Feeding and discharging device of 250-ton punching machine

Abstract

The utility model discloses a 250-ton punching machine feeding and discharging device which comprises a first mechanical arm frame and a second mechanical arm frame which are located on the two sides of a lower die, a feeding mechanical arm movement servo motor is installed on the first mechanical arm frame, and an output shaft of the feeding mechanical arm movement servo motor is connected with a feeding mechanical arm lead screw through a coupler. The automatic feeding and discharging device for the punching machine relates to the technical field of discharging devices, and the automatic feeding and discharging device is used for the punching machine, so that the labor intensity of an operator is reduced, and the operation safety is greatly improved; and one person can operate, so that the efficiency is improved, and the cost is saved. The double hands of an operator are liberated, and after the machine tool works normally, other labor can be carried out.

Description

Technical Field

[0001] The utility model relates to the technical field of feeding devices, in particular to a feeding device for a 250-ton punch press. Background Art

[0002] The loading and unloading of ordinary 250-ton punching machines during the stamping process are all done manually. Since multiple people are operating at the same time, it is easy to cause misoperation, which may cause personal injury and other safety accidents, which is dangerous. Today, with the rapid development of automation technology, the use of automatic control technology to design a set of automatic loading and unloading devices for manipulators can completely get rid of this dilemma, which is very helpful for safe production. Utility Model Content

[0003] In view of the problems existing in the loading and unloading devices of the existing 250-ton punch presses, the utility model is proposed.

[0004] Therefore, the purpose of the utility model is to provide a 250-ton punch loading and unloading device to solve the problem.

[0005] In order to solve the above technical problems, according to one aspect of the present invention, the present invention provides the following technical solutions:

[0006] A 250-ton punch press loading and unloading device comprises a first manipulator frame and a second manipulator frame located on both sides of the lower die, a loading manipulator motion servo motor is installed on the first manipulator frame, an output shaft of the loading manipulator motion servo motor is connected to a loading manipulator screw rod through a coupling, the loading manipulator screw rod is threadedly connected to a loading manipulator, a manipulator loading cylinder is installed on the loading manipulator, a telescopic rod of the manipulator loading cylinder is connected to a loading manipulator suction cup frame through bolts, and a first manipulator loading suction cup is installed on the loading manipulator suction cup frame;

[0007] A material picking robot servo motor is installed on the second robot frame, and the output shaft of the material picking robot servo motor is connected to the material picking robot lead screw through a coupling, and the material picking robot is threadedly connected to the material picking robot lead screw, and the material picking robot is installed with a material picking cylinder and a finished product picking cylinder of the material picking robot, and the telescopic rod of the material picking cylinder of the material picking robot is fixedly connected to a material picking robot suction cup frame, and a finished product picking suction cup is installed on the material picking robot suction cup frame, and a waste material picking suction cup is installed on the telescopic rod of the finished product picking cylinder.

[0008] As a preferred solution of the loading and unloading device of the 250-ton punch press described in the utility model, wherein: a first manipulator guide rail is installed on the first manipulator frame, a first roller is installed at the end of the loading manipulator, and the first manipulator guide rail is rollingly connected to the first roller.

[0009] As a preferred solution of the loading and unloading device of the 250-ton punch press described in the utility model, wherein: a blank tray is provided below the first manipulator frame, and the blank tray is used for stacking blanks.

[0010] As a preferred solution of the 250-ton punch loading and unloading device of the utility model, it also includes a manipulator loading and unloading turntable installed on the first manipulator frame, and the manipulator loading and unloading turntable is installed with a second manipulator loading and unloading suction cup.

[0011] As a preferred solution of the loading and unloading device of the 250-ton punch press described in the utility model, wherein: a second manipulator guide rail is installed on the second manipulator frame, a second roller is installed at the end of the material-retrieving manipulator, and the second manipulator guide rail and the second roller are rollingly connected.

[0012] As a preferred solution of the loading and unloading device of the 250-ton punch press described in the utility model, it also includes a manipulator material taking transfer table installed on the second manipulator frame.

[0013] As a preferred solution of the loading and unloading device of the 250-ton punch press described in the utility model, it also includes a waste tray arranged under the second manipulator frame, and the waste tray is used for stacking waste.

[0014] As a preferred solution of the loading and unloading device of the 250-ton punch press described in the utility model, it also includes a finished product pallet arranged under the second manipulator frame, and the finished product pallet is used to stack the finished products.

