阅读说明：本技术 一种桁架式机器人冲压系统 (Truss type robot stamping system ) 是由 谢传海 王贤成 钟吉民 陈炳旭 李周 刘富明 黄勇 于 2019-10-31 设计创作，主要内容包括：本发明涉及冲压设备的技术领域,特别涉及一种桁架式机器人冲压系统。它括冲压模具、桁架式上料机器人、桁架式下料机器人、片料中转送料机以及片料分离机。片料分离机用于将片料垛上的片料单片分离,并将单片片料抓取至片料中转送料机上。片料中转送料机用于对片料进行定位和输送。桁架式上料机器人用于将片料中转送料机的片料抓取至冲压模具内。本发明的片料分离机、片料中转送料机、桁架式上料机器人、冲压模具、桁架式下料机器人分别完成了片料的分料、送料、进料、冲压、出料等工序,本发明的片料分离机、中转送料手臂、桁架式上料机器人、桁架式下料机器人周而复始地工作,从而实现大批量片料的冲压工作。因此本发明的生产效率高、送料快。(The invention relates to the technical field of stamping equipment, in particular to a truss type robot stamping system. The device comprises a stamping die, a truss type feeding robot, a truss type blanking robot, a sheet material transfer feeding machine and a sheet material separator. The sheet stock separator is used for separating sheet stocks on the sheet stock stack and grabbing the sheet stocks to the sheet stock transfer feeder. The sheet material transfer feeder is used for positioning and conveying the sheet materials. The truss type feeding robot is used for grabbing the sheet material of the sheet material transfer feeding machine into the stamping die. The sheet material separator, the sheet material transfer feeder, the truss type feeding robot, the stamping die and the truss type blanking robot respectively complete the procedures of material distribution, feeding, stamping, discharging and the like of sheet materials. Therefore, the invention has high production efficiency and quick feeding.)

1. The utility model provides a truss-like robot stamping system which characterized in that: the device comprises a stamping die, a truss type feeding robot, a truss type blanking robot, a sheet material transfer feeding machine and a sheet material separator;

the sheet stock separator is used for separating sheet stocks on the sheet stock stack into single sheets and grabbing the single sheets to the sheet stock transfer feeder;

a sheet material transfer feeder, which is positioned beside the sheet material separator, is arranged on the stamping die and positioned at the front side of the stamping die,

the device is used for positioning and conveying the sheet stock;

the truss type feeding robot is arranged on the stamping die, is positioned on the front side of the stamping die and is used for grabbing the sheet material of the sheet material transfer feeding machine into the stamping die;

the stamping die is used for stamping the sheet material;

and the truss type blanking robot is arranged on the stamping die and positioned at the rear side of the stamping die and used for sending the stamped sheet material out of the stamping die.

2. The truss robotic punch system of claim 1, wherein: the sheet stock separator comprises a base, a support frame, a sheet stock separation lifting servo motor, a sheet stock separation lifting seat and a suction robot, wherein the support frame is arranged on the base, the sheet stock separation lifting seat is arranged on the support frame in a lifting sliding mode, the sheet stock separation lifting servo motor is arranged on the support frame and drives the sheet stock separation lifting seat to lift, the suction robot is arranged on the sheet stock separation lifting seat, a plurality of first suckers are arranged on the suction robot, a plurality of vertical rods are arranged on the base, a sheet stock placing area is defined by the vertical rods, and sheet stock separation magnetic blocks are arranged on the vertical rods.

