CN101474657A - Multi-station forging and pressing robot for continuous forging - Google Patents
Multi-station forging and pressing robot for continuous forging Download PDFInfo
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- CN101474657A CN101474657A CNA2009100713332A CN200910071333A CN101474657A CN 101474657 A CN101474657 A CN 101474657A CN A2009100713332 A CNA2009100713332 A CN A2009100713332A CN 200910071333 A CN200910071333 A CN 200910071333A CN 101474657 A CN101474657 A CN 101474657A
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Abstract
The invention provides a multi-position forging robot used for continuous forging. An integral structure mode of three mutually vertical linear motion units and a rotary motion unit which is coaxial or parallel with the last linear motion unit is adopted in the multi-position forging robot, thus realizing the workpiece position adjustment and the continuous rotary motion of the forging process; the structure is simple; and the multi-position forging robot comprises an upward-downward travel mechanism 1, a forging mechanical arm 2, a claw 3, a left-right travel mechanism 4, a machine frame 5, a forging equipment control clamp plate 6 and a forging equipment coordination mechanism 7. The multi-position forging robot can help realize the workpiece conversion among multi-positions in the forging process, action control and forging force control in the forging process, and the continuous operation on each position in the forging process, which has strong practicability. The workpiece conversion is realized among different operating positions and different dies by the same linear motion unit, thus simplifying the system structure and lowering cost.
Description
(1) technical field
The invention belongs to forging technology field and Robotics field, be specifically related to a kind of multistation forging and pressing robot that is used for forging continuously, replace manpower to finish in the forging and pressing production process dangerous high, simple repeated, the work that labour intensity is high such as material, material loading, upset, multistation conversions, blanking of getting to the high temperature blank, reduce operator's labour intensity and danger, realize the automation of production process simultaneously by robot, boost productivity and forge and press quality.
(2) background technology
In the national economy production and construction, forging and pressing are indispensable piths, and it is various engineering goods and war industry equipment production important foundation part.Present most forging equipment is in the backward state of manual haul or semi-hand feeding, generally all be to burn more than 1000 degree centigrade forging and pressing blank by the workman with pliers to clip on the forging equipment in the production process, in the forging and pressing process with the pliers workpiece that overturns, after finishing again by manually workpiece being taken out with pliers, need gripping repeatedly and upset workpiece in the process, labour intensity is also bigger, and production efficiency is low, unstable product quality.Because forging and pressing are produced by artificial leading process, the quality of processing depends on workman's qualification and workman's conscientious degree, and is relatively poor for the same a kind of part uniformity that processes, and influenced product quality, and production efficiency is also lower simultaneously.
(3) summary of the invention
The object of the present invention is to provide and a kind ofly can realize the conversion of the workpiece in the forging and pressing process between multistation, the control of the action in the forging and pressing process and forge the continued operation in the forging and pressing process on dynamics control, each station, the practical multistation that is used for forging continuously forging and pressing robot.
The object of the present invention is achieved like this: its adopts the overall structure mode of the coaxial or parallel rotational motion unit in three mutual vertical rectilinear motion unit and and last rectilinear motion unit, it comprises reciprocating mechanism 1, metal forming machinery arm 2, paw 3, left/right movement device 4, frame 5, forging equipment control pressing plate 6 and forging equipment coordination organization 7, reciprocating mechanism 1 is installed on the left/right movement device 4, left/right movement device 4 is installed on the frame 5, drive reciprocating mechanism 1, metal forming machinery arm 2 and paw 3 move left and right, metal forming machinery arm 2 is installed on the reciprocating mechanism 1, reciprocating mechanism 1 drives metal forming machinery arm 2 and paw 3 moves up and down, metal forming machinery arm 2 drives that paws 3 move forward and backward and along the revolution of shifting axle, forging equipment coordination organization 7 is installed on the frame 5, drives forging equipment control pressing plate 6 and moves up and down.
The present invention also has some technical characterictics like this:
1, described forging equipment control pressing plate 6 and forging equipment coordination organization 7 comprise at least one cover, its tricks is identical with the forge die number, each forge die is installed on the independent forging equipment, forging equipment on every cover forging equipment coordination organization 7 and 6 pairs of corresponding stations of forging equipment control pressing plate is coordinated control, when conversion station between different moulds, forging equipment coordination organization 7 and forging equipment control pressing plate 6 all forging equipments of control stop to forge, when the forging and pressing station forges and presses arbitrarily, have only forging equipment coordination organization 7 and the corresponding forging equipment of forging equipment control pressing plate 6 controls on this station to forge and press continuously;
2, described reciprocating mechanism 1, metal forming machinery arm 2, paw 3, left/right movement device 4 and frame 5 are covers, and forging equipment control pressing plate 6 and forging equipment coordination organization 7 have at least one cover, and its tricks is identical with the forge die number.Difference is, the part forge die install separately with a forging equipment on, on the shared forging equipment of part mould, when a plurality of moulds are positioned on the same forging equipment, according to above-mentioned coordination system action, when mould is installed on the forging equipment separately, adopt the coordination system action of basic mode.
