CN102125960B - Feeding and discharging mechanical arm for pipe forming machine - Google Patents
Feeding and discharging mechanical arm for pipe forming machine Download PDFInfo
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- CN102125960B CN102125960B CN2010106142027A CN201010614202A CN102125960B CN 102125960 B CN102125960 B CN 102125960B CN 2010106142027 A CN2010106142027 A CN 2010106142027A CN 201010614202 A CN201010614202 A CN 201010614202A CN 102125960 B CN102125960 B CN 102125960B
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Abstract
The invention relates to a feeding and discharging mechanical arm for a pipe forming machine. The font of a moving trolley is connected with a rotary table through a rotary gear; a parallelogram mechanism consisting of a connecting arm, a guide cylinder, an upper connecting rod and a lower connecting rod is formed on the rotary table, and is driven by an elevating hydraulic cylinder and a nose-down pitching hydraulic cylinder; the guide cylinder is provided with a gear driven by a telescopic motor, and the gear is meshed with a rack on the outer side face of a cantilever; an overturning arm and a clamp extend out of the front end of the cantilever; and each hydraulic cylinder is driven by a hydraulic control system. By simulating steps of a manual feeding and discharging method, the feeding and discharging mechanical arm can flexibly complete seven actions, namely clamping materials, stretching a nippling lever, horizontally lifting the nippling lever, pitching the nippling lever, overturning the nippling lever, rotating a frame in a 360-degree range, and walking the trolley, greatly lightens labor intensity of workers, improves work efficiency, and is safe, flexible and easy to operate.
Description
Technical field
The present invention relates to pipe fitting process equipment field, especially the loading and unloading manipulator of pipe fitting forming machine.
Background technology
The large-calibre seamless tee pipe fitting adopts cold shaping machine to carry out the hydraulic pressure extrusion molding usually, and loading and unloading are carried out in main at present employing manual work, and this pipe fitting blank is bulky; Weight is very heavy; Need at least two people could carry and the pipe fitting blank is put into the extrusion die of press, after extruding is accomplished, from mould, take out again, and need the hydraulic oil of pipe fitting inside remnants be poured out; Not only workload is big, production efficiency is low, poor working environment, and security incident takes place easily in operation under press.
Summary of the invention
The applicant needs artificial loading and unloading to above-mentioned existing large-calibre seamless tee pipe fitting cold forming; Shortcomings such as the low and danger of efficient; A kind of loading and unloading manipulator of rational in infrastructure, easy to operate pipe fitting forming machine is provided, thereby can fast and safely carries out the loading and unloading operation of tee pipe fitting.
The technical scheme that the present invention adopted is following:
A kind of loading and unloading manipulator of pipe fitting forming machine; The travelling car front is connected with rotation platform through swiveling gear; Positive middle part at rotation platform is provided with column; Be articulated with first fulcrum of trident linking arm on the top of column, second fulcrum of linking arm articulates with the piston rod that falls hydraulic cylinder of bowing, and the cylinder body that falls hydraulic cylinder of bowing is articulated on the rotation platform; The 3rd fulcrum of linking arm is articulated through last connecting rod and guide cylinder, and guide cylinder articulates on first fulcrum of linking arm through lower link simultaneously, and promptly linking arm, guide cylinder and last connecting rod, lower link have been formed parallel-crank mechanism; The cylinder body of hydraulic cylinder of steeving is articulated on the column, and piston rod is articulated on the guide cylinder; Guide cylinder is provided with the gear that the telescopic electric machine drives, and is meshed with the tooth bar of cantilever lateral surface; The cantilever front end stretches out flip-arm, and flip-arm is through the control of upset hydraulic cylinder; The flip-arm middle part is provided with the clamp hydraulic cylinder, and the piston rod of clamp hydraulic cylinder connects left fixture block, and right fixture block is fixed on the flip-arm front end, matches with the left fixture block of activity; Each hydraulic cylinder drives through hydraulic control system.It is further characterized in that:
Said swiveling gear passes through motor driven.