3. The truss robot stamping system of claim 1 or 2, wherein: the truss type feeding robot comprises a feeding rack, a Y-direction feeding translation seat, a Y-direction translation feeding servo motor, a Z-direction feeding lifting seat, a Z-direction feeding lifting servo motor, an X-direction feeding translation seat, an X-direction translation feeding servo motor, a double-stroke X-direction feeding moving seat and a feeding arm, wherein the feeding rack is arranged on a stamping die, the Y-direction feeding translation seat is horizontally arranged on the feeding rack in a sliding manner along the Y direction, the Y-direction translation feeding servo motor is arranged on the Y-direction feeding translation seat and drives the Y-direction feeding translation seat to translate along the Y direction, the Z-direction feeding lifting seat is arranged on the Y-direction feeding translation seat in a lifting and sliding manner, the Z-direction feeding lifting servo motor is arranged on the Y-direction feeding translation seat and drives the Z-direction feeding lifting seat to lift along the Z direction, and the X-direction feeding translation seat is horizontally arranged on the Z-direction feeding lifting seat in a sliding manner along the X direction, x is to material loading servo motor locate Z to material loading lift seat to drive X is to material loading translation seat along X to the translation, two-stroke X is to material loading removal seat along X to horizontal slip setting on X to material loading translation seat, two-stroke X is to being equipped with material loading front wheel, material loading rear wheel and material loading driving belt on the material loading removal seat, material loading front wheel and material loading rear wheel are located the front end and the rear end of X to material loading translation seat respectively, material loading driving belt connects material loading front wheel and material loading rear wheel, material loading arm locates on two-stroke X moves the seat to the material loading, be equipped with a plurality of second sucking discs on the material loading arm, two-stroke X is to the material loading removal seat and material loading driving belt's hypomere fixed connection, Z is to material loading lift seat and material loading driving belt's upper segment fixed connection.

4. The truss robotic punch system of claim 3, wherein: the truss type blanking robot comprises a blanking rack, a Z-direction blanking lifting seat, a Z-direction lifting blanking servo motor, an X-direction translational blanking servo motor, an X-direction blanking translation seat, a double-stroke X-direction blanking moving seat and a blanking arm, wherein the blanking rack is arranged on a stamping die, the Z-direction blanking lifting seat is arranged on the blanking rack in a lifting sliding manner, the Z-direction lifting blanking servo motor is arranged on the blanking rack and drives the Z-direction blanking lifting seat to lift along the Z direction, the X-direction blanking translation seat is arranged on the Z-direction blanking lifting seat in a horizontal sliding manner along the X direction, the X-direction translational blanking servo motor is arranged on the Z-direction blanking lifting seat and drives the X-direction blanking translation seat to translate along the X direction, the double-stroke X-direction blanking moving seat is arranged on the X-direction blanking translation seat in a horizontal sliding manner along the X direction, and a blanking front wheel is arranged on the double-stroke X-direction blanking moving seat, Unloading rear wheel and unloading driving belt, unloading front wheel and unloading rear wheel are located the front end and the rear end of X unloading translation seat respectively, unloading driving belt connects unloading front wheel and unloading rear wheel, the unloading arm is located on the two-stroke X unloading removes the seat, be equipped with a plurality of third sucking discs on the unloading arm, the two-stroke X unloading removes the seat and the hypomere fixed connection of unloading driving belt, Z unloading lift seat and the upper segment fixed connection of unloading driving belt.

5. The truss robotic punch system of claim 4, wherein: the sheet material transfer feeder comprises a transfer rack, a transfer feeding translation seat, a double-stroke transfer feeding seat, a transfer feeding servo motor and a transfer feeding arm, wherein the transfer feeding translation seat is horizontally arranged on the transfer rack in a sliding manner along the Y direction, the transfer feeding servo motor is arranged on the transfer rack and drives the transfer feeding translation seat to translate along the Y direction, a transfer feeding front wheel, a transfer feeding rear wheel and a transfer feeding transmission belt are arranged on the double-stroke transfer feeding seat, the double-stroke transfer feeding seat is horizontally arranged on the transfer feeding translation seat in a sliding manner along the Y direction, the transfer feeding front wheel and the transfer feeding rear wheel are respectively positioned at the front end and the rear end of the transfer feeding translation seat, the transfer feeding transmission belt is connected with the transfer feeding front wheel and the transfer feeding rear wheel, and the double-stroke transfer feeding seat is fixedly connected with the upper section of the transfer feeding transmission belt, the transfer feeding translation seat is fixedly connected with the lower section of the transfer feeding transmission belt, the transfer feeding arm is arranged on the double-stroke transfer feeding seat, a plurality of positioning cylinders are arranged on the transfer feeding arm, and material pushing plates are arranged on cylinder rods of the positioning cylinders.

6. The truss robotic punch system of claim 5, wherein: and a double-sheet detection sensor is arranged on the transfer feeding arm.

7. The truss robotic punch system of claim 4, wherein: the sheet material separation lifting servo motor is in transmission connection with the sheet material separation lifting seat, the X-direction translation feeding servo motor is in transmission connection with the X-direction feeding translation seat, the Y-direction translation feeding servo motor is in transmission connection with the Y-direction feeding translation seat, the Z-direction feeding lifting servo motor is in transmission connection with the Z-direction feeding lifting seat, and the X-direction translation blanking servo motor is in transmission connection with the X-direction blanking translation seat, the Z-direction blanking lifting servo motor is in transmission connection with the Z-direction blanking translation seat, and the transit feeding servo motor is in transmission connection with the transit feeding translation seat.

