CN101780517B - Engine valve electric-upsetting hot-forging forming flexible manufacturing line - Google Patents
Engine valve electric-upsetting hot-forging forming flexible manufacturing line Download PDFInfo
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- CN101780517B CN101780517B CN2010101154988A CN201010115498A CN101780517B CN 101780517 B CN101780517 B CN 101780517B CN 2010101154988 A CN2010101154988 A CN 2010101154988A CN 201010115498 A CN201010115498 A CN 201010115498A CN 101780517 B CN101780517 B CN 101780517B
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Abstract
The invention discloses an engine valve electric-upsetting hot-forging forming flexible manufacturing line comprising a plurality of engine valve electric-upsetting hot-forging forming manufacture units and a plurality of conveyor belts, wherein each engine valve electric-upsetting hot-forging forming manufacture unit comprises three electric upsetting machines, a robot, a forging press, a mechanical arm and a control cabinet; the three electric upsetting machines are distributed at one side of the robot in sector arrangement; the mechanical arm is positioned at the other side of the robot and is arranged opposite to the electric upsetting machines; the forging press is positioned between the robot and the mechanical arm; and the conveyor belts are arranged between the forging press and the mechanical arm, one ends of the conveyor belts are connected with a heat treatment device, and each conveyor belt is connected with at least one engine valve electric-upsetting hot-forging forming manufacture unit. The engine valve electric-upsetting hot-forging forming flexible manufacturing line realizes the engine valve electric-upsetting hot-forging forming production automation through the robot, the mechanical arm and the conveyor belts and has the advantages of simple realization, modularization and easy maintenance.
Description
Technical field
What the present invention relates to is a kind of automatic production line that adopts robot, specifically is a kind of engine valve electric-upsetting hot-forging forming flexible manufacturing line.
Background technology
Engine valve is one of automobile engine key components and parts, and engine performance and life-span are had significant effects.Along with the development of Hyundai Motor technology, the design and fabrication technology of engine valve faces higher, stricter requirement, and the new automobile engine adopts multiple-motor valve accessory mechanism mostly simultaneously, and the engine valve market demand is very huge.
Forge hot is the forging and pressing of carrying out more than the metal recrystallization temperature.The temperature that improves blank can be improved the plasticity of metal, helps improving the inherent quality of workpiece, makes it not easy to crack.Can also reduce the metal deformation drag under the high temperature, reduce the tonnage of required forging press.Hot-forging die plays very important function in the metal forming process.
It is a kind of gathering stock technology that electricity is upset, and it utilizes the resistance heat of workpiece self to make the workpiece part metals enter mecystasis, applies certain upset force simultaneously again, and the workpiece part is by jumping-up, and along with the development of distortion, material is assembled at head, forms by " head of garlic ".
The valve of engine needs through operations such as electricity rammer, forging press forge hot, machine add from the bar to the moulding.Valve blank directly was slipped to charging conduit after current most at home engine valve manufacturing enterprise engine valve electric was upset and finished, adopt pliers by the workman, gripping is finished the forge hot operation in the forging press die cavity, from the forging press die cavity, take out valve by the workman again, wait and finish the hot-forging forming engine valve and run up to some and hand over down and handle to operation.There is following problem in current engine valve electric rammer hot-forging forming production:
(1) engine valve production work environment is abominable.Valve production process high temperature, strong noise influence greatly surrounding enviroment and personnel.
(2) forging press forge hot operation engine valve loading and unloading danger.The workman does not note slightly forging press loading and unloading process being wanted the strict sequential of noting, jeopardizes safety of workers easily.
(3) valve gripping time instability after electricity is upset and finished.Adopt the pressure valve clamp of finishing of manually electricity being upset to get forcing press, rely on workman's intuition fully, the engine valve blank temperature that causes entering the forging press die cavity is inconsistent.
(4) engine valve hot-forging forming energy utilization rate is low.Not in time with arriving heat treatment step under the workpiece transfer, cause heat treatment step need reheat engine valve behind the engine valve hot-forging forming, waste energy.
Summary of the invention
The purpose of this invention is to provide engine valve electric-upsetting hot-forging forming flexible manufacturing line, be intended to adopt robot, manipulator and conveyer belt solve available engine electric upsetting of air valve hot-forging forming produce in work under bad environment, operational hazards, deficiency such as engine valve forge hot loading and unloading are inconsistent and using energy source is low.
