Intelligent manipulator for punching machine

Abstract

The utility model belongs to the technical field of hardware machining auxiliary equipment, and particularly relates to an intelligent manipulator for a punching machine, which comprises a connecting frame, four sliding columns are connected onto the connecting frame in a sliding manner, the bottom ends of two adjacent sliding columns are fixedly connected with a same connecting plate, two connecting sleeves are fixedly connected onto the connecting plate, and sliding shafts are connected onto the connecting sleeves in a sliding manner. A guide groove is formed in the connecting sleeve, a guide shaft is fixedly connected to the sliding shaft, a mounting seat is fixedly connected to the sliding shaft, two cleaning sponges are clamped on the mounting seat, a plurality of vacuum chucks are mounted on the connecting frame, and a camera is mounted on the connecting frame; before the vacuum suction cup adsorbs and fixes a plate, the surface of the plate can be shot through the camera, and chippings and dust can be cleaned when found, so that the adsorption and fixing effect is guaranteed, the situation that the dust and the chippings are attached to the surface of the vacuum suction cup and consequently the vacuum suction cup is abraded is avoided, the overhaul and maintenance frequency of the vacuum suction cup is reduced, and the service life of the vacuum suction cup is prolonged. And the production efficiency is improved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to hardware processing auxiliary equipment technical field, specifically is intelligent manipulator for punch press. BACKGROUND

[0002] As the core equipment of plate stamping processing, punch press drives flywheel and crankshaft through motor, converts rotary motion into reciprocating linear motion of slide block, exerts pressure on die, and realizes stamping forming of metal or nonmetal plate. In modern industrial production, in order to improve the work efficiency and automation degree of punch press, manipulator assisted feeding and discharging has become the mainstream configuration, among them, vacuum chuck is widely used in plate carrying link with the advantages of simple operation, stable grabbing and the like.

[0003] However, metal plate is easy to leave debris, metal particles or dust on the surface during processing, transportation or storage. Debris and dust on the surface of metal plate can cause gap between vacuum chuck and plate, reduce adsorption firmness, and easily fall during carrying, cause production accident or product scrap, and debris and dust are also easy to adhere to the surface of vacuum chuck, thereby blocking the air hole of chuck or wearing the sealing surface, and the adsorption efficiency is significantly reduced after long-term use, frequent cleaning and maintenance are needed, and the continuity of production line is affected.

[0004] Therefore, a manipulator capable of reducing the wear of vacuum chuck is needed. UTILITY MODEL CONTENTS

[0005] Therefore, the utility model provides intelligent manipulator for punch press, can take photos of the surface of plate through camera before vacuum chuck adsorbs and fixes plate, can clean debris and dust when finding debris and dust, thereby guaranteeing the effect of adsorption and fixation, avoiding the adhesion of debris and dust to the surface of vacuum chuck and causing the wear of vacuum chuck, reducing the number of maintenance of vacuum chuck, and ensuring the stability of continuous production.

[0006] The technical scheme for solving the above technical problem is as follows:

[0007] Intelligent mechanical hand for punch press, including connecting frame, be equipped with cleaning structure on connecting frame, cleaning structure include slide post and connecting plate, four slide posts are connected on connecting frame, the bottom of adjacent two slide posts is fixedly connected with same connecting plate, two connecting sleeves are fixedly connected on connecting plate, slide axle is slidably connected in connecting sleeve, guide groove is equipped on connecting sleeve, guide shaft is fixedly connected on slide axle, guide shaft extends to the inside of guide groove and is slidably connected with connecting sleeve, the bottom of slide axle is fixedly connected with mounting seat, two cleaning sponges are clamped in mounting seat, two air cylinders are installed on connecting frame, air cylinder bottom and adjacent connecting plate are fixedly connected, a plurality of vacuum cups are installed on connecting frame, two mounting plates are fixedly connected on connecting frame, camera is installed on mounting plate.

[0008] Optionally, in an embodiment of the present application, the two connecting plates are symmetrically distributed about the middle part of the connecting frame, the two connecting sleeves at both ends of the connecting plate are symmetrically distributed about the middle part of the connecting plate, and the two cleaning sponges are symmetrically distributed about the middle part of the mounting seat.