The present invention is through the artificial loading and unloading method step of simulation; Can accomplish seven big-movements such as material folding, claw beam are flexible, the parallel up-down of claw beam, claw beam pitching, claw beam upset, any 360 ° of revolutions of frame, carriage walking neatly, not only can easily workpiece be put in the mould, after shaping, workpiece taken out evacuation hydraulic oil; Alleviate working strength of workers greatly; Increase work efficiency, and safety flexibly easy operating; Thereby efficiently solve the problem of large-caliber tee pipe fitting cold shaping machine loading and unloading, also can be applied to other large-scale heavy and sinuous material transfer tasks.
Description of drawings
Fig. 1 is a structure principle chart of the present invention.
Fig. 2 is a work sketch map of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described.
As shown in Figure 1; Be provided with the travelling car 1 of roller bottom the present invention includes, can push on the ground, travelling car 1 front is connected with rotation platform 3 through swiveling gear 2; Swiveling gear 2 drives through motor 17, can make rotation platform 3 do the comprehensive revolution of 360 degree; Afterbody is provided with hydraulic control system 4 in the front of rotation platform 3, is used for each hydraulic cylinder is done hydraulic control and driving; Positive middle part at rotation platform 3 is provided with column 7, is articulated with a fulcrum 8-2 of trident linking arm 8 on the top of column 7, and the fulcrum 8-1 of linking arm 8 articulates with the piston rod that falls hydraulic cylinder 6 of bowing, and the cylinder body that falls hydraulic cylinder 6 of bowing is articulated on the rotation platform 3; Another fulcrum 8-3 of linking arm 8 is articulated with guide cylinder 12 through last connecting rod 11; Guide cylinder 12 is articulated on the column 7 top pivot 8-1 through lower link 9 simultaneously, and so linking arm 8, guide cylinder 12 and last connecting rod 11, lower link 9 have promptly been formed parallel-crank mechanism; The cylinder body of hydraulic cylinder 10 of steeving is articulated on the column 7, and piston rod is articulated on the guide cylinder 12.Guide cylinder 12 is provided with the gear (not shown) that the telescopic electric machine drives, and is meshed with the tooth bar 16 of cantilever 5 lateral surfaces, stretches out forward or backward movement backward through gear rotating drive cantilever 5.Cantilever 5 is a hollow-core construction, and front end stretches out flip-arm 13, and flip-arm 13 can be done upset with its central axis through the upset hydraulic cylinder control (not shown) of cantilever 5 set inside; Flip-arm 13 also is a hollow-core construction, and the middle part is provided with clamp hydraulic cylinder (not shown), and the piston rod of clamp hydraulic cylinder connects left fixture block 14, and right fixture block 15 is fixed on flip-arm 13 front ends, matches with the left fixture block 14 of activity to realize clamping and loosens function.
Real work is as shown in Figure 2; Pipe fitting raw material 20-1 concentrates and is placed on raw material district 21, and processing district 22 is provided with hydraulic pressure cold shaping machine and shaping dies, and the tee pipe fitting finished product 20-2 after the processing concentrates and is placed on finished product district 23; Three zones become " article " font to arrange; Be positioned on the same circumference,, loading and unloading manipulator of the present invention be placed between raw material district 21 and the finished product district 23 through pushing the roller of travelling car 1 bottom.
The first step, the gripping raw material: cantilever 5 is positioned at 21 tops, raw material district during initial state, and the piston rod of clamp hydraulic cylinder stretches out action, and left fixture block 14 travels forward, and cooperates right fixture block 15 to clamp pipe fitting raw material 20-1.
Second step, material loading: motor 17 driving rotational gears 2, make rotation platform 3 drive cantilever 5 90 degree that are rotated counterclockwise as shown in Figure 2, raw material is delivered to the shaping dies top of the hydraulic pressure cold shaping machine of processing district 22; The piston rod that falls hydraulic cylinder 6 of bowing this moment is done and is stretched out action, utilize parallelogram sturcutre stable make guide cylinder 12 drive cantilevers 5 to do to bow and fall, the piston rod of the hydraulic cylinder 10 of steeving this moment cooperates retraction; The piston rod of clamp hydraulic cylinder shrank after raw material put in place, and left fixture block 14 loosens backward.