[0015] Compared with existing technologies:

[0016] 1. The punch press uses automatic loading and unloading device, which reduces the labor intensity of the operator and greatly improves the operating safety;

[0017] 2. One person can operate it, which improves efficiency and saves costs. The operator's hands are freed, and after the machine tool works normally, he can do other work. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of the structure provided by the utility model;

[0019] Figure 2 The schematic diagram of the present invention from left to right is a blank, a finished product and a waste material;

[0020] Figure 3 The utility model provides a group of cam switches related to automatic loading and unloading.

[0021] In the figure: the first manipulator frame 1, the first manipulator guide rail 2, the first roller 3, the feeding manipulator 4, the feeding manipulator suction cup frame 5, the manipulator feeding cylinder 6, the first manipulator feeding suction cup 7, the second manipulator feeding suction cup 9, the manipulator feeding transfer table 10, the feeding manipulator lead screw 11, the feeding manipulator motion servo motor 12, the blank material 13, the blank material tray 14, the second manipulator frame 21, the second manipulator guide rail 22, the second roller 23, the picking manipulator 24, the picking manipulator suction cup frame 25, the picking manipulator picking cylinder 26, the finished product picking cylinder 27, the waste material picking suction cup 28, the finished product picking suction cup 29, the manipulator picking transfer table 30, the picking manipulator lead screw 31, the picking manipulator servo motor 32, the waste material 33, the waste material tray 34, the finished product 35, and the finished product tray 36. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solutions and advantages of the present invention more clear, the implementation methods of the present invention will be further described in detail below with reference to the accompanying drawings.

[0023] This utility model provides a 250-ton punch loading and unloading device, please refer to Figure 1 , including a first manipulator frame 1 and a second manipulator frame 21 located on both sides of the lower mold, the first manipulator frame 1 is equipped with a feeding manipulator motion servo motor 12, the output shaft of the feeding manipulator motion servo motor 12 is connected to a feeding manipulator screw rod 11 through a coupling, the feeding manipulator screw rod 11 is threadedly connected to a feeding manipulator 4, a manipulator feeding cylinder 6 is installed on the feeding manipulator 4, the telescopic rod of the manipulator feeding cylinder 6 is connected to a feeding manipulator suction cup frame 5 through bolts, and the feeding manipulator suction cup frame 5 is connected to the feeding manipulator suction cup frame 5 through bolts. A first manipulator feeding suction cup 7 is installed on the tray frame 5, a first manipulator guide rail 2 is installed on the first manipulator frame 1, a first roller 3 is installed at the end of the feeding manipulator 4, the first manipulator guide rail 2 is rollingly connected with the first roller 3, a blank tray 14 is provided below the first manipulator frame 1, the blank tray 14 is used to stack blanks 13, and also includes a manipulator feeding transfer table 10 installed on the first manipulator frame 1, and a second manipulator feeding suction cup 9 is installed on the manipulator feeding transfer table 10;

[0024] The second manipulator frame 21 is provided with a material-grabbing manipulator servo motor 32, the output shaft of which is connected to a material-grabbing manipulator screw rod 31 through a coupling, a material-grabbing manipulator 24 is threadedly connected to the material-grabbing manipulator screw rod 31, a material-grabbing manipulator material cylinder 26 and a finished product material-grabbing cylinder 27 are installed on the material-grabbing manipulator 24, a material-grabbing manipulator material cylinder 26 is fixedly connected to a material-grabbing manipulator suction cup frame 25, a finished product material-grabbing suction cup 29 is installed on the material-grabbing manipulator suction cup frame 25, and a finished product material-grabbing suction cup 29 is installed on the telescopic rod of the finished product material-grabbing cylinder 27. A waste picking suction cup 28, a second manipulator guide rail 22 is installed on the second manipulator rack 21, a second roller 23 is installed at the end of the picking manipulator 24, the second manipulator guide rail 22 and the second roller 23 are rollingly connected, and also includes a manipulator picking transfer table 30 installed on the second manipulator rack 21, and also includes a waste tray 34 arranged under the second manipulator rack 21, and the waste tray 34 is used to stack waste 33, and also includes a finished product tray 36 arranged under the second manipulator rack 21, and the finished product tray 36 is used to stack finished products 35.