For solve existing forging and pressing produce in automaticity low, problems such as labor intensity of operating staff height, dangerous height, production efficiency is low, the quality of production is inconsistent, invented a kind of multistation forging and pressing robot that is used for forging continuously, can finish in the process of forging various operations to workpiece, can realize simultaneously and the action of existing forging equipment between coordination.Keeping under the constant condition of existing forging equipment, each free degree motion by robot and with the coordination of forging equipment, replace manpower to finish high labour intensity, high risk, simple repetitive operation in the forging and pressing process, improve production efficiency and product quality.
Technical scheme of the present invention is achieved in that at first robot drives the robot motion to getting the material station according to external signal control left/right movement device 4, reciprocating mechanism 1 moves downward paw 3 to be moved to get expects height, robot hand 3 grasps the forging and pressing blank, reciprocating mechanism 1 moves upward, make blank leave material level, finish and get material.Left/right movement device 4 drives robot and arrives first forging and pressing station, and reciprocating mechanism 1 moves downward the blank that makes on the paw 3 and moves on the forge die, finishes material loading.Forging equipment coordination organization 7 drives forging equipment control pressing plate 6 and moves down, the control forging equipment begins to forge continuously the blank on the mould, forging the upset fast continuously of 2 pairs of blanks of time slot metal forming machinery arm, according to forging technological requirement, forging equipment coordination organization 7 moves up and down, control forges dynamics, realizes continuous variable force forging and pressing.After repeatedly forging, finish the forging and pressing processing on first forging and pressing station, forging equipment coordination organization 7 moves to the upper end, the control forging equipment stops to forge, reciprocating mechanism 1 moves upward, make workpiece leave mould, left/right movement device 4 drives robot and workpiece arrives next forging and pressing station, continues forging and pressing according to the mode on first forging and pressing station.How much that forges and presses station requires decision according to Forging Technology, after all station forging and pressing are finished, the workpiece that left/right movement device 4 drives robot and forging forming arrives the blanking station, paw 3 opens, workpiece is fallen, finish blanking, robot can get back to get and expect that station begins next working cycles this moment.Thereby finish the continuous multistation of the automation of workpiece is forged.
Characteristics of the present invention have:
1. adopt the overall structure mode of the coaxial or parallel rotational motion unit in three mutual vertical rectilinear motion unit and and last rectilinear motion unit, the position of realizing workpiece adjust and the forging and pressing process in continuous revolution, simple for structure.
2. by moving up and down of forging equipment coordination organization existing general forging equipment is controlled, realize forging and pressing the startup of action and stopping, and hitting dynamics is forged and pressed in the change in location adjustment of passing through forging equipment coordination organization, can realize on the basis of existing general forging equipment that conveniently the automation multistation forges and presses continuously, adaptability is strong.
3. realize workpiece station conversion between different operation positions and different mould by same rectilinear motion unit, simplified system architecture, reduced cost.
The present invention is based on the coordination between existing general forging equipment and the robot, the continued operation in the forging and pressing process on dynamics control, each station is controlled and is forged in conversion, the action in forging and pressing process of workpiece in the realization forging and pressing process between multistation, practical, have stronger promotional value.
(4) description of drawings
Fig. 1 is overall structure figure of the present invention.
(5) specific embodiment
The present invention is further illustrated below in conjunction with the drawings and specific embodiments:
Embodiment 1:
Present embodiment comprises reciprocating mechanism 1, metal forming machinery arm 2, paw 3, left/ right movement device 4,5,1 forging equipment control pressing plates 6 of frame and 1 forging equipment coordination organization 7.Left/right movement device 4 is installed on the frame 5, can drive reciprocating mechanism 1, metal forming machinery arm 2 and paw 3 move left and right.Reciprocating mechanism 1 is installed on the left/right movement device 4, can drive metal forming machinery arm 2 and paw 3 moves up and down.Metal forming machinery arm 2 is installed on the reciprocating mechanism 1, can drive that paw 3 moves forward and backward and along the 360 ° of unlimited revolutions that surpass of shifting axle.Thereby about paw can be realized, up and down, 3 one-movement-freedom-degrees in front and back and along moving forward and backward the rotational freedom of axis.The opening and closing of paw 3 realize the extracting of workpiece and put down.Forging equipment coordination organization 7 also is installed on the frame 5, can drive forging equipment control pressing plate 6 and move up and down, thereby forging of control forging equipment is moved and dynamics.This moment, a plurality of forge dies were installed on the same forging equipment, the forging equipment object manipulator is placed, forging equipment coordination organization 7 and forging equipment control pressing plate 6 are coordinated control to this forging equipment, when conversion station between different moulds, forging equipment coordination organization 7 and forging equipment control pressing plate 6 these forging equipments of control stop to forge, and control this forging equipment and forge and press continuously when the forging and pressing station forges and presses arbitrarily.
