A robotic press line

Abstract

The utility model relates to a kind of robot press line, especially in the technical field of steel drum processing equipment.It includes flange feeding mechanism, conveyor, barrel cover turnover mechanism, unstacking robot, carrying robot, locking punch press, stacking robot.Overcome the current barrel cover in the process of locking flange, usually adopt manual stamping mode, this mode labor intensity is big, labor cost is high and there is the problem of hidden danger.

Description

Technical Field

[0001] This utility model relates to the technical field of steel drum processing equipment, and in particular to a robotic stamping line. Background Technology

[0002] Bucket lid stamping (locking flange) is a metal forming process mainly used to manufacture sealing lids for containers such as buckets and cans, especially structures with flange edges (locking flanges). A locking flange refers to a raised or flanged structure pressed onto the edge of the bucket lid, used to seal and fix it to the bucket body through rolling, riveting, or locking processes, enhancing the container's sealing performance and mechanical strength. Currently, the locking flange process for bucket lids typically uses manual stamping, which is labor-intensive, costly, and poses safety hazards. Utility Model Content

[0003] (1) Technical problems to be solved

[0004] This invention provides a robotic stamping line, which overcomes the current problem that manual stamping is usually used in the process of locking the flange of the bucket lid. This method is labor-intensive, costly, and poses safety hazards.

[0005] (2) Technical solution

[0006] To solve the above-mentioned technical problems, this utility model provides a robotic stamping line, including a flange feeding mechanism, a conveyor, a barrel lid flipping mechanism, a depalletizing robot, a handling robot, a locking punch, and a palletizing robot.

[0007] The conveyor includes an inlet conveyor and an outlet conveyor; the inlet conveyor carries barrel lids; the conveyor is equipped with a barrel lid flipping mechanism; the inlet conveyor is equipped with a destacking robot and a handling robot along the barrel lid conveying direction; a punching press is located at the end of the inlet conveyor; a locking press is located in the discharge direction of the punching press; the handling robot connects the punching press and the locking press; a flange feeding vibratory feeder is connected to the locking press via a flange feeding mechanism for flange feeding; the outlet conveyor is located in the discharge direction of the locking press; a palletizing robot is located at the end of the outlet conveyor; a palletizing pallet is located on one side of the palletizing robot; a centralized control station is located on one side of the palletizing pallet.

[0008] Preferably, the depalletizing robot, the palletizing robot, and the handling robot are all equipped with suction cups at their ends.

[0009] Preferably, the flipping mechanism includes a gripping position, a lid-laying position, a rotating rod, a flipping plate, and an electromagnet;

[0010] The inlet belt conveyor has a gripping position at the front end and a cover placement position at the end end; a rotating rod is rotatably mounted on the inlet belt conveyor; the rotating rod is driven by an external motor, and a flipping plate is mounted on the rotating rod; an electromagnet is provided on the flipping plate.

[0011] Preferably, the flange feeding mechanism includes a discharge pipe, a lifting cylinder, a chute, a slider, a three-jaw clamp, an internal support fixture, and an ejection cylinder;

[0012] The flange material feeding vibratory feeder is provided with a discharge pipe in the discharge direction; an extension plate is fixed to one side of the discharge pipe, and a lifting cylinder is provided above the extension plate; the connecting rod of the lifting cylinder is connected to the slide groove; the slider is slidably connected to the slide groove; the front end of the slider is provided with a mounting plate, the bottom of the mounting plate is equipped with a three-jaw clamp, and the inner support fixture is connected below the three-jaw clamp; the slide groove is also provided with an ejection cylinder; the connecting rod of the ejection cylinder is connected to the slider.

[0013] Preferably, a belt extends between the locking punch and the outlet conveyor for material discharge.

[0014] (3) Beneficial effects

[0015] This invention provides a robotic stamping line, which overcomes the current problem that manual stamping is usually used in the process of locking the flange of the bucket lid. This method is labor-intensive, costly, and poses safety hazards.

[0016] 1. This utility model enables the barrel lid to flip during the conveying process by setting a barrel lid flipping mechanism, thereby enabling the locking flanges on both sides of the barrel lid to work.