The object of the invention is achieved through the following technical solutions:
A kind of engine valve electric-upsetting hot-forging forming flexible manufacturing line comprises a plurality of engine valve electric rammer hot-forging forming manufacturing cells and many conveyer belts; Engine valve electric rammer hot-forging forming manufacturing cell comprises three electric upsetters, robot, forging press, manipulator and switch boards; Three electric upsetters are distributed in robot one side with fan-shaped layout, and manipulator is positioned at the opposite side of robot, is oppositely arranged with electric upsetter; Forging press is between robot and manipulator; Electric upsetter and robot, the distance of robot and forging press is according to robot brachium decision; Switch board is arranged between electric upsetter and the forging press, is positioned at a side of robot; Many conveyer belt is installed between forging press and the manipulator, and an end of conveyer belt links to each other with annealing device, and every conveyer belt links to each other with at least one engine valve electric rammer hot-forging forming manufacturing cell;
Described robot comprises base, waist, big arm, forearm, wrist and hand, and described waist comprises waist bracket, waist servomotor, the first waist decelerator, the second waist decelerator pinion and the second waist decelerator gear wheel mechanism; Waist bracket comprises terminal pad, big arm gripper shoe and forearm gripper shoe; In the terminal pad upper end big arm gripper shoe and forearm gripper shoe have been installed respectively; The second waist decelerator gear wheel mechanism comprises the outer ring securing member, the second waist decelerator turntable bearing outer ring, the second waist decelerator turntable bearing inner ring, inner ring securing member and locating ring; The second waist decelerator turntable bearing outer ring is connected with terminal pad by the outer ring securing member, the second waist decelerator turntable bearing inner ring is cemented on the base by the inner ring securing member, locating ring is placed in the inside of the second waist decelerator turntable bearing inner ring, and is affixed with base; The first waist decelerator and the second waist decelerator pinion are fixed, and the second waist decelerator pinion and the second waist decelerator turntable bearing outer ring gear are meshing with each other, and the waist servomotor is connected with the first waist decelerator; Big arm servomotor is connected with big arm decelerator, and big arm decelerator is installed on the big arm gripper shoe, and big arm decelerator is connected with big arm, and big arm is the hollow cylinder steel pipe; The forearm servomotor is connected with the forearm decelerator; the forearm decelerator is installed on the forearm gripper shoe, and the forearm decelerator is connected with the forearm drive rod, and the forearm drive rod is connected with pull bar by bearing; pull bar is connected with the clamping element that clamps forearm by bearing, and forearm is a hollow cylinder steel pipe; Big arm is connected with big arm U type support, and big arm U type support is connected with the forearm clamp, and the forearm clamp clamps forearm; The forearm front end is connecting the wrist of rotating around the forearm axis by ring flange; Wrist is the hollow cylinder steel pipe, be provided with wrist decelerator and wrist servomotor in the hollow cylinder steel pipe of wrist, the wrist decelerator is connected with the wrist servomotor, the wrist decelerator connects a hand of doing elevating movement, hand is provided with hand decelerator and hand servomotor, hand decelerator front end is installed removable finger, points the font into V;
Described manipulator comprises vertical displacement movement device, horizontal rectilinear motion device and frame mobile device; Described vertical displacement movement device comprises terminal executing agency, camera, portable plate, guide post, cylinder and fixed support; Cylinder is installed on the fixed support, and portable plate is connected with the piston rod of cylinder, and the terminal executing agency that is used for the valve gripping is fixed on the portable plate upper surface, and the camera that is used for Image Acquisition is installed in the lower surface of portable plate, is positioned at terminal executing agency rear end; Described terminal executing agency comprises valve fixture block, temperature probe, a pawl and refers to the type cylinder; Finger type cylinder is connected with two pawls, and a pawl is connected with the valve fixture block, and temperature probe is positioned at the hole of valve fixture block, refers to that the type cylinder is connected with portable plate; Described horizontal rectilinear motion device comprises removable connecting plate, ball-screw, shaft coupling, line slideway, motor, slide block and base plate; Motor is connected with ball-screw by shaft coupling, the nut of ball-screw is connected with removable connecting plate, and removable connecting plate is connected with the slide block of two line slideways, and line slideway is connected with base plate, fixed support is connected with removable connecting plate, and described motor is a servomotor; Described frame mobile device comprises frame, V-type sheave and V-type rail; Frame links to each other with base plate, and the V-type sheave is connected frame bottom with bolt, the connection of rolling on V-type rail of 4 V-type sheaves.
Described switch board comprises industrial computer, PLC, robot servo-driver, manipulator servo-driver, interface circuit, Pneumatic module and power supply; Wherein interface circuit is the output relay buffer circuit; Pneumatic module comprises pneumatic triple piece and three electromagnetic gas valves; Pneumatic triple piece is connected with the source of the gas input of three electromagnetic gas valves, the control end of three electromagnetic gas valves is connected with the output relay buffer circuit respectively, and the output of electromagnetic gas valve is connected with the finger of robot, the cylinder of manipulator and the terminal executing agency of manipulator respectively; Described robot servo-driver is connected with the servomotor of big arm servomotor, wrist, servomotor, forearm servomotor and the waist servomotor of hand respectively; Described manipulator servo-driver is connected with motor; PLC is connected with industrial computer by serial ports, and the output of PLC is connected with the output relay buffer circuit; The output of industrial computer is connected with the output relay buffer circuit.
For further realizing the object of the invention, described valve fixture block is a cube type, is provided with the V-type groove, and the V-type angle of the v-groove is 30 °-150 °, and groove face is chased out many small grooves.
Described temperature probe is a thermocouple sensor.