[0009] Optionally, in an embodiment of the present application, the bottom end of the mounting seat is rotatably connected with a stop block, the rotation center of the stop block and the axis of the slide axle are on the same straight line, and the axis of the slide axle is located in the middle part of the two vacuum cups on both sides.

[0010] Optionally, in an embodiment of the present application, the position of the bottom end of the stop block is higher than the position of the bottom end of the cleaning sponge, and the position of the bottom end of the cleaning sponge is higher than the position of the bottom end of the vacuum cup.

[0011] Optionally, in an embodiment of the present application, a rotating ring is rotatably connected to the slide axle, and a spring is in contact between the rotating ring and the connecting plate.

[0012] Optionally, in an embodiment of the present application, the guide groove is in a spiral structure, and the cross section of the top end of the slide axle is in a "convex" structure.

[0013] Optionally, in an embodiment of the present application, two stop blocks are provided through the mounting seat, the stop blocks pass through the adjacent cleaning sponges, and a nut is threadedly connected to the stop block.

[0014] Optionally, in an embodiment of the present application, a connecting seat is fixedly connected to the middle part of the connecting frame, a mounting sleeve is rotatably connected to the connecting seat, and the mounting sleeve is mounted to the mechanical arm.

[0015] Optionally, in an embodiment of the present application, a motor is installed in the mounting sleeve, and the output shaft of the motor is fixedly connected with the connecting seat.

[0016] Compared with the prior art, the intelligent mechanical hand for the punch has the following characteristics:

[0017] Before the plate is adsorbed and fixed, the surface of the plate can be photographed by the camera, when the debris dust is photographed, the mechanical arm does not contact the plate when moving the connecting frame, but the connecting plate is driven to move by starting the cylinder, and then the two cleaning sponges are driven to move, the cleaning sponges will be in contact with the plate in the moving process, then the connecting sleeve will slide on the slide shaft as the cylinder continues to elongate, the guide shaft moves in the guide groove during the sliding process, at this time the rotation of the slide shaft will drive the mounting seat to rotate, and the two cleaning sponges will clean the debris dust on the plate at the bottom of the vacuum suction cup, so when there is debris dust on the plate, it can be cleaned in time to ensure the adsorption and fixing effect of the vacuum suction cup, and avoid the attachment of dust and debris on the surface of the vacuum suction cup to cause wear of the vacuum suction cup, reduce the number of maintenance of the vacuum suction cup, and improve the production efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments, and it should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation to the scope, and for those skilled in the art, other related drawings can also be obtained without creative labor.

[0019] Figure 1 It is the overall structure schematic view of the embodiment 1 of the present application;

[0020] Figure 2 It is the A area structure enlarged schematic view in Figure 1

[0021] Figure 3 It is the connecting structure schematic view of the slide column and the connecting plate of the present application;

[0022] Figure 4 It is the B area structure enlarged schematic view in Figure 3

[0023] Figure 5 It is the connecting structure schematic view of the slide shaft and the guide shaft of the embodiment 1 of the present application;

[0024] Figure 6 It is the connecting structure schematic view of the connecting seat and the mounting sleeve of the embodiment 1 of the present application;

[0025] Figure 7 It is the connecting structure schematic view of the connecting frame and the cylinder of the embodiment 1 of the present application.

[0026] ​​Reference numerals: 1. Connecting frame; 2. Cleaning structure; 201. Sliding column; 202. Connecting plate; 203. Cylinder; 204. Connecting sleeve; 205. Guide groove; 206. Guide shaft; 207. Sliding shaft; 208. Mounting seat; 209. Cleaning sponge; 210. Stop block; 211. Spring; 212. Rotary ring; 3. Stop block; 4. Nut; 5. Mounting plate; 6. Camera; 7. Vacuum suction cup; 8. Connecting seat; 9. Mounting sleeve; 10. Motor. Detailed Implementation

[0027] It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments of the present invention can be combined with each other. The technical solutions of the present invention will be further described below with reference to the accompanying drawings of the embodiments. The present invention is not limited to the specific embodiments described below.