In the 3rd step, material loading is return: the piston rod of the hydraulic cylinder 10 of steeving stretches out, and guide cylinder 12 is driven cantilever 5 anterior clamps lift, and leaves raw material, and the piston rod that falls hydraulic cylinder 6 of bowing this moment cooperates retraction; Telescopic electric machine driven wheel is meshed with the tooth bar 16 of cantilever 5 lateral surfaces, and cantilever 5 is drawn back from mould and hydraulic press.
The 4th step, hydroforming; Hydraulic press utilizes mould that raw material 20-1 is carried out hydroforming, is processed into tee pipe fitting finished product 20-2.
In the 5th step, material folding is fallen oily: telescopic electric machine driven wheel, and cantilever 5 is advanced, the piston rod that falls hydraulic cylinder 6 of bowing behind the clamp entering forcing press stretches out, and the piston rod that clamp falls back clamp hydraulic cylinder stretches out, and clamps tee pipe fitting finished product 20-2; The piston rod of hydraulic cylinder 10 of steeving then stretches out, and 20-2 is lifted away from mould with finished product; The hydraulic cylinder that overturns then control flip-arm 13 is done upset, and the inner residual hydraulic oil of tee pipe fitting finished product 20-2 is poured out; The hydraulic cylinder that overturns at last resets.
The 6th step, blanking: motor 17 driving rotational gears 2, make rotation platform 3 drive cantilever 5 and continue to be rotated counterclockwise 90 degree, finished product 20-2 is delivered to finished product district 23, finished product under the piston rod contracted of clamp hydraulic cylinder.
More than describing is to explanation of the present invention; It or not qualification to invention; Institute of the present invention restricted portion is referring to claim; Under the situation of spirit of the present invention, the present invention can do any type of modification, for example the present invention is used in the loading and unloading work step of other pipe fitting forming equipment or other large-scale heavy materials; Perhaps the part hydraulic cylinder is replaced with pneumatic cylinder.
Claims (2)
1. the loading and unloading manipulator of a pipe fitting forming machine; It is characterized in that: the travelling car front is connected with rotation platform through swiveling gear; Positive middle part at rotation platform is provided with column; Be articulated with first fulcrum of trident linking arm on the top of column, second fulcrum of linking arm articulates with the piston rod that falls hydraulic cylinder of bowing, and the cylinder body that falls hydraulic cylinder of bowing is articulated on the rotation platform; The 3rd fulcrum of linking arm is articulated through last connecting rod and guide cylinder, and guide cylinder articulates on first fulcrum of linking arm through lower link simultaneously, and promptly linking arm, guide cylinder and last connecting rod, lower link have been formed parallel-crank mechanism; The cylinder body of hydraulic cylinder of steeving is articulated on the column, and piston rod is articulated on the guide cylinder; Guide cylinder is provided with the gear that the telescopic electric machine drives, and is meshed with the tooth bar of cantilever lateral surface; The cantilever front end stretches out flip-arm, and flip-arm is through the control of upset hydraulic cylinder; The flip-arm middle part is provided with the clamp hydraulic cylinder, and the piston rod of clamp hydraulic cylinder connects left fixture block, and right fixture block is fixed on the flip-arm front end, matches with the left fixture block of activity; Each hydraulic cylinder drives through hydraulic control system.