Described finger type cylinder is connected by soket head cap screw with two pawls.
Described waist bracket also comprises reinforcement, and big arm gripper shoe and forearm gripper shoe are fixed on the terminal pad by reinforcement.
Described big arm servomotor is connected by screw with big arm decelerator.
Described big arm decelerator is connected with big arm by flange.
Described forearm decelerator is connected with the forearm drive rod by flange.
Described big arm is connected with big arm U type support by welding.
Described big arm, forearm drive rod, pull bar and forearm are formed a parallelogram.
Engine valve electric-upsetting hot-forging forming flexible manufacturing line provided by the invention has the following advantages:
(1) the present invention has made up the engine valve electric-upsetting hot-forging forming flexible manufacturing line that comprises electric upsetter, robot, forging press and manipulator, has realized the automation of engine valve production process.
(2) the present invention has made up the flexible robot and the manipulator that are used for engine valve electric rammer hot-forging forming, can adapt to the needs of engine valve production and corollary equipment.
(3) engine valve electric-upsetting hot-forging forming flexible manufacturing line of the present invention's structure combines electric upsetting of air valve, forge hot and heat treatment step, has improved valve production process energy utilization rate.
(4) valve electric-upsetting hot-forging forming flexible manufacturing line of the present invention's structure has guaranteed that the valve forge hot loading and unloading time stable, guarantees valve forge hot uniform quality.
Description of drawings
Fig. 1 is an engine valve electric-upsetting hot-forging forming flexible manufacturing line schematic layout pattern of the present invention;
Fig. 2 is an engine valve electric-upsetting hot-forging forming flexible manufacturing line layout vertical view of the present invention;
Fig. 3 is an engine valve electric rammer hot-forging forming of the present invention manufacturing cell vertical view;
Fig. 4 is an engine valve electric rammer hot-forging forming of the present invention manufacturing cell front view;
Fig. 5 is a robot construction schematic diagram among the present invention, shown in the figure: the big arm decelerator of 2-2-1-; The big arm servomotor of 2-2-2-; The big arm of 2-2-3-; The 2-2-4-forearm; The 2-2-5-wrist; The 2-2-6-hand; The 2-2-7-finger; The 2-2-8-ring flange; 2-2-9-forearm clamp; The big arm U of 2-2-10-type support; The 2-2-11-pull bar; 2-2-12-forearm decelerator; 2-2-13-forearm servomotor; 2-2-14-forearm drive rod; The 2-2-15-waist; The 2-2-16-base;
Fig. 6 is a robot waist structure schematic diagram among the present invention, shown in the figure, and the 2-2-15-1-waist bracket; 2-2-15-2-waist decelerator 2; 2-2-15-3-waist decelerator 1; 2-2-15-4-waist servomotor; 2-2-15-1-1-forearm gripper shoe; The big arm gripper shoe of 2-2-15-1-2-; The 2-2-15-1-3-reinforcement; The 2-2-15-1-4-terminal pad;
Fig. 7 is a robot waist structure generalized section among the present invention, shown in the figure, and 2-2-15-5-1-outer ring securing member; The 2-2-15-5-2-second waist decelerator turntable bearing outer ring; The 2-2-15-5-3-second waist decelerator turntable bearing inner ring; 2-2-15-5-4-inner ring securing member; The 2-2-15-5-5-locating ring;
Fig. 8 is the structural representation of manipulator among the present invention, shown in the figure: 2-4-1-vertical displacement movement device; The 2-4-1-1-valve; The terminal executing agency of 2-4-1-2-; The 2-4-1-3-camera; The 2-4-1-4-portable plate; 2-4-1-5---guide post; The 2-4-1-6-cylinder; The 2-4-1-7-fixed support; 2-4-2-horizontal rectilinear motion device; The removable connecting plate of 2-4-2-1-; The 2-4-2-2-ball-screw; The 2-4-2-3-shaft coupling; The 2-4-2-4-line slideway; The 2-4-2-5-motor; The 2-4-2-6-slide block; The 2-4-2-7-base plate; 2-4-3-frame mobile device; The 2-4-3-1-frame; 2-4-3-2-V type sheave; 2-4-3-3-V type guide rail;
Fig. 9 is an arm end executing agency schematic diagram among the present invention, among the figure, and 2-4-1-2-1-valve fixture block; The 2-4-1-2-2-temperature probe; 2-4-1-2-3-props up pawl; 2-4-1-2-4-refers to the type cylinder;
Figure 10 is the groove schematic diagram of manipulator valve fixture block among the present invention;
Figure 11 is a switch board structure chart among the present invention.
The specific embodiment
In order to make purpose of the present invention, technical scheme and advantage clearer,, the present invention is further elaborated below in conjunction with drawings and Examples.Should be appreciated that specific embodiment described herein only in order to explanation the present invention, and be not used in qualification the present invention.
