder (5025) arranged at the outer end of the front positioning slide plate (5021), the front positioning slide plate (5021) and the rear positioning slide plate (5022) are both provided with a frame plate (12) slide (502a) adapted to the frame plate (12), and the frame plate (12) slide (502a) on the front positioning slide plate (5021) is connected to the frame plate (12) material box through a frame plate (12) transverse feeding channel (5026); The frame plate (12) transfer device comprises a frame plate (12) longitudinal transfer slide (5031), a second longitudinal push cylinder (5032) arranged at one end of the frame plate (12) longitudinal transfer slide (5031), a longitudinal moving block (5033) slidably arranged in the frame plate (12) longitudinal transfer slide (5031) and driven by the second longitudinal push cylinder (5032), a downward pressure cylinder (5034) fixedly arranged on the longitudinal moving block (5033), a vertical moving block (5035) driven by the downward pressure cylinder (5034), and a pneumatic clamping device (5036) fixedly arranged on the vertical moving block (5035) and used for picking up the frame plate (12) in the slide plate (5022) after adjustment. The frame plate (12) positioning and flipping device comprises a driving wheel (5011), a driven wheel (5012), a transmission belt (5013) sleeved on the driving wheel (5011) and the driven wheel (5012), a flipping cylinder (5014) for driving the driving wheel (5011) to rotate, and a rotating drum (5015) fixed in the driven wheel (5012), wherein the rotating drum (5015) is respectively connected to the positioning front slide plate (5021) and the positioning rear slide plate (5022).

10. The automatic punching method for fully automatic feeding and punching equipment for actuator skeleton plates according to claim 9 is characterized in that: The skeleton plate (12) unloading mechanism (11) comprises an unloading bracket (1101), a longitudinal movable module (1102) mounted on the unloading bracket (1101), a vertical movable module (1103) driven by the longitudinal movable module (1102), and an unloading pneumatic clamping device (1104) driven by the vertical movable module (1103) and used for picking up the skeleton plate (12) in the corresponding skeleton plate (12) fixture mechanism (4).

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