[0025] The robot needs to complete loading and unloading within one stroke of the punch. The loading and unloading action sequence can be realized by the cam controller + automatic control system. The angle encoder used for angle detection is directly connected to the crankshaft. The cam controller can generate output signals (which can be set as needed) at any angle of the crankshaft rotation of 360 degrees (corresponding to a complete stroke of the punch). The robot's automatic control system completes the loading and unloading actions based on these signals. A set of signals related to the automatic loading and unloading of the robot.

[0026] The highest point of the punch stroke is the top dead center (cam angle 0°), and the lowest point is the bottom dead center (cam angle 180°).

[0027] Automatic material picking SQ1 means that after the upper die stamping is completed, the punch rises from the bottom dead center to 225°, and the material picking robot can enter the upper and lower dies to take the finished product and waste, and the material picking action must be completed before the punch reaches 360°, otherwise the automatic control system will regard it as a safety fault and require emergency stop processing; similarly, automatic loading SQ2 means that after the upper die stamping is completed, the punch rises from the bottom dead center to 315°, and the loading robot can enter the upper and lower dies to load the blank (at this time, the material picking robot has exited the upper and lower dies and reached a safe position.), and the loading action must be completed before the punch drops to 90°, otherwise the automatic control system will regard it as a safety fault and require emergency stop processing. The connection angles of SQ1 and SQ2 can be adjusted according to actual conditions.

[0028] The working process is as follows:

[0029] 1. Manual Adjustment

[0030] 1. Adjust the suction cups 7 and 9 on the loading robot (the number of suction cups 7 and 9 is set to 4 and can be configured as needed) so that they can suck up the blanks on the automatic lifting tray 14 and the transfer table 10; adjust the origin of the servo motor 12 so that when the robot moves to the lower mold (servo motor position Amm), it can accurately place the blank under suction cup No. 9 on the lower mold, and at the same time, it can place the blank under suction cup No. 7 on the transfer table 10.

[0031] 2. By adjusting the origin of the servo motor 12, when the material picking robot moves to the lower mold (position Bmm), the suction cups 27 (two suction cups 27 can be set and can be configured as needed) and 28 (four suction cups, which can be configured as needed) pick up the finished products and waste materials punched on the lower mold; when the material picking robot moves to the origin, the suction cups 27 and 28 put the finished products and waste materials on the transfer table 30, and the waste materials fall onto the automatic lifting waste tray 34 through the holes on the transfer table. The finished products are placed on the automatic lifting finished product tray 36 by the material picking suction cup 29 in the next cycle.

[0032] 3. Before automatic operation, the punch must be manually adjusted to the top dead center position (the cam controller is set so that the punch is considered to be at the top dead center within the range of 20° to 340°), and a piece of blank must be placed on the feeder turntable 10 and the lower die respectively.

[0033] 2. Automatic operation: Automatic operation starts, the motor rotates, the clutch acts, the flywheel drives the crankshaft to rotate, the crankshaft drives the punch downward, and the lower die is punched (the blank is punched);

[0034] (Circulation point) The punch reaches 225° upward, the SQ1 switch of the cam controller is closed, the material-retrieving robot 22 starts to move and moves to the top of the lower die (position B), the cylinder 26 moves to move the suction cup frame 25 downward and presses the suction cups 27 and 28 on the punched finished product and waste, the suction cups 27 and 28 vacuum the finished product and waste, the cylinder 26 retracts, driving the finished product and waste to separate from the lower die, the material-retrieving robot 22 returns to its original position, and the cylinder 26 moves downward to place the finished product and waste on the transfer table. At the position of 30, the suction cups 27 and 28 stop vacuuming and blow air to it, the finished product falls on the transfer table 30, and the waste falls on the waste tray 34 through the hole in the middle of the transfer table. When punching the first piece, the suction cup 29 does not move. Starting from the second piece, the suction cups 29 and 27 move at the same time to transfer the finished product on the transfer table 30 to the finished product tray 36. The suction cup stops blowing, and the cylinder 26 moves upward, waiting for the next punching cycle, and it starts from the circulation point and repeats until the punching quantity is completed. The material picking action must be completed during the SQ1 action period (225°~360°). If it is not completed, the control system will think that there is a fault in the material picking process and the machine tool action will stop.