[0017] 2. This utility model, by setting up a flange feeding mechanism, realizes the automatic feeding of flange material by the vibratory platen into the locking punch for locking work.

[0018] 3. This utility model, by setting up a production line with automatic unstacking, automatic flange feeding, automatic stamping, barrel lid flipping, and automatic stacking by robots, makes the flange locking process more stable and automated, and reduces the labor intensity of workers. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of a robotic stamping line proposed in this utility model;

[0020] Figure 2 This is a schematic diagram of the structure of the bucket lid flipping mechanism of this utility model;

[0021] Figure 3 This is a schematic diagram of the structure of the bucket lid flipping mechanism of this utility model;

[0022] Figure 4 In this utility model Figure 3 A breakdown diagram;

[0023] Reference numerals in the attached drawings: 1-Punching press, 2-Flange feeding vibratory feeder, 3-Flange feeding mechanism, 31-Discharge pipe, 32-Lifting cylinder, 33-Slide groove, 34-Slider, 35-Three-jaw clamp, 36-Internal support fixture, 4-Conveyor, 41-Inlet conveyor, 42-Outlet conveyor, 5-Barrel lid, 6-Barrel lid flipping mechanism, 61-Grabbing position, 62-Lid placement position, 63-Rotating rod, 64-Flipping plate, 65-Electromagnet, 7-Depalletizing robot, 8-The aforementioned handling robot, 9-Locking punch press, 10-Palletizing robot, 11-Palletizing pallet, 12-Central control station. Detailed Implementation

[0024] The present invention will be further described in conjunction with the accompanying drawings and embodiments.

[0025] like Figures 1-4 As shown, the robotic stamping line of this utility model includes a flange feeding mechanism 3, a conveyor 4, a barrel lid flipping mechanism 6, a depalletizing robot 7, a handling robot 8, a locking punch 9, and a palletizing robot 10.

[0026] The conveyor 4 includes an inlet conveyor 41 and an outlet conveyor 42; the inlet conveyor 41 conveys barrel lids 5; the conveyor 4 is equipped with a barrel lid flipping mechanism 6; the inlet conveyor 41 is equipped with a destacking robot 7 and a handling robot 8 along the conveying direction of the barrel lids 5; a punching press 1 is provided at the end of the inlet conveyor 41; a locking press 9 is provided in the discharge direction of the punching press 1; the handling robot 8 is connected between the punching press 1 and the locking press 9; the flange feeding vibratory feeder 2 is connected to the locking press 9 through the flange feeding mechanism 3 to perform flange feeding; the locking press 9... An outlet conveyor 42 is provided in the discharge direction; a palletizing robot 10 is provided at the end of the outlet conveyor 42; a palletizing tray 11 is provided on one side of the palletizing robot 10; a centralized control station 12 is provided on one side of the palletizing tray 11; the human-machine interface of the centralized control station 12 is equipped with touch keys such as "internal coating", "no internal coating", "with flange", and "no flange" according to the product type, and the operator can easily switch the working mode of the robot and the equipment; for example, if "internal coating" or "no flange" is selected, the equipment will activate the barrel lid flipping mechanism 6 to achieve alternating forward and reverse palletizing; at the same time, the barrel lid 5 opening-finding function will be turned off; the palletizing robot 10 will no longer rotate 90 degrees, but will directly palletize.

[0027] The depalletizing robot 7; the depalletizing robot 7 grabs one lid at a time, and the extended aluminum profile at the end can increase the coverage area to adapt to higher stack types; the palletizing robot 10; grabs one lid at a time, and the robot end rotates 90° each time to stack, ensuring that the barrel lids 5 are stacked neatly and stably; the handling robot 8; grabs one lid at a time, and the extended aluminum profile at the end can extend into the middle of the mold cavity to place the lids. All lid ends are equipped with suction cups.

