CN102335714A - Multi-joint robot-based multi-station stepped feeding method for forging industry - Google Patents
Multi-joint robot-based multi-station stepped feeding method for forging industry Download PDFInfo
- Publication number
- CN102335714A CN102335714A CN2011103012168A CN201110301216A CN102335714A CN 102335714 A CN102335714 A CN 102335714A CN 2011103012168 A CN2011103012168 A CN 2011103012168A CN 201110301216 A CN201110301216 A CN 201110301216A CN 102335714 A CN102335714 A CN 102335714A
- Authority
- CN
- China
- Prior art keywords
- forging
- station
- moving
- joint
- joint robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000005242 forging Methods 0.000 title claims abstract description 51
- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000033001 locomotion Effects 0.000 claims abstract description 36
- 230000003247 decreasing effect Effects 0.000 claims 1
- 239000007787 solid Substances 0.000 claims 1
- 230000001360 synchronised effect Effects 0.000 claims 1
- 230000007246 mechanism Effects 0.000 abstract description 18
- 238000004519 manufacturing process Methods 0.000 abstract description 13
- 230000008859 change Effects 0.000 description 7
- 239000011295 pitch Substances 0.000 description 7
- 238000003825 pressing Methods 0.000 description 5
- 230000000903 blocking effect Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 230000003252 repetitive effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
Images
Landscapes
- Forging (AREA)
Abstract
本发明提供了一种基于多关节机器人的锻压工业用多工位步进送料方法，属于锻压机械自动化装备技术领域。本发明在两台具有5或6个旋转轴的多关节机器人的机械臂末端分别固定两个运动梁，两个运动梁上装有一一对应的两组带缓冲机构的夹抓，夹爪数量可以按需要增减，同时可在运动梁上沿送料方向自由调整夹爪间距，通过多关节机器人的伺服控制系统设定空间运动轨迹，使两个运动梁同步在X、Y、Z三个方向组合运动，由两组夹抓夹紧和放松锻件，实现在多个工位之间锻件的输送。本发明简化了传统步进式机械手的结构，提高了锻件的重复定位精度，实现了重量更大、规格更多的锻件产品的多工位输送，使自动化锻压生产线的柔性得到了提升。
The invention provides a multi-station stepping feeding method for the forging industry based on a multi-joint robot, which belongs to the technical field of forging machinery automation equipment. In the present invention, two moving beams are respectively fixed at the ends of the mechanical arms of two multi-joint robots with 5 or 6 rotating shafts, and two sets of grippers with a buffer mechanism corresponding to each other are installed on the two moving beams, and the number of jaws can be Increase or decrease as required, and at the same time, the distance between the jaws can be freely adjusted along the feeding direction on the moving beam, and the space movement trajectory is set through the servo control system of the multi-joint robot, so that the two moving beams can move synchronously in the three directions of X, Y, and Z. Forgings are clamped and loosened by two groups of grippers to realize the transportation of forgings between multiple stations. The invention simplifies the structure of the traditional stepping manipulator, improves the repeated positioning accuracy of forgings, realizes the multi-station transportation of forging products with larger weight and more specifications, and improves the flexibility of the automatic forging production line.
Description
Technical field
The present invention relates to a kind of multistation step feeding method, the industrial multistation step feeding of especially a kind of forging and pressing based on articulated robot method belongs to metal forming machinery automated assembly technology field.