2. according to the loading and unloading manipulator of the described pipe fitting forming machine of claim 1, it is characterized in that: said swiveling gear passes through motor driven.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010106142027A CN102125960B (en) | 2010-12-30 | 2010-12-30 | Feeding and discharging mechanical arm for pipe forming machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010106142027A CN102125960B (en) | 2010-12-30 | 2010-12-30 | Feeding and discharging mechanical arm for pipe forming machine |
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| Publication Number | Publication Date |
|---|---|
| CN102125960A CN102125960A (en) | 2011-07-20 |
| CN102125960B true CN102125960B (en) | 2012-08-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2010106142027A Active CN102125960B (en) | 2010-12-30 | 2010-12-30 | Feeding and discharging mechanical arm for pipe forming machine |
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| CN (1) | CN102125960B (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102489623A (en) * | 2011-12-29 | 2012-06-13 | 山东丽鹏股份有限公司 | Aluminum plate feeding clamp for full-automatic aluminum cover production line |
| CN102673933B (en) * | 2012-05-08 | 2014-01-29 | 陕西科技大学 | Automatic loading trolley |
| CN102699221B (en) * | 2012-06-19 | 2014-04-30 | 河北工业大学 | Loading and unloading manipulator |
| CN102699225B (en) * | 2012-06-19 | 2013-12-25 | 河北工业大学 | Loading and unloading manipulator for machining aluminum frame assembly |
| CN103722095A (en) * | 2012-10-10 | 2014-04-16 | 四川欧润特软件科技有限公司 | Automatic feeding and discharging device |
| CN103394610B (en) * | 2013-06-28 | 2015-06-10 | 雄华机械(苏州)有限公司 | Feeding and discharging mechanism of pipe pressing machine |
| CN104528378B (en) * | 2014-12-26 | 2016-08-24 | 中国重型机械研究院股份公司 | A kind of card pipe feeding structure and method |
| CN104960913B (en) * | 2015-05-20 | 2017-07-18 | 绥阳县华丰电器有限公司 | Fin loading and unloading material device |
| CN105538317A (en) * | 2015-12-25 | 2016-05-04 | 鼎奇(天津)主轴科技有限公司 | Rotating manipulator for snatching rotation of round bar |
| CN108974887B (en) * | 2018-06-13 | 2024-03-19 | 南京利德东方橡塑科技有限公司 | Straight rubber tube extrusion blanking mechanism and control method |
| CN114412861A (en) * | 2022-01-14 | 2022-04-29 | 大连华锐重工集团股份有限公司 | Pitching hydraulic system of arm support of continuous ship unloader and working method |
| CN117961948B (en) * | 2024-04-01 | 2024-06-07 | 哈尔滨学院 | Robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1117411A (en) * | 1993-12-17 | 1996-02-28 | 康茂股份公司 | Industrial robot, particularly for moving pieces from one press to the other in a line of presses |
| CN1291536A (en) * | 2000-10-13 | 2001-04-18 | 董运达 | Pneumatic manipulator |
| CN2657879Y (en) * | 2003-11-28 | 2004-11-24 | 蒋志高 | Manipulator with 8-freedom for loading and unloading |
| CN201950134U (en) * | 2010-12-30 | 2011-08-31 | 无锡市新峰管业股份有限公司 | Loading and unloading manipulator of tube forming machine |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10193030A (en) * | 1996-12-27 | 1998-07-28 | Kurimoto Ltd | Billet supplying device for forging press machine |
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2010
- 2010-12-30 CN CN2010106142027A patent/CN102125960B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1117411A (en) * | 1993-12-17 | 1996-02-28 | 康茂股份公司 | Industrial robot, particularly for moving pieces from one press to the other in a line of presses |
| CN1291536A (en) * | 2000-10-13 | 2001-04-18 | 董运达 | Pneumatic manipulator |
| CN2657879Y (en) * | 2003-11-28 | 2004-11-24 | 蒋志高 | Manipulator with 8-freedom for loading and unloading |
| CN201950134U (en) * | 2010-12-30 | 2011-08-31 | 无锡市新峰管业股份有限公司 | Loading and unloading manipulator of tube forming machine |
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| Publication number | Publication date |
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| CN102125960A (en) | 2011-07-20 |
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Address after: 214161 lakes in Jiangsu province Wuxi City foreshore Hu Dai Industrial Park District Road No. 136 Hu Tuo Zhen Patentee after: Wuxi City Xinfeng Pipe Co., Ltd. Address before: 214161 lakes in Jiangsu province Wuxi City foreshore Hu Dai Industrial Park District Road No. 136 Hu Tuo Zhen Patentee before: Wuxi Xinfeng Pipe-Fitting Co., Ltd. |