[0028] The flipping mechanism includes a gripping position 61, a cover placement position 62, a rotating rod 63, a flipping plate 64, and an electromagnet 65;

[0029] The inlet belt conveyor 4 has a gripping position 61 at its front end and a lid placement position 62 at its rear end. This belt conveyor 4 is existing technology and will not be described in detail here; it mainly uses a short belt. A rotating rod 63 is rotatably mounted on the inlet belt conveyor 4. The rotating rod 63 is driven by an external motor, and a flipping plate 64 is mounted on the rotating rod 63. An electromagnet 65 is mounted on the flipping plate 64. The robot places the lid 5 into the lid placement position 62. Sensors automatically detect and identify the orientation of the lid 5. A forward-facing lid 5 passes directly through the flipping mechanism, while a reverse-facing lid 5 flips 180° before passing through and then enters the gripping position 61 to wait. The electromagnet 65 circuit of the flipping mechanism can rotate continuously in the same direction via a rotary joint.

[0030] The flange feeding mechanism 3 includes a discharge pipe 31, a lifting cylinder 32, a slide 33, a slider 34, a three-jaw clamp 35, an internal support fixture 36, and an ejection cylinder 37.

[0031] The flange feeding vibratory feeder 2 is provided with a discharge pipe 31 in the discharge direction; an extension plate is fixed on one side of the discharge pipe 31, and a lifting cylinder 32 is provided above the extension plate; the connecting rod of the lifting cylinder 32 is connected to the slide groove 33; the slider 34 is slidably connected to the slide groove 33; the front end of the slider 34 is provided with a mounting plate, and the bottom of the mounting plate is equipped with a three-jaw clamp 35, which is the prior art; the three-jaw clamp 35 is connected to the inner support fixture 36 below; the slide groove 33 is also provided with an ejection cylinder 37; the connecting rod of the ejection cylinder 37 is connected to the slider 34; after the flange is fed out of the vibratory feeder, it is pushed and positioned by the cylinder. After positioning, the lifting cylinder 32 descends, the inner support fixture 36 enters the flange and supports the flange from the inside out, the lifting cylinder 32 raises the height, and the ejection cylinder 37 pushes out to send the flange into the positioning groove of the locking mold. The inner support fixture 36 can avoid positioning deviation caused by improper installation of the flange sealing ring.

[0032] A belt extends between the locking punch 9 and the outlet conveyor 42 for material discharge.

[0033] Working principle: 1. The operator places the tray with the bucket bottom lids into the designated position and sends a start command to start the equipment to run automatically;

[0034] 2. A laser rangefinder sensor is installed at the end of the depalletizing robot 7. After reading the position information, the robot descends at low speed to grab the object. At the same time, a vacuum generator is turned on above the lid 5. When the suction cup contacts the lid 5 and the negative pressure reaches the set value, the robot stops descending and records the current position. During the second grab, the current position is used as the reference point, and the robot can work at normal speed by shifting its position. The dual sensors work together to prevent the robot from backing up due to the failure of one sensor.

[0035] 3. Each time the robot grabs a bucket lid 5, it places the bucket lid 5 on the inlet belt conveyor 4. The sensor automatically detects and identifies the direction of the bucket lid 5. The bucket lid 5 that is facing forward passes directly through the flipping mechanism. The bucket lid 5 that is facing backward flips 180° before passing through and then enters the grabbing position 61 to wait.

[0036] 4. The handling robot 8 picks up the positioned bucket lid 5 and places it into the punching die cavity. After the jig is removed from the die cavity, the robot issues a punching command, and the punching machine performs one punching to complete the punching.

[0037] 5. After the punching press returns to its original position, another handling robot 8 enters the die cavity of the punching press 1 to remove the cover. After receiving the signal that the flange feeding is complete, it sends the cover into the locking press 9 and accurately fits the large and small holes onto the flange with a positioning accuracy error of ±0.1mm. After the gripping fixture exits the die cavity, the robot issues a punching command, and the locking press 9 performs one punch to complete the flange locking.

[0038] 6. After locking, the barrel lid 5 enters the outlet belt conveyor 4 via the extended belt;

[0039] 7. After being sent out from the punch press, the barrel lid 5 is conveyed by the belt conveyor 4 to the gripping position 61 to wait for the robot to grip it. Ordinary lids are directly sent to the gripping position 61 via the barrel lid flipping mechanism 6; lids that need to be stacked in both directions, such as inner coating lids, are flipped 180° at intervals by the barrel lid flipping mechanism 6 and then sent to the gripping position 61.