[0028] It should be understood that the same or similar reference numerals in the accompanying drawings of the embodiments correspond to the same or similar components. In the description of this utility model, it should be understood that if terms such as "upper," "lower," "front," "rear," "left," "right," "top," and "bottom" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, they are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms describing positional relationships in the accompanying drawings are for illustrative purposes only and should not be construed as limiting this patent. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0029] Example 1

[0030] Because existing suction cup robotic arms may encounter debris or dust on the surface of materials when adsorbing them, which could lead to unstable adhesion or damage to the suction cup, a suction cup robotic arm that can remove debris or dust was designed. The specific solution is as follows:

[0031] like Figures 1-7As shown, the intelligent mechanical hand for punch press comprises a connecting frame 1, the connecting frame 1 is provided with a cleaning structure 2, the cleaning structure 2 comprises a slide column 201 and a connecting plate 202, four slide columns 201 are slidably connected on the connecting frame 1, the bottom ends of two adjacent slide columns 201 are fixedly connected with the same connecting plate 202, two connecting sleeves 204 are fixedly connected on the connecting plate 202, a slide shaft 207 is slidably connected in the connecting sleeve 204, a guide groove 205 is arranged on the connecting sleeve 204, a guide shaft 206 is fixedly connected on the slide shaft 207, the guide shaft 206 extends into the guide groove 205 and is slidably connected with the connecting sleeve 204, a mounting seat 208 is fixedly connected at the bottom end of the slide shaft 207, two cleaning sponges 209 are clamped in the mounting seat 208, two air cylinders 203 are mounted on the connecting frame 1, the bottom ends of the air cylinders 203 are fixedly connected with the adjacent connecting plates 202, a plurality of vacuum pads 7 are mounted on the connecting frame 1, two mounting plates 5 are fixedly connected on the connecting frame 1, a camera 6 is mounted on the mounting plate 5.

[0032] The two connecting plates 202 are symmetrically distributed about the middle part of the connecting frame 1, the two connecting sleeves 204 located at the two ends of the connecting plate 202 are symmetrically distributed about the middle part of the connecting plate 202, and the two cleaning sponges 209 are symmetrically distributed about the middle part of the mounting seat 208, so that when the mounting seat 208 rotates, the adjacent vacuum pads 7 can clean the debris and dust on the plate material at the bottom end of the plate material.

[0033] The bottom end of the mounting seat 208 is rotatably connected with an abutting block 210, the rotation center of the abutting block 210 and the shaft center of the slide shaft 207 are on the same straight line, and the position of the bottom end of the abutting block 210 is higher than that of the cleaning sponge 209, so that the compression amount of the cleaning sponge 209 is controlled by the abutting block 210, avoiding damage to the cleaning sponge 209 due to excessive extrusion, and the shaft center of the slide shaft 207 is located at the middle part of the two vacuum pads 7 on both sides.

[0034] The position of the bottom end of the cleaning sponge 209 is higher than that of the bottom end of the vacuum pad 7, so that when there is no debris and dust, the cleaning sponge 209 can be prevented from contacting the metal plate.

[0035] A rotating ring 212 is rotatably connected on the slide shaft 207, the slide shaft 207 rotates relative to the rotating ring 212 during rotation, the rotating ring 212 abuts against the connecting plate 202 through a spring 211, and the cleaning sponge 209 is reset by the extension of the spring 211 during the contraction and reset of the air cylinder 203.

[0036] The guide groove 205 has a spiral structure, so that the slide shaft 207 rotates when the guide shaft 206 moves in the guide groove 205, and the cross section of the top end of the slide shaft 207 has a "convex" structure, so that the slide shaft 207 can be prevented from being separated from the connecting sleeve 204.

[0037] Two stoppers 3 are provided through the mounting seat 208, the stoppers 3 are provided through the adjacent cleaning sponge 209, the stoppers 3 are screwed with the nuts 4, so that the cleaning sponge 209 can be fixed, the cleaning sponge 209 is prevented from falling from the inside of the mounting seat 208, the stoppers 3 can be removed from the mounting seat 208 by unscrewing the nuts 4 from the stoppers 3, and then the cleaning sponge 209 can be taken out from the inside of the mounting seat 208, so that the cleaning sponge 209 is convenient to replace and clean.