Background technology
In world's forging industry, production efficiency has been the central factor of market competitiveness of enterprises at present, in order to enhance productivity, adopts the automation multistation forging and pressing mode of production of step mechanical gearing mechanism hand (claiming the step rate manipulator again) feeding to be used widely.The automation multistation stamping line in fields such as more and more automobiles, space flight and aviation, machinery; Adopt step mechanical gearing mechanism hand conveying workpieces between a plurality of forming stations; Realize that the one stroke of same forcing press accomplishes the multiple tracks forming process simultaneously, production efficiency is greatly improved.In the automatic heat-transmission finish forge production process of automobile synchronizer bevel gear, be applied as example with the step mechanical gearing mechanism hand: initial bar is heated to initial forging temperature through induction heater; Deliver to the hotdie forging press precalculated position by conveyer belt; On two beam shape arms of step mechanical gearing mechanism hand by feeding work step distance be furnished with the 1st to the 4th totally 4 folders grab; The 1st folder by the step mechanical gearing mechanism hand grabbed the hot bar of clamping, is placed on the jumping-up station of forcing press, meanwhile; The the 2nd, 3 folder of step mechanical gearing mechanism hand grabbed the forging of the corresponding last station of clamping; Be placed on blocking tooth base, the finish-forging profile of tooth station and form, the 4th folder grabbed the final forging finished product clamping on the finish-forging profile of tooth station is placed on the conveyer belt that is connected to hopper, and above-mentioned action is accomplished in the one stroke process of same forcing press simultaneously.This step mechanical gearing mechanism hand generally is divided into three kinds of mechanically driver type, hydraulic drive type and servo driven types, and the standard that almost becomes multistation drop press in the world or multistation metal extrusion press at present is equipped with.Mechanically driver type step mechanical gearing mechanism hand is provided through the leverage transmission mechanism by the crank of forcing press; The step rate two ends are installed on the heel post of forcing press; Its advantage be simple in structure, pushing precision is high, energy consumption is low; Shortcoming is that the feeding step pitch of its X, Y, three directions of Z is almost fixing non-adjustable, and the working time reduces because of wearing and tearing cause pushing precision long afterwards easily; The hydraulic drive type step rate adopts hydraulic-driven; Drive part is in forcing press side window mouth both sides, and advantage is that power separates with forcing press, and shortcoming is the hydraulic work system less stable; Response speed is slower; And the seal easy oil leakage, hydraulic system receives the restriction of environmental factor such as temperature bigger, and difficult to find root when breaking down; Servo driven type step mechanical gearing mechanism hand is a third generation step mechanical gearing mechanism hand up-to-date on the our times, and the servomotor of employing more than six is distributed in the one or both sides of two step rates; Common controlled motion can be regulated the feeding step pitch adapting to the production of different product through programming, but also have shortcoming; For example the servomotor as power need be distributed in the forcing press both sides, makes that step rate need be across the forcing press both sides, and not only the length of beam is long, weight is big; Structure is also complicated, causes the maintenance and repair workload of step mechanical gearing mechanism hand big, and power consumption is big; Though can realize that through programming the feeding step pitch is adjustable; Load receives the restriction of rail length, also can only carry out the conveying of several kinds of shapes near the kind forging, and the degree of flexibility of production is low.In addition, above-mentioned three kinds of step mechanical gearing mechanism hands receive to restrict across the girder structure of forcing press both sides, change mould bases as needing in process of production, and the step rate that need remove a side at least could shift out press bench with mould bases, causes the die change workload to increase considerably.So in commercial Application, above-mentioned three types of step mechanical gearing mechanism hands generally all only are used for a kind of production of specification forging after Installation and Debugging on the forcing press are good.
Summary of the invention
The objective of the invention is to overcome the deficiency of existing step mechanical gearing mechanism hand feeding method; Provide a kind of and can realize Flexible Production; Can be applied to the multistation step feeding method of plurality of specifications forging automated production; And need not to dismantle the step rate any structure when changing mould bases, core rod, effectively reduce labor strength.
Technical scheme of the present invention is: adopt two articulated robots with 5 or 6 rotating shafts; At fixing respectively two the motion beams of the mechanical arm end of two robots; The folder of two groups of band buffer gears is housed on two motion beams one to one grabs, jaw quantity can increase and decrease on demand, can freely adjust the jaw spacing at motion beam upper edge feed direction simultaneously; Servo-control system setting space movement locus through articulated robot; Make two motion beams synchronously in X, Y, three direction aggregate motions of Z, grab clamping and loosen forging, be implemented in the conveying of forging between a plurality of stations by two groups of folders.Because driving force is in the centre of motion beam, not only the structure of motion beam is simplified greatly, if the station number more after a little while, can also change the short motion beam of length, has reduced the elastic deformation amount of beam under the clamping load effect, has improved the forging repetitive positioning accuracy.