8. The truss robotic punch system of claim 4, wherein: and a first belt clamping seat is arranged on the Z-direction feeding lifting seat and fixedly connected with the upper section of the feeding transmission belt, and a second belt clamping seat is arranged on the double-stroke X-direction feeding moving seat and fixedly connected with the lower section of the feeding transmission belt.

9. The truss robotic punch system of claim 4, wherein: the transfer machine is characterized in that a fifth clamping seat is arranged on the transfer machine frame and fixedly connected with the lower section of the transfer feeding transmission belt, a sixth clamping seat is arranged on the transfer feeding moving seat and fixedly connected with the upper section of the transfer feeding transmission belt.

10. The truss robotic punch system of claim 4, wherein: z is to material loading lift seat and two-stroke X to material loading remove the seat and respectively sliding connection at the top and the bottom of X to material loading translation seat, Z is to material unloading lift seat and two-stroke X to material unloading remove the seat and respectively sliding connection at the top and the bottom of X to material unloading translation seat.

Technical Field

The invention relates to the technical field of stamping equipment, in particular to a truss type robot stamping system.

Background

The existing sheet stamping equipment is not provided with a feeding robot and a sheet material distributing machine, even manual feeding, and needs to be additionally matched with the feeding robot for feeding and the sheet material distributing machine for distributing, so that the existing sheet stamping equipment is low in automation degree, low in feeding speed and low in production efficiency, and cannot meet the requirement of high-speed stamping of an existing stamping die. Therefore, there is a need for further improvement in the existing sheet punching apparatus.

Disclosure of Invention

The invention aims to provide a truss type robot stamping system which is high in automation degree, feeding efficiency and production efficiency. Therefore, the invention can meet the high requirement of high-speed continuous stamping of the existing stamping die.

The purpose of the invention is realized as follows:

a truss type robot stamping system comprises a stamping die, a truss type feeding robot, a truss type blanking robot, a sheet material transfer feeding machine and a sheet material separator.

The sheet stock separator is used for separating sheet stocks on the sheet stock stack and grabbing the sheet stocks to the sheet stock transfer feeder.

The sheet material transfer feeder is positioned beside the sheet material separator, arranged on the stamping die and positioned at the front side of the stamping die and used for positioning and conveying the sheet materials.

The truss type feeding robot is arranged on the stamping die and located on the front side of the stamping die and used for grabbing the sheet material of the sheet material transfer feeding machine into the stamping die.

The stamping die is used for stamping the sheet material.

The truss type blanking robot is arranged on the stamping die and positioned at the rear side of the stamping die and used for sending the stamped sheet materials out of the stamping die.

The present invention may be further improved as follows.

The sheet stock separator comprises a base, a support frame, a sheet stock separation lifting servo motor, a sheet stock separation lifting seat and a suction robot, wherein the support frame is arranged on the base, the sheet stock separation lifting seat is arranged on the support frame in a lifting sliding mode, the sheet stock separation lifting servo motor is arranged on the support frame and drives the sheet stock separation lifting seat to lift, the suction robot is arranged on the sheet stock separation lifting seat, a plurality of first suckers are arranged on the suction robot, a plurality of vertical rods are arranged on the base, a sheet stock placing area is defined by the vertical rods, and sheet stock separation magnetic blocks are arranged on the vertical rods.