[0038] The middle part of the connecting frame 1 is fixedly connected with the connecting seat 8, the connecting seat 8 is rotatably connected with the mounting sleeve 9, the mounting sleeve 9 is mounted on the mechanical arm, the motor 10 is mounted in the inside of the mounting sleeve 9, and the output shaft of the motor 10 is fixedly connected with the connecting seat 8, so that when the mechanical arm moves to the specified position, the motor 10 is started, the output shaft of the motor 10 rotates to drive the connecting seat 8 to rotate, the connecting seat 8 rotates to drive the connecting frame 1 to rotate, the output shaft of the motor 10 stops rotating when the connecting frame 1 rotates 180 degrees, and the position exchange of the plate material which has not been punched and the plate material which has been punched is realized, so that the number of times of moving of the mechanical arm can be reduced, and the efficiency of carrying can be improved.

[0039] Working principle:

[0040] The mounting sleeve 9 is mounted on the mechanical arm, before the plate material is adsorbed and fixed, the surface of the plate material is photographed by the camera 6, when there is no debris and dust, the plate material can be adsorbed and fixed by the four adjacent vacuum suction cups 7 at one end of the connecting frame 1, the carrying of the plate material is realized by moving the connecting frame 1 by the mechanical arm, then the plate material after being punched and formed is adsorbed and fixed by the four adjacent vacuum suction cups 7 at the other end of the connecting frame 1, the connecting seat 8 is driven to rotate by the motor 10, the connecting seat 8 rotates to drive the connecting frame 1 to rotate, the motor 10 stops rotating when the connecting frame 1 rotates 180 degrees, and the position exchange of the plate material which has not been punched and the plate material which has been punched is realized, so that the number of times of moving of the mechanical arm can be reduced, and the efficiency of carrying can be improved.

[0041] When the camera 6 captures the debris dust, the mechanical arm does not make the plurality of vacuum cups 7 contact with the plate during the movement of the connecting frame 1, but starts the air cylinder 203, the air cylinder 203 is elongated to drive the connecting plate 202 to move and then drive the two connecting sleeves 204 to move, the connecting sleeves 204 drive the sliding shaft 207 to move, the sliding shaft 207 drives the mounting seat 208 to move, so that the two cleaning sponges 209 move, and the cleaning sponges 209 will abut against the plate during the movement, the continuous elongation of the air cylinder 203 makes the connecting sleeve 204 slide on the sliding shaft 207, the spring 211 is contracted, and the connecting sleeve 204 slides on the sliding shaft 207, the guide shaft 206 moves in the guide groove 205 at this time, at this time, the sliding shaft 207 rotates to drive the mounting seat 208 to rotate, and the mounting seat 208 rotates to drive the two cleaning sponges 209 to clean the debris dust on the plate below the vacuum cup 7, so that the debris dust on the plate can be cleaned in time to ensure the effect of the vacuum cup 7 adsorbed and fixed, and the dust and debris adhered to the surface of the vacuum cup 7 is avoided to cause the wear of the vacuum cup 7, the number of maintenance and the use cost of the vacuum cup 7 are reduced, and the stability of continuous production is improved.

[0042] It should be noted that when the cleaning sponge 209 is compressed to a certain extent, the abutting block 210 will abut against the plate, and then the mounting seat 208 rotates to rotate with the abutting block 210, so that the compression amount of the cleaning sponge 209 is controlled by the abutting block 210 to avoid damage of the cleaning sponge 209 caused by excessive extrusion.

[0043] The intelligent mechanical hand of the scheme integrates the camera to monitor the plate surface in real time whether there is debris / dust. When the pollutants are detected, the system automatically starts the cleaning program without manual intervention or shutdown inspection, reduces the blockage, scratching and wear of the vacuum cup, prolongs the service life of the vacuum cup, reduces the replacement frequency of spare parts and maintenance cost, and improves the reliability.