[0035] (Circulation point) The loading robot is in place, the cylinder 6 moves downward to move the suction cup frame 5 downward and press the suction cups 7 and 9 on the blank, the suction cups 7 and 9 vacuum the blank, the cylinder 6 retracts, drives the blank off the blank tray and the transfer table 10, and then waits. These actions must be completed before the punch reaches 315°. When the punch reaches 315°, the SQ2 switch of the cam controller is closed, the loading robot 4 moves to position A, that is, the blank on the transfer table 10 reaches the lower die, and the blank on the tray 14 reaches the transfer table 10. The cylinder 6 moves downward, and the suction cups 7 and 9 switch from vacuuming to blowing. The blank falls on the lower die and the transfer table, the cylinder 6 retracts, the suction cups 7 and 9 stop blowing, and the loading robot returns to its original position. Wait for the next stamping cycle, and repeat the cycle until the number of punches is completed. The loading action must be completed during the SQ2 action period (315°~90°). If it is not completed, the control system will consider that a fault has occurred in the loading process and the machine tool will stop.

[0036] Although the present invention has been described above with reference to the embodiments, various modifications may be made thereto and parts thereof may be replaced with equivalents without departing from the scope of the present invention. In particular, as long as there is no structural conflict, the various features in the embodiments disclosed in the present invention may be used in combination with each other in any manner, and the fact that these combinations are not exhaustively described in this specification is only for the sake of omitting space and saving resources. Therefore, the present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A loading and unloading device for a 250-ton punch press, comprising a first manipulator frame (1) and a second manipulator frame (21) located on both sides of a lower die, characterized in that: A feeding manipulator motion servo motor (12) is installed on the first manipulator frame (1); the output shaft of the feeding manipulator motion servo motor (12) is connected to a feeding manipulator screw rod (11) via a coupling; the feeding manipulator screw rod (11) is threadedly connected to a feeding manipulator (4); a manipulator feeding cylinder (6) is installed on the feeding manipulator (4); the telescopic rod of the manipulator feeding cylinder (6) is connected to a feeding manipulator suction cup frame (5) via bolts; and a first manipulator feeding suction cup (7) is installed on the feeding manipulator suction cup frame (5); A material picking manipulator servo motor (32) is installed on the second manipulator frame (21); the output shaft of the material picking manipulator servo motor (32) is connected to the material picking manipulator screw rod (31) through a coupling; the material picking manipulator screw rod (31) is threadedly connected to the material picking manipulator (24); a material picking manipulator material picking cylinder (26) and a finished product picking cylinder (27) are installed on the material picking manipulator (24); the telescopic rod of the material picking manipulator material picking cylinder (26) is fixedly connected to a material picking manipulator suction cup frame (25); a finished product picking suction cup (29) is installed on the material picking manipulator suction cup frame (25); and a waste material picking suction cup (28) is installed on the telescopic rod of the finished product picking cylinder (27).

2. The 250-ton punch loading and unloading device according to claim 1 is characterized in that: A first manipulator guide rail (2) is installed on the first manipulator frame (1), a first roller (3) is installed at the end of the feeding manipulator (4), and the first manipulator guide rail (2) and the first roller (3) are rollingly connected.

3. The loading and unloading device of the 250-ton punch press according to claim 1 is characterized in that: A blank tray (14) is provided below the first robot frame (1), and the blank tray (14) is used for stacking blanks (13).

4. The 250-ton punch loading and unloading device according to claim 1 is characterized in that: It also includes a robot loading transfer table (10) installed on the first robot frame (1), and a second robot loading suction cup (9) is installed on the robot loading transfer table (10).

5. The 250-ton punch loading and unloading device according to claim 1 is characterized in that: A second manipulator guide rail (22) is installed on the second manipulator frame (21), a second roller (23) is installed at the end of the material-retrieving manipulator (24), and the second manipulator guide rail (22) and the second roller (23) are rollingly connected.

6. The loading and unloading device of the 250-ton punch press according to claim 1 is characterized in that: It also includes a robot material taking transfer table (30) installed on the second robot frame (21).

7. The loading and unloading device of the 250-ton punch press according to claim 1 is characterized in that: It also includes a waste tray (34) arranged below the second robot frame (21), and the waste tray (34) is used to stack waste materials (33).

8. The loading and unloading device of the 250-ton punch press according to claim 7 is characterized in that: The invention also includes a finished product tray (36) arranged below the second robot rack (21), and the finished product tray (36) is used to stack the finished products (35).

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