The truss type feeding robot comprises a feeding rack, a Y-direction feeding translation seat, a Y-direction translation feeding servo motor, a Z-direction feeding lifting seat, a Z-direction feeding lifting servo motor, an X-direction feeding translation seat, an X-direction translation feeding servo motor, a double-stroke X-direction feeding moving seat and a feeding arm, wherein the feeding rack is arranged on a stamping die, the Y-direction feeding translation seat is horizontally arranged on the feeding rack in a sliding manner along the Y direction, the Y-direction translation feeding servo motor is arranged on the Y-direction feeding translation seat and drives the Y-direction feeding translation seat to translate along the Y direction, the Z-direction feeding lifting seat is arranged on the Y-direction feeding translation seat in a lifting and sliding manner, the Z-direction feeding lifting servo motor is arranged on the Y-direction feeding translation seat and drives the Z-direction feeding lifting seat to lift along the Z direction, and the X-direction feeding translation seat is horizontally arranged on the Z-direction feeding lifting seat in a sliding manner along the X direction, x is to material loading servo motor locate Z to material loading lift seat to drive X is to material loading translation seat along X to the translation, two-stroke X is to material loading removal seat along X to horizontal slip setting on X to material loading translation seat, two-stroke X is to being equipped with material loading front wheel, material loading rear wheel and material loading driving belt on the material loading removal seat, material loading front wheel and material loading rear wheel are located the front end and the rear end of X to material loading translation seat respectively, material loading driving belt connects material loading front wheel and material loading rear wheel, material loading arm locates on two-stroke X moves the seat to the material loading, be equipped with a plurality of second sucking discs on the material loading arm, two-stroke X is to the material loading removal seat and material loading driving belt's hypomere fixed connection, Z is to material loading lift seat and material loading driving belt's upper segment fixed connection.

The truss type blanking robot comprises a blanking rack, a Z-direction blanking lifting seat, a Z-direction lifting blanking servo motor, an X-direction translational blanking servo motor, an X-direction blanking translation seat, a double-stroke X-direction blanking moving seat and a blanking arm, wherein the blanking rack is arranged on a stamping die, the Z-direction blanking lifting seat is arranged on the blanking rack in a lifting sliding manner, the Z-direction lifting blanking servo motor is arranged on the blanking rack and drives the Z-direction blanking lifting seat to lift along the Z direction, the X-direction blanking translation seat is arranged on the Z-direction blanking lifting seat in a horizontal sliding manner along the X direction, the X-direction translational blanking servo motor is arranged on the Z-direction blanking lifting seat and drives the X-direction blanking translation seat to translate along the X direction, the double-stroke X-direction feeding moving seat is arranged on the X-direction blanking translation seat in a horizontal sliding manner along the X direction, and a blanking front wheel is arranged on the double-stroke X-direction feeding moving seat, Unloading rear wheel and unloading driving belt, unloading front wheel and unloading rear wheel are located the front end and the rear end of X unloading translation seat respectively, unloading driving belt connects unloading front wheel and unloading rear wheel, the unloading arm is located two-stroke X and is removed on the seat to the material loading, be equipped with a plurality of third sucking discs on the unloading arm, two-stroke X removes the hypomere fixed connection of seat and unloading driving belt to the material loading, Z unloading lift seat and unloading driving belt's upper segment fixed connection.

The sheet material transfer feeder comprises a transfer rack, a transfer feeding translation seat, a double-stroke transfer feeding seat, a transfer feeding servo motor and a transfer feeding arm, wherein the transfer feeding translation seat is horizontally arranged on the transfer rack in a sliding manner along the Y direction, the transfer feeding servo motor is arranged on the transfer rack and drives the transfer feeding translation seat to translate along the Y direction, a transfer feeding front wheel, a transfer feeding rear wheel and a transfer feeding transmission belt are arranged on the double-stroke transfer feeding seat, the double-stroke transfer feeding seat is horizontally arranged on the transfer feeding translation seat in a sliding manner along the Y direction, the transfer feeding front wheel and the transfer feeding rear wheel are respectively positioned at the front end and the rear end of the transfer feeding translation seat, the transfer feeding transmission belt is connected with the transfer feeding front wheel and the transfer feeding rear wheel, and the double-stroke transfer feeding seat is fixedly connected with the upper section of the transfer feeding transmission belt, the transfer feeding translation seat is fixedly connected with the lower section of the transfer feeding transmission belt, the transfer feeding arm is arranged on the double-stroke transfer feeding seat, a plurality of positioning cylinders are arranged on the transfer feeding arm, and material pushing plates are arranged on cylinder rods of the positioning cylinders.

The transfer feeding arm is provided with a biplate detection sensor, the biplate detection sensor 35 is used for detecting whether the sheet material on the transferred feeding arm is two overlapped sheet materials or not, if the sheet material is two overlapped sheet materials, the biplate detection sensor 35 sends a detection signal to the controller, and the controller controls the machine to stop.