Adopt technique scheme, can easily realize of the significantly adjusting of motion beam in X, Y, three directions of Z any one or a plurality of motion step pitches.When needs are produced the forging products of different size, change shape, position and the quantity that folder is grabbed as required, and can realize quick, stable changing the line of production through the servo-control system change robot motion track that articulated robot carries; When needs were changed mould bases, the multi-joint arm of control robot was removed and can be got out of the way the space, easily changes mould bases; When station number and feeding change of stride are big, even can also change the motion beam of different length.Practical situations proves; With respect to the industrial common step mechanical gearing mechanism hand of forging and pressing; Under the prerequisite that increases manufacturing cost hardly, the present invention has simplified the structure of traditional step mechanical gearing mechanism hand, has improved the repetitive positioning accuracy of forging; Realized that weight is bigger, the multistation conveying of the more forging products of specification, the flexibility of automation stamping line is improved.
Description of drawings
Accompanying drawing is a sketch map of the present invention.Among the figure, 1 is articulated robot, and 2 are the motion beam, and 3 is to be with the folder of buffer gear to grab, and 4 is mould bases, and 5 is press bench, and 6 is press ram, and 7 is conveyer belt, and 8 is the programmable control system operating desk, and 9 is initial blank.
The specific embodiment
Further specify embodiments of the invention below in conjunction with accompanying drawing and specific embodiment:
Like three station automations forging and pressing process shown in the drawings; Two articulated robots 1 are arranged in the both sides, front and back of forcing press; Two motion beams 2 are installed in the multi-joint arm end of articulated robot 1; The folder of four band buffer gears is grabbed 3 and is installed on two motion beams 2, and its spacing equals the feeding step pitch, and articulated robot 1 links to each other with programmable control system operating desk 6 through data wire.Through programmable control system operating desk 6; Set the movement locus of articulated robot 1; Make motion beam 2 remain level at the volley; The horizontal X direction displacement of motion beam 2 equals the feeding step pitch, and horizontal Y direction displacement guarantees that the folder of four band buffer gears grabs 3 and can clamp and loosen forging, the lifting that vertical Z direction displacement equals forging with put down distance.Mould bases 4 is fixed on the press bench 5, shown A, B, three stations of C, and A is a jumping-up, and B is a blocking, and C is a finish-forging.When forging products is produced beginning; Press ram 6 up opening, two articulated robots 1 drive two motion beams 2 simultaneously, along X, Y, three direction aggregate motions of Z; Making folder grab first pair of jaw of 3 firmly grasps initial blank 9 and is placed on after station A goes up; Unclamp jaw 3 and withdraw motion beam 2 to mould bases 4 outsides, press ram 6 is descending, hits forging up opening afterwards; Two articulated robots 1 drive two motion beams 2; Along X, Y, three direction aggregate motions of Z; Make folder grab first pair of jaw of 3 and firmly grasp initial blank 9 and be placed on the station A, the forging that second pair of jaw firmly grasped behind the station A jumping-up is placed on the station B, opens jaw 3 and withdraws motion beam 2 to mould bases 4 outsides; Press ram 6 is descending, hits forging up opening afterwards; Two articulated robots 1 drive two motion beams 2; Along X, Y, three direction aggregate motions of Z, make folder grab first pair of jaw of 3 and firmly grasp initial blank 9 and be placed on the station A, the forging that second pair of jaw firmly grasped behind the station A jumping-up is placed on the station B; The forging that the 3rd pair of jaw firmly grasped behind the station B blocking is placed on the station C; Unclamp jaw 3 and withdraw motion beam 2 to mould bases 4 outsides, press ram 6 is descending, hits forging up opening afterwards; Two articulated robots 1 drive two motion beams 2; Along X, Y, three direction aggregate motions of Z; Make folder grab first pair of jaw of 3 and firmly grasp initial blank 9 and be placed on the station A, the forging that second pair of jaw firmly grasped behind the station A jumping-up is placed on the station B, and the forging that the 3rd pair of jaw firmly grasped behind the station B blocking is placed on the station C; The forging that the 4th pair of jaw firmly grasped behind the station C finish-forging is placed on the outer conveyer belt 7 of mould bases; Unclamp jaw 3 and withdraw motion beam 2 to mould bases 4 outsides, press ram 6 is descending, hits forging up opening afterwards.Iterative motion as stated.When needs are changed mould bases, core rod and forging products; The multi-joint arm of control articulated robot 1 is removed and can be got out of the way the space, changes mould bases 4, grabs 3 quantity by the station number adjustment folder of new mould bases; Press the spacing of the feeding step pitch adjustment jaw 3 of new product; Through programmable control system operating desk 6, new settings or call the movement locus of the articulated robot 1 of storage, accomplish adjustment also the automation of beginning new product forge and produce.