[0040] 8. The palletizing robot picks up one lid at a time. Depending on the product, the robot's end can rotate 90° each time to palletize, ensuring that the lids are stacked neatly and stably.

[0041] 9. After the robot is debugged, all operations are integrated into the central control station 12, eliminating the need for a robot teach pendant;

[0042] 10. Some open lids 5 get stuck between the upper and lower layers and the robot cannot complete the destacking. When "open lid" is selected in the human-machine interface, the destacking robot 7 stops working and the lid needs to be placed manually.

[0043] 11. In this scheme, the depalletizing robot 7 and the first handling robot 8 can share one unit, which reduces initial investment but lowers efficiency. Three robots achieve a throughput of 3-4 units per minute, while four robots achieve 7-10 units per minute. Content not described in detail in this specification is prior art known to those skilled in the art.

[0044] The embodiments described above are merely preferred embodiments of the present invention, and are described in a relatively specific and detailed manner. However, the present invention is not limited to these embodiments. It should be noted that for those skilled in the art, any improvements made without departing from the spirit of the present invention fall within the protection scope of the present invention. Therefore, the protection scope of this patent should be determined by the appended claims.

Claims

1. A robotic stamping line, characterized in that, Includes flange feeding mechanism (3), conveyor (4), barrel lid flipping mechanism (6), depalletizing robot (7), handling robot (8), locking punch (9), and palletizing robot (10). The conveyor (4) includes an inlet conveyor (41) and an outlet conveyor (42); the inlet conveyor (41) carries a bucket lid (5); the conveyor (4) is equipped with a bucket lid flipping mechanism (6); the inlet conveyor (41) is equipped with a destacking robot (7) and a handling robot (8) along the conveying direction of the bucket lid (5); a punching press (1) is provided at the end of the inlet conveyor (41); a locking punch (9) is provided in the discharge direction of the punching press (1); the punching press (1) The material handling robot (8) is connected to the locking punch (9); the flange feeding vibratory plate (2) is connected to the locking punch (9) through the flange feeding mechanism (3) to perform flange feeding work; the outlet conveyor (42) is provided in the discharge direction of the locking punch (9); the palletizing robot (10) is provided at the end of the outlet conveyor (42); the palletizing robot (10) is provided on one side of the palletizing robot (10); the palletizing pallet (11) is provided on one side of the palletizing pallet (11) and the central control station (12) is provided on one side of the palletizing pallet (11).

2. The robotic stamping line according to claim 1, characterized in that, The depalletizing robot (7), the palletizing robot (10), and the handling robot (8) are all equipped with suction cups at their ends.

3. The robotic stamping line according to claim 1, characterized in that, The flipping mechanism includes a gripping position (61), a lid placement position (62), a rotating rod (63), a flipping plate (64), and an electromagnet (65). The front end of the conveyor (4) is the gripping position (61) and the end end is the cover placement position (62); the conveyor (4) is rotatably mounted with the rotating rod (63); the rotating rod (63) is driven by an external motor, and the rotating rod (63) has a flipping plate (64); the flipping plate (64) is equipped with the electromagnet (65).

4. A robotic stamping line according to claim 1, characterized in that, The flange feeding mechanism (3) includes a discharge pipe (31), a lifting cylinder (32), a chute (33), a slider (34), a three-jaw clamp (35), an inner support fixture (36), and an ejection cylinder (37). The flange material feeding vibratory feeder (2) is provided with a discharge pipe (31) in the discharge direction; an extension plate is fixed on one side of the discharge pipe (31), and a lifting cylinder (32) is provided above the extension plate; the connecting rod of the lifting cylinder (32) is connected to the slide groove (33); the slider (34) is slidably connected on the slide groove (33); the front end of the slider (34) is provided with a mounting plate, and a three-jaw clamp (35) is mounted at the bottom of the mounting plate, and the inner support fixture (36) is connected below the three-jaw clamp (35); the slide groove (33) is also provided with an ejector cylinder (37); the connecting rod of the ejector cylinder (37) is connected to the slider (34).

5. A robotic stamping line according to claim 1, characterized in that, A belt extends between the locking punch (9) and the outlet conveyor (42) for material discharge.

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