Referring to shown in Figure 1, engine valve electric-upsetting hot-forging forming flexible manufacturing line comprises a plurality of engine valve electric rammer hot-forging forming manufacturing cells 2 and many conveyer belts 3; Engine valve electric rammer hot-forging forming manufacturing cell comprises three electric upsetter 2-1, the 2-2 of robot, forging press 2-3, manipulator 2-4 and switch board 2-5.Three electric upsetter 2-1 are distributed in the 2-2 of robot one side with fan-shaped layout, and manipulator 2-4 is positioned at the opposite side of the 2-2 of robot, and 2-1 is oppositely arranged with electric upsetter; Forging press 2-3 is between 2-2 of robot and manipulator 2-4; Electric upsetter 2-1 and the 2-2 of robot, the distance of 2-2 of robot and forging press 2-3 is according to robot brachium decision.Determine by the manipulator brachium between forging press 2-3 and the manipulator 2-4.Switch board 2-5 is arranged between electric upsetter 2-1 and the forging press 2-3, is positioned at the side of the 2-2 of robot; Distance between switch board 2-5 and electric upsetter 2-1, forging press 2-3, the 2-2 of robot and the manipulator 2-4 according to each device security apart from decision.Many conveyer belt 3 is installed between forging press 2-3 and the manipulator 2-4, and an end of conveyer belt 3 links to each other with annealing device 4, and every conveyer belt 3 can link to each other with a plurality of engine valve electric rammer hot-forging forming manufacturing cell 2; Each engine valve electric rammer hot-forging forming manufacturing cell realizes that the electricity of engine valve is upset, hot-forging forming, and conveyer belt 3 is sent to annealing device (heating furnace) 4 with the moulding engine valve automatically by conveyer belt.4 pairs of engine valves of annealing device are heat-treated, and strengthen its surface strength.
Shown in Fig. 5,6,7, the 2-2 of robot comprises base 2-2-16, waist 2-2-15, big arm 2-2-3, forearm 2-2-4, wrist 2-2-5 and hand 2-2-6; Waist 2-2-15 comprises waist bracket 2-2-15-1, waist servomotor 2-2-15-4, the first waist decelerator 2-2-15-3, the second waist decelerator pinion 2-2-15-2 and the second waist decelerator gear wheel 2-2-15-5 of mechanism; Waist bracket 2-2-15-1 is made up of terminal pad 2-2-15-1-4, big arm gripper shoe 2-2-15-1-2, forearm gripper shoe 2-2-15-1-1 and reinforcement 2-2-15-1-3; In terminal pad 2-2-15-1-4 upper end big arm gripper shoe 2-2-15-1-2 and forearm gripper shoe 2-2-15-1-1 have been installed respectively, big arm gripper shoe 2-2-15-1-2 and forearm gripper shoe 2-2-15-1-1 are fixed on the terminal pad 2-2-15-14 by reinforcement 2-2-15-1-3.The second waist decelerator gear wheel 2-2-15-5 of mechanism comprises outer ring securing member 2-2-15-5-1, the second waist decelerator turntable bearing outer ring 2-2-15-5-2, the second waist decelerator turntable bearing inner ring 2-2-15-5-3, inner ring securing member 2-2-15-5-4 and locating ring 2-2-15-5-5; The second waist decelerator turntable bearing outer ring 2-2-15-5-2 is connected with terminal pad 2-2-15-1-4 by outer ring securing member 2-2-15-5-1, the second waist decelerator turntable bearing inner ring 2-2-15-5-3 is cemented on the base 2-2-16 by inner ring securing member 2-2-15-5-4, locating ring 2-2-15-5-5 is placed in the inside of the second waist decelerator turntable bearing inner ring, and 2-2-16 is affixed with base.The first waist decelerator 2-2-15-3 and the second waist decelerator pinion 2-2-15-2 are fixed, the second waist decelerator pinion 2-2-15-2 and the second waist decelerator turntable bearing outer ring 2-2-15-5-2 gear are meshing with each other, and waist servomotor 2-2-15-4 is connected with the first waist decelerator 2-2-15-3.Waist servomotor 2-2-15-4 drives the first waist decelerator 2-2-15-3, the first waist decelerator 2-2-15-3 drives the second waist decelerator pinion 2-2-15-2 again, the second waist decelerator pinion 2-2-15-2 drives the second waist decelerator turntable bearing outer ring 2-2-15-5-2, and the second waist decelerator turntable bearing outer ring 2-2-15-5-2 drives waist bracket 2-2-15-1 rotation.