[0044] The linear motion is efficiently and reliably converted into the rotary motion of the cleaning sponge by the cooperation of the helical guide groove and the guide shaft through the linear driving of the air cylinder, without an additional rotary driving motor. The cleaning sponge is fixed on the mounting seat through the stop block and the nut, and is convenient to disassemble and replace.

[0045] The connecting seat and the connecting frame are driven to rotate by 180 degrees, and the work position exchange of two plates is completed by one moving operation, the number of mechanical arm movements is reduced, the plate feeding and discharging cycle is shortened, and the overall production efficiency and equipment utilization rate of the punch are improved.

[0046] Embodiment 2

[0047] In the embodiment, the structure of the manipulator is basically same as that of the embodiment 1, and the difference is that a filter screen with quick release structure is additionally arranged at the suction cup inlet; or a back flushing system is designed to periodically spray air to clean the pipeline, so as to reduce the risk of blockage and reduce manual maintenance.

[0048] Obviously, the above embodiments of the utility model are only examples for clearly illustrating the utility model, and are not a limitation on the embodiments of the utility model. For ordinary skilled in the art, other different forms of changes or changes can be made on the basis of the above description. Here, all the embodiments are not enumerated. Any modification, equivalent replacement and improvement within the spirit and principle of the utility model should be included in the protection scope of the utility model claim.

Claims

1. An intelligent robot for punch press, comprising a connecting frame, characterized in that: The connecting frame is provided with a cleaning structure, the cleaning structure comprises a sliding column and a connecting plate, four sliding columns are slidably connected to the connecting frame, the bottom ends of two adjacent sliding columns are fixedly connected to the same connecting plate, two connecting sleeves are fixedly connected to the connecting plate, a sliding shaft is slidably connected in the connecting sleeve, a guide groove is arranged on the connecting sleeve, a guide shaft is fixedly connected to the sliding shaft, the guide shaft extends into the guide groove and is slidably connected with the connecting sleeve, a mounting seat is fixedly connected to the bottom end of the sliding shaft, two cleaning sponges are clamped in the mounting seat, two air cylinders are mounted on the connecting frame, the bottom ends of the air cylinders are fixedly connected with adjacent connecting plates, a plurality of vacuum suction cups are mounted on the connecting frame, two mounting plates are fixedly connected to the connecting frame, and a camera is mounted on the mounting plate.

2. The intelligent robot for punch press according to claim 1, characterized in that: The two connecting plates are symmetrically distributed about the middle part of the connecting frame, the two connecting sleeves located at the two ends of the connecting plate are symmetrically distributed about the middle part of the connecting plate, and the two cleaning sponges are symmetrically distributed about the middle part of the mounting seat.

3. The intelligent robot for punch press according to claim 1, characterized in that: The bottom end of the mounting seat is rotatably connected with a stop block, the rotation center of the stop block and the axis of the sliding shaft are on the same straight line, and the axis of the sliding shaft is located in the middle part of the two vacuum suction cups on both sides.

4. The intelligent robot for punch press according to claim 3, characterized in that: The position of the bottom end of the stop block is higher than that of the bottom end of the cleaning sponge, and the position of the bottom end of the cleaning sponge is higher than that of the bottom end of the vacuum suction cup.

5. The intelligent robot for punch press according to claim 1, characterized in that: A rotating ring is rotatably connected to the sliding shaft, and a spring is in contact between the rotating ring and the connecting plate.

6. The intelligent robot for punch press according to claim 1, characterized in that: The guide groove is in a spiral structure, and the top end of the sliding shaft is in a "convex" cross-section structure.

7. The intelligent robot for punch press according to claim 1, characterized in that: Two stop blocks are arranged in the mounting seat, the stop blocks penetrate adjacent cleaning sponges, and nuts are threadedly connected to the stop blocks.

8. The intelligent robot for punch press according to claim 1, characterized in that: A connecting seat is fixedly connected to the middle part of the connecting frame, an installation sleeve is rotatably connected to the connecting seat, and the installation sleeve is mounted on the mechanical arm.

9. The intelligent robot for punch press according to claim 8, characterized in that: A motor is mounted in the installation sleeve, and an output shaft of the motor is fixedly connected with the connecting seat.

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