The sheet material separating lifting servo motor is connected with the sheet material separating lifting seat, the position between the X-direction translational feeding servo motor and the X-direction feeding translation seat, the position between the Y-direction translational feeding servo motor and the Y-direction feeding translation seat, the position between the Z-direction feeding lifting servo motor and the Z-direction feeding lifting seat, the position between the X-direction translational blanking servo motor and the X-direction blanking translation seat, the position between the Z-direction blanking lifting servo motor and the Z-direction blanking translation seat and the position between the transit feeding servo motor and the transit feeding translation seat are in transmission connection through rack gears, and the rack gears are simple in structure, high in transmission efficiency and long in service life.

And a first belt clamping seat is arranged on the Z-direction feeding lifting seat and fixedly connected with the upper section of the feeding transmission belt, and a second belt clamping seat is arranged on the double-stroke X-direction feeding moving seat and fixedly connected with the lower section of the feeding transmission belt.

The Z-direction blanking lifting seat is provided with a third belt clamping seat, the third belt clamping seat is fixedly connected with the upper section of the blanking transmission belt, the double-stroke X-direction blanking moving seat is provided with a fourth belt clamping seat, and the fourth belt clamping seat is fixedly connected with the lower section of the blanking transmission belt.

The transfer machine is characterized in that a fifth clamping seat is arranged on the transfer machine frame and fixedly connected with the lower section of the transfer feeding transmission belt, a sixth clamping seat is arranged on the transfer feeding moving seat and fixedly connected with the upper section of the transfer feeding transmission belt.

From the above, the feeding ends of the truss type feeding robot, the sheet material transfer feeder and the truss type blanking robot have the same structure, and the working principle of the feeding ends of the truss type feeding robot and the sheet material transfer feeder is the same as that of the feeding end of the truss type blanking robot. The feeding arm of the truss type feeding robot, the transfer feeding arm of the sheet material transfer feeding machine and the discharging arm of the truss type discharging robot can realize double-stroke and double-speed feeding.

The invention has the following beneficial effects:

the sheet material separator, the transfer feeding arm, the truss type feeding robot and the truss type blanking robot work repeatedly, so that the stamping work of large-batch sheet materials is realized, and therefore the sheet material separator, the sheet material transfer feeder, the truss type feeding robot, the stamping die and the truss type blanking robot are high in automation degree, production efficiency and feeding speed.

And (II) the sheet material transfer feeder, the truss type feeding robot and the truss type blanking robot can realize double-speed double-stroke feeding, so that the feeding speed is high. The feeding efficiency is high.

And thirdly, the truss type feeding robot and the truss type blanking robot are both fixed on a stamping die, so that the truss type blanking robot is compact in structure, small in occupied area and fast in feeding.

Drawings

Fig. 1 is a schematic structural diagram of a truss type robot punching system according to the present invention.

Fig. 2 is a schematic view of another angle of the stamping system of the truss type robot of the present invention.

FIG. 3 is a schematic diagram of the sheet separator of the present invention.

FIG. 4 is a schematic view of another angle configuration of the sheet separator of the present invention.

FIG. 5 is a schematic view of the sheet material transfer feeder of the present invention.

FIG. 6 is a top view of the sheet material transfer feeder of the present invention.

Fig. 7 is a cross-sectional view taken at a-a in fig. 6.

Fig. 8 is a schematic structural view of a truss type feeder robot of the present invention.

Fig. 9 is a schematic view of another angle of the truss type feeder robot according to the present invention.

Fig. 10 is a front view of the truss type feeder robot of the present invention.

Fig. 11 is a sectional view at B-B in fig. 10.

Fig. 12 is an exploded view of the truss type loading robot of the present invention.

Fig. 13 is a schematic structural view of a truss type blanking robot (blanking arm in an extended state) according to the present invention.

Fig. 14 is a schematic view of another angle of the truss type blanking robot according to the present invention.

Fig. 15 is a front view of the truss type blanking robot of the present invention.

Fig. 16 is a cross-sectional view at C-C in fig. 15 (with the blanking arm in an extended state).

Fig. 17 is a schematic structural view of the truss type blanking robot in a contracted state.

Fig. 18 is a cross-sectional view of the truss blanking robot of the present invention in a contracted state.

Fig. 19 is an exploded view of the truss type blanking robot according to the present invention.

FIG. 20 is a schematic view of the structure of the sheet of the present invention.

Detailed Description

The invention is further described with reference to the following figures and examples.

The three arrows of coordinates in fig. 1 and 2 indicate the direction of X, Y, Z.