Big arm servomotor 2-2-2 is connected by screw with big arm decelerator 2-2-1, and big arm decelerator 2-2-1 is installed on the big arm gripper shoe 2-2-15-1-2, and big arm decelerator 2-2-1 is connected with big arm 2-2-3 by flange, and big arm 3 is the hollow cylinder steel pipe.Forearm servomotor 2-2-13 is connected with forearm decelerator 2-2-12; forearm decelerator 2-2-12 is installed on the forearm gripper shoe 2-2-15-1-1; forearm decelerator 2-2-12 is connected with forearm drive rod 2-2-14 by flange; forearm drive rod 2-2-14 is connected with pull bar 2-2-11 by bearing; pull bar 2-2-11 is connected with the clamping element that clamps forearm 2-2-4 by bearing, and forearm 2-2-4 is a hollow cylinder steel pipe.Big arm 2-2-3 is connected with big arm U type support 2-2-10 by welding, and big arm U type support 2-2-10 is connected with forearm clamp 2-2-9 by bolt, and forearm clamp 2-2-9 is by screws clamp forearm 2-2-4; Big arm 2-2-3, forearm drive rod 2-2-14, pull bar 2-2-11 and forearm 2-2-4 form a parallelogram.Forearm 2-2-4 front end is connecting the wrist 2-2-5 that rotates around forearm 2-2-4 axis by ring flange 2-2-8; Wrist 2-2-5 is the hollow cylinder steel pipe, is connected with the arm steel pipe; Be provided with wrist decelerator and wrist servomotor in the cast housing of wrist 2-2-5, the wrist decelerator is connected with the wrist servomotor, the wrist decelerator connects a hand 2-2-6 who does elevating movement, hand 2-2-6 is provided with hand decelerator and hand servomotor, hand decelerator front end is installed removable finger 2-2-7, finger 2-2-7 shape such as V font.
Thereby realize engine valve gripping and placement around rotation and the wrist 2-2-5 of waist 2-2-15 around the finger 2-2-7 of the rotation drive hand 2-2-6 of forearm 2-2-4 axis front end by waist 2-2-15 rotation, big arm 2-2-3 and forearm 2-2-4, finish the processing stations conversion of valve workpiece in the engine valve electric rammer hot-forging forming operation.
Among robot ' s arm motor 2-2-2, the forearm motor 2-2-13 of robot, waist servomotor 2-2-15-4, the robot wrist 2-2-5 among servomotor, the robot hand 2-2-6 servomotor be connected with the corresponding drivers of the servo-driver 2-5-3 of robot of switch board 2-5.Among robot finger 2-2-7 and the switch board 2-5 among the Pneumatic module 2-5-6 machine popularity pawl pneumatic part be connected.The position limit sensing of robot is connected with interface module 2-5-5 appropriate section among the switch board 2-5.
Shown in Fig. 8-10, manipulator comprises vertical displacement movement device 2-4-1, horizontal rectilinear motion device 2-4-2, frame mobile device 2-4-3; Vertical displacement movement device 2-4-1 comprises the terminal 2-4-1-2 of executing agency, camera 2-4-1-3, portable plate 2-4-1-4, guide post 2-4-1-5, cylinder 2-4-1-6 and fixed support 2-4-1-7; Cylinder 2-4-1-6 is installed on the fixed support 2-4-1-7, the terminal 2-4-1-2 of executing agency that is used for valve 2-4-1-1 gripping is fixed on portable plate 2-4-1-4 upper surface, the camera 2-4-1-3 that is used for Image Acquisition is installed in lower surface and the terminal executing agency 2-4-1-2 back of portable plate 2-4-1-4, the distance of V-type groove on the horizontal rectilinear motion direction of the camera lens of camera 2-4-1-3 and valve fixture block 2-4-1-2-1 adjusted according to the camera focal length, portable plate 2-4-1-4 is connected with the piston rod of cylinder 2-4-1-6, and the flexible portable plate 2-4-1-4 that drives of cylinder 2-4-1-6 moves up and down.
Horizontal rectilinear motion device 2-4-2 comprises removable connecting plate 2-4-2-1, ball-screw 2-4-2-2, shaft coupling 2-4-2-3, line slideway 2-4-2-4, motor 2-4-2-5, slide block 2-4-2-6 and base plate 2-4-2-7; Motor 2-4-2-5 is connected with ball-screw 2-4-2-2 by shaft coupling 2-4-2-3, the nut of ball-screw 2-4-2-2 and removable connecting plate 2-4-2-1 pass through Bolt Connection, the slide block 2-4-2-6 of removable connecting plate 2-4-2-1 and two line slideway 2-4-2-4 passes through Bolt Connection, line slideway 2-4-2-4 and base plate 2-4-2-7 are affixed, fixed support 2-4-1-7 and removable connecting plate 2-4-2-1 are affixed, motor 2-4-2-5 drives ball-screw 2-4-2-2 rotation, leading screw drives removable connecting plate 2-4-2-1 and moves on line slideway 2-4-2-4, and motor 2-4-2-5 is a servomotor.
Frame mobile device 2-4-3 comprises frame 2-4-3-1, V-type sheave 2-4-3-2 and V-type rail 2-4-3-3; Frame 2-4-3-1 and base plate 2-4-2-7 are weldingly connected, V-type sheave 2-4-3-2 uses Bolt Connection in frame 2-4-3-1 bottom, 4 V-type sheave 2-4-3-2 roll on V-type rail 2-4-3-3, thereby make frame 2-4-3-1 and vertical displacement movement device 2-4-1 and horizontal rectilinear motion device 2-4-2 be realized moving by manual operation.