Embodiment 2:
Present embodiment and embodiment one difference are that reciprocating mechanism 1, metal forming machinery arm 2, paw 3, left/right movement device 4 and frame 5 still are a cover, and forging equipment control pressing plate 6 and forging equipment coordination organization 7 have many covers, and its tricks is identical with the forge die number.Each forge die is installed on the independent forging equipment, forging equipment on every cover forging equipment coordination organization 7 and 6 pairs of corresponding stations of forging equipment control pressing plate is coordinated control, when conversion station between different moulds, forging equipment coordination organization 7 and forging equipment control pressing plate 6 all forging equipments of control stop to forge, when the forging and pressing station forges and presses arbitrarily, have only forging equipment coordination organization 7 and the corresponding forging equipment of forging equipment control pressing plate 6 controls on this station to forge and press continuously.
Embodiment 3:
Reciprocating mechanism 1, metal forming machinery arm 2, paw 3, left/right movement device 4 and frame 5 still are a cover in the present embodiment, and forging equipment control pressing plate 6 and forging equipment coordination organization 7 have many covers, and its tricks is identical with the forge die number.Difference is, the part forge die install separately with a forging equipment on, on the shared forging equipment of part mould, the mixed structure that belongs to embodiment one and mode two, when a plurality of moulds are positioned on the same forging equipment, according to the coordination system action of mode two, when mould is installed on the forging equipment separately, the action of the coordination system of employing mode one.
Claims (2)
1, a kind of multistation forging and pressing robot that is used for forging continuously, it is characterized in that its adopts the overall structure mode of the coaxial or parallel rotational motion unit in three mutual vertical rectilinear motion unit and and last rectilinear motion unit, comprise reciprocating mechanism, the metal forming machinery arm, paw, left/right movement device, frame, forging equipment control pressing plate and forging equipment coordination organization, reciprocating mechanism is installed on the left/right movement device, left/right movement device is installed on the frame, drive reciprocating mechanism, metal forming machinery arm and paw move left and right, the metal forming machinery arm is installed on the reciprocating mechanism, reciprocating mechanism drives the metal forming machinery arm and paw moves up and down, the metal forming machinery arm drives that paw moves forward and backward and along the revolution of shifting axle, forging equipment coordination organization is installed on the frame, drives forging equipment control pressing plate and moves up and down.
2, a kind of multistation forging and pressing robot that is used for forging continuously according to claim 1, it is characterized in that described forging equipment control pressing plate and forging equipment coordination organization comprise at least one cover, its tricks is identical with the forge die number, each forge die is installed on the independent forging equipment, every cover forging equipment coordination organization and forging equipment control pressing plate are coordinated control to the forging equipment on the corresponding station, when conversion station between different moulds, forging equipment coordination organization and forging equipment control pressing plate are controlled all forging equipments and are stopped to forge, when the forging and pressing station forges and presses arbitrarily, have only forging equipment coordination organization and the corresponding forging equipment of forging equipment control pressing plate control on this station to forge and press continuously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100713332A CN101474657B (en) | 2009-01-23 | 2009-01-23 | Multi-station forging and pressing robot for continuous forging |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100713332A CN101474657B (en) | 2009-01-23 | 2009-01-23 | Multi-station forging and pressing robot for continuous forging |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101474657A true CN101474657A (en) | 2009-07-08 |
| CN101474657B CN101474657B (en) | 2010-06-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009100713332A Expired - Fee Related CN101474657B (en) | 2009-01-23 | 2009-01-23 | Multi-station forging and pressing robot for continuous forging |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102699250A (en) * | 2012-05-28 | 2012-10-03 | 天津市天锻压力机有限公司 | Control method for workbench of hydraulic forging press |
-
2009
- 2009-01-23 CN CN2009100713332A patent/CN101474657B/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102699250A (en) * | 2012-05-28 | 2012-10-03 | 天津市天锻压力机有限公司 | Control method for workbench of hydraulic forging press |
| CN102699250B (en) * | 2012-05-28 | 2016-01-20 | 天津市天锻压力机有限公司 | A kind of control method of hydraulic forging press workbench |
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| Publication number | Publication date |
|---|---|
| CN101474657B (en) | 2010-06-16 |
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Granted publication date: 20100616 Termination date: 20110123 |