Stretching motion by cylinder 2-4-1-6 is realized vertical displacement movement, and cylinder 2-4-1-6 inside carries magnet ring, places the sensor that can detect magnetic at the extreme position of cylinder outer surface; The rotation that drives ball-screw 2-4-2-2 by motor 2-4-2-5 drives removable connecting plate 2-4-2-1 and realize horizontal rectilinear motion on two parallel lines guide rail 2-4-2-4, and line slideway 2-4-2-4 will guarantee the depth of parallelism when mounted.
As shown in Figure 9, the terminal 2-4-1-2 of executing agency comprises valve fixture block 2-4-1-2-1, temperature probe 2-4-1-2-2, a pawl 2-4-1-2-3 and refers to type cylinder 2-4-1-2-4; Finger type cylinder 2-4-1-2-4 is connected by soket head cap screw with two pawl 2-4-1-2-3, propping up pawl 2-4-1-2-3 is connected by soket head cap screw with valve fixture block 2-4-1-2-1, temperature probe 2-4-1-2-2 is positioned at the hole of valve fixture block 2-4-1-2-1, refers to that type cylinder 2-4-1-2-4 and portable plate 2-4-1-4 pass through Bolt Connection.
As shown in figure 10, valve fixture block 2-4-1-2-1 is a cube type, is provided with the V-type groove and is convenient to the gripping valve, and the V-type angle of the v-groove is 30 °-150 °, and groove face is chased out many small grooves, to increase frictional force.Valve fixture block 2-4-1-2-1 is made into series specification, can the gripping diameter be the valve of φ 5-φ 20.Temperature probe 2-4-1-2-2 is a thermocouple sensor, is installed in the hole of valve fixture block 2-4-1-2-1, can measure the temperature at institute gripping position.
Manipulator servomotor 2-4-2-5 is connected with manipulator servo-driver 2-5-4 among the switch board 2-5, and mechanical finger type cylinder 2-4-1-2-4, cylinder 2-4-1-6 are connected with Pneumatic module 2-5-6 appropriate section among the switch board 2-5.
As shown in figure 11, switch board 2-5 comprises industrial computer 2-5-1, PLC (Programmed Logic Controller) 2-5-2, the servo-driver 2-5-3 of robot, manipulator servo-driver 2-5-4, interface module 2-5-5, Pneumatic module 2-5-6 and power supply 2-5-7.Wherein interface circuit 2-5-5 is output relay buffer circuit (26LS31); Pneumatic module 2-5-6 comprises the electromagnetic gas valve (DT601-00) of the terminal 2-4-1-2 of executing agency of the electromagnetic gas valve (DT601-00) of cylinder 2-4-1-6 of electromagnetic gas valve (DT601-00), manipulator of the finger 2-2-7 of pneumatic triple piece (AC2000-02), robot and manipulator; Pneumatic triple piece is connected with the source of the gas input of three electromagnetic gas valves (DT601-00), the control end of three electromagnetic gas valves (DT601-00) is connected with the output relay buffer circuit respectively, and the output of electromagnetic gas valve is connected with the finger 2-2-7 of robot, the cylinder 2-4-1-6 of manipulator and the terminal 2-4-1-2 of executing agency of manipulator respectively.Robot servo-driver 2-5-3 is connected with the servomotor of big arm servomotor 2-2-2, wrist 2-2-5, servomotor, forearm servomotor 2-2-13 and the waist servomotor 2-2-15-4 of hand 2-2-6 respectively among the switch board 2-5.Manipulator servo-driver 2-5-4 is connected with motor 2-4-2-5 in the switch board 1.PLC2-5-2 is connected with industrial computer 2-5-1 by serial ports (RS-232), and the output of PLC2-5-2 is connected with the output relay buffer circuit.The output of industrial computer 2-5-1 is connected with the output relay buffer circuit.Power supply 2-5-7 is respectively industrial computer 2-5-1, PLC2-5-2, the servo-driver 2-5-3 of robot, manipulator servo-driver 2-5-4 and interface module 2-5-5 power supply is provided.
Switch board 2-5 starts electric upsetter 2-1 earlier, finish the electricity rammer when detecting electric upsetter 2-1, switch board 2-5 control gripping the 2-2 of robot and the manipulator 2-4 of engine valve in forging press 2-3, join near the die cavity, robot finishes the engine valve that handing-over waits for that the next electricity of gripping is upset and finished, manipulator 2-4 is placed into engine valve in the forging press 2-3 die cavity, and withdraw from forging press 2-3 working range, the wait forge hot finishes, when switch board 2-5 detects the engine valve that forge hot finishing control manipulator 2-4 finishes from forging press 2-3 die cavity gripping forge hot, and engine valve is placed on the conveyer belt 3.
The above only is preferred embodiment of the present invention, and in order to restriction the present invention, for example, annealing device 4 can not change welder etc. into yet.All any modifications of being done within the spirit and principles in the present invention, be equal to and replace and improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. an engine valve electric-upsetting hot-forging forming flexible manufacturing line is characterized in that: comprise a plurality of engine valve electric rammer hot-forging forming manufacturing cells and many conveyer belts; Engine valve electric rammer hot-forging forming manufacturing cell comprises three electric upsetters, robot, forging press, manipulator and switch boards; Three electric upsetters are distributed in robot one side with fan-shaped layout, and manipulator is positioned at the opposite side of robot, is oppositely arranged with electric upsetter; Forging press is between robot and manipulator; Electric upsetter and robot, the distance of robot and forging press is according to robot brachium decision; Switch board is arranged between electric upsetter and the forging press, is positioned at a side of robot; Many conveyer belt is installed between forging press and the manipulator, and an end of conveyer belt links to each other with annealing device, and every conveyer belt links to each other with at least one engine valve electric rammer hot-forging forming manufacturing cell;
Described robot comprises base, waist, big arm, forearm, wrist and hand, and described waist comprises waist bracket, waist servomotor, the first waist decelerator, the second waist decelerator pinion and the second waist decelerator gear wheel mechanism; Waist bracket comprises terminal pad, big arm gripper shoe and forearm gripper shoe; In the terminal pad upper end big arm gripper shoe and forearm gripper shoe have been installed respectively; The second waist decelerator gear wheel mechanism comprises the outer ring securing member, the second waist decelerator turntable bearing outer ring, the second waist decelerator turntable bearing inner ring, inner ring securing member and locating ring; The second waist decelerator turntable bearing outer ring is connected with terminal pad by the outer ring securing member, the second waist decelerator turntable bearing inner ring is cemented on the base by the inner ring securing member, locating ring is placed in the inside of the second waist decelerator turntable bearing inner ring, and is affixed with base; The first waist decelerator and the second waist decelerator pinion are fixed, and the second waist decelerator pinion and the second waist decelerator turntable bearing outer ring gear are meshing with each other, and the waist servomotor is connected with the first waist decelerator; Big arm servomotor is connected with big arm decelerator, and big arm decelerator is installed on the big arm gripper shoe, and big arm decelerator is connected with big arm, and big arm is the hollow cylinder steel pipe; The forearm servomotor is connected with the forearm decelerator; the forearm decelerator is installed on the forearm gripper shoe, and the forearm decelerator is connected with the forearm drive rod, and the forearm drive rod is connected with pull bar by bearing; pull bar is connected with the clamping element that clamps forearm by bearing, and forearm is a hollow cylinder steel pipe; Big arm is connected with big arm U type support, and big arm U type support is connected with the forearm clamp, and the forearm clamp clamps forearm; The forearm front end is connecting the wrist of rotating around the forearm axis by ring flange; Wrist is the hollow cylinder steel pipe, be provided with wrist decelerator and wrist servomotor in the hollow cylinder steel pipe of wrist, the wrist decelerator is connected with the wrist servomotor, the wrist decelerator connects a hand of doing elevating movement, hand is provided with hand decelerator and hand servomotor, hand decelerator front end is installed removable finger, points the font into V;
Described manipulator comprises vertical displacement movement device, horizontal rectilinear motion device and frame mobile device; Described vertical displacement movement device comprises terminal executing agency, camera, portable plate, guide post, cylinder and fixed support; Cylinder is installed on the fixed support, and portable plate is connected with the piston rod of cylinder, and the terminal executing agency that is used for the valve gripping is fixed on the portable plate upper surface, and the camera that is used for Image Acquisition is installed in the lower surface of portable plate, is positioned at terminal executing agency rear end; Described terminal executing agency comprises valve fixture block, temperature probe, a pawl and refers to the type cylinder; Finger type cylinder is connected with two pawls, and a pawl is connected with the valve fixture block, and temperature probe is positioned at the hole of valve fixture block, refers to that the type cylinder is connected with portable plate; Described horizontal rectilinear motion device comprises removable connecting plate, ball-screw, shaft coupling, line slideway, motor, slide block and base plate; Motor is connected with ball-screw by shaft coupling, the nut of ball-screw is connected with removable connecting plate, and removable connecting plate is connected with the slide block of two line slideways, and line slideway is connected with base plate, fixed support is connected with removable connecting plate, and described motor is a servomotor; Described frame mobile device comprises frame, V-type sheave and V-type rail; Frame links to each other with base plate, and the V-type sheave is connected frame bottom with bolt, the connection of rolling on V-type rail of 4 V-type sheaves;
Described switch board comprises industrial computer, PLC, robot servo-driver, manipulator servo-driver, interface circuit, Pneumatic module and power supply; Wherein interface circuit is the output relay buffer circuit; Pneumatic module comprises pneumatic triple piece and three electromagnetic gas valves; Pneumatic triple piece is connected with the source of the gas input of three electromagnetic gas valves, the control end of three electromagnetic gas valves is connected with the output relay buffer circuit respectively, and the output of electromagnetic gas valve is connected with the finger of robot, the cylinder of manipulator and the terminal executing agency of manipulator respectively; Described robot servo-driver is connected with the servomotor of big arm servomotor, wrist, servomotor, forearm servomotor and the waist servomotor of hand respectively; Described manipulator servo-driver is connected with motor; PLC is connected with industrial computer by serial ports, and the output of PLC is connected with the output relay buffer circuit; The output of industrial computer is connected with the output relay buffer circuit.
2. engine valve electric-upsetting hot-forging forming flexible manufacturing line according to claim 1 is characterized in that: described valve fixture block is a cube type, is provided with the V-type groove, and the V-type angle of the v-groove is 30 °-150 °, and groove face is chased out many small grooves.
3. engine valve electric-upsetting hot-forging forming flexible manufacturing line according to claim 1 is characterized in that: described temperature probe is a thermocouple sensor.
4. engine valve electric-upsetting hot-forging forming flexible manufacturing line according to claim 1 is characterized in that: described finger type cylinder is connected by soket head cap screw with two pawls.
5. engine valve electric-upsetting hot-forging forming flexible manufacturing line according to claim 1 is characterized in that: described waist bracket also comprises reinforcement, and big arm gripper shoe and forearm gripper shoe are fixed on the terminal pad by reinforcement.
6. engine valve electric-upsetting hot-forging forming flexible manufacturing line according to claim 1 is characterized in that: described big arm servomotor is connected by screw with big arm decelerator.
7. engine valve electric-upsetting hot-forging forming flexible manufacturing line according to claim 1 is characterized in that: described big arm decelerator is connected with big arm by flange.
8. engine valve electric-upsetting hot-forging forming flexible manufacturing line according to claim 1 is characterized in that: described forearm decelerator is connected with the forearm drive rod by flange.
9. engine valve electric-upsetting hot-forging forming flexible manufacturing line according to claim 1 is characterized in that: described big arm is connected with big arm U type support by welding.
10. engine valve electric-upsetting hot-forging forming flexible manufacturing line according to claim 1 is characterized in that: described big arm, forearm drive rod, pull bar and forearm are formed a parallelogram.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101154988A CN101780517B (en) | 2010-02-26 | 2010-02-26 | Engine valve electric-upsetting hot-forging forming flexible manufacturing line |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010101154988A CN101780517B (en) | 2010-02-26 | 2010-02-26 | Engine valve electric-upsetting hot-forging forming flexible manufacturing line |
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| CN101780517A CN101780517A (en) | 2010-07-21 |
| CN101780517B true CN101780517B (en) | 2011-08-31 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102274918B (en) * | 2011-05-24 | 2013-02-13 | 浙江东瑞机械工业有限公司 | Rear pass mechanism for cold upsetting forming machine |
| CN102335714A (en) * | 2011-10-09 | 2012-02-01 | 北京机电研究所 | Multi-joint robot-based multi-station stepped feeding method for forging industry |
| JP5497970B2 (en) * | 2012-03-30 | 2014-05-21 | 日鍛バルブ株式会社 | Valve forging press equipment |
| CN109562516A (en) * | 2016-06-30 | 2019-04-02 | Abb瑞士股份有限公司 | The processing component in punch line |
| CN106694771B (en) * | 2017-01-09 | 2020-04-03 | 天津鹏鹄科技有限公司 | Full-automatic electric upsetting production line |
| CN108356195A (en) * | 2018-03-27 | 2018-08-03 | 湖南粤科汇智能科技有限公司 | A kind of efficient production system of hardware |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3346160A1 (en) * | 1983-01-28 | 1984-08-02 | VEB IFA-Automobilwerke Ludwigsfelde Stammbetrieb des IFA-Kombinates Nutzkraftwagen, DDR 1720 Ludwigsfelde | Gripper head for manipulators on upsetting machines |
| CN1460563A (en) * | 2003-06-17 | 2003-12-10 | 华中科技大学 | Upset forging forming machine for valve |
| CN2758034Y (en) * | 2004-12-28 | 2006-02-15 | 华南理工大学 | Mechanical hand mechanism for automatically feeding and stirring material |
| CN2829937Y (en) * | 2005-08-29 | 2006-10-25 | 中山市正洲汽门有限公司 | Automatic feeding/discharging appts. of air vent forging reducer |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS56114544A (en) * | 1980-02-14 | 1981-09-09 | Miyazaki Tekkosho:Kk | Manipulator for forging press |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3346160A1 (en) * | 1983-01-28 | 1984-08-02 | VEB IFA-Automobilwerke Ludwigsfelde Stammbetrieb des IFA-Kombinates Nutzkraftwagen, DDR 1720 Ludwigsfelde | Gripper head for manipulators on upsetting machines |
| CN1460563A (en) * | 2003-06-17 | 2003-12-10 | 华中科技大学 | Upset forging forming machine for valve |
| CN2758034Y (en) * | 2004-12-28 | 2006-02-15 | 华南理工大学 | Mechanical hand mechanism for automatically feeding and stirring material |
| CN2829937Y (en) * | 2005-08-29 | 2006-10-25 | 中山市正洲汽门有限公司 | Automatic feeding/discharging appts. of air vent forging reducer |
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| CN101780517A (en) | 2010-07-21 |
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