Claims (4)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011103012168A CN102335714A (en) | 2011-10-09 | 2011-10-09 | Multi-joint robot-based multi-station stepped feeding method for forging industry |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011103012168A CN102335714A (en) | 2011-10-09 | 2011-10-09 | Multi-joint robot-based multi-station stepped feeding method for forging industry |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102335714A true CN102335714A (en) | 2012-02-01 |
Family
ID=45511802
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011103012168A Pending CN102335714A (en) | 2011-10-09 | 2011-10-09 | Multi-joint robot-based multi-station stepped feeding method for forging industry |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102335714A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104723351A (en) * | 2015-03-09 | 2015-06-24 | 上海交通大学 | Robot paw used for die forging manufacture |
| TWI498185B (en) * | 2012-09-29 | 2015-09-01 | Hon Hai Prec Ind Co Ltd | Disassembly system |
| CN105363991A (en) * | 2014-08-25 | 2016-03-02 | 苏州市东盛锻造有限公司 | Multifunctional lower sliding plate device of die-forging hydraulic press |
| CN107790600A (en) * | 2017-10-30 | 2018-03-13 | 众恒汽车部件有限公司 | Full-automatic sub- riveting device |
| CN107891081A (en) * | 2017-11-04 | 2018-04-10 | 宁波德科自动门科技有限公司 | A kind of cap presser of conveniently mold changing |
| CN108326225A (en) * | 2018-03-28 | 2018-07-27 | 常熟非凡新材股份有限公司 | The forging material conveying device of punching press steel ball |
| CN109007945A (en) * | 2018-06-12 | 2018-12-18 | 合肥中农科泓智营养健康有限公司 | A kind of accurate nutraceutical 3D printing system of cooperating type and method |
| CN111822637A (en) * | 2020-07-01 | 2020-10-27 | 营口锻压机床有限责任公司 | Servo-type flexible walking beam mechanism for hot die forging press |
| CN113501438A (en) * | 2021-06-07 | 2021-10-15 | 江苏省社渚轴承有限公司 | Material conveying system of full-automatic sleeve forging process robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4604021A (en) * | 1982-12-08 | 1986-08-05 | Eumuco Aktiengesellschaft Fur Maschinenbau | Lifting beam manipulator assembly for forging presses |
| DE20311306U1 (en) * | 2003-06-06 | 2003-10-02 | Langenstein & Schemann Gmbh, 96450 Coburg | Forging system with automatic support for workpiece with robotic grips on opposite sides of the workpiece |
| CN101780517A (en) * | 2010-02-26 | 2010-07-21 | 华南理工大学 | Engine valve electric-upsetting hot-forging forming flexible manufacturing line |
| WO2011067260A1 (en) * | 2009-12-01 | 2011-06-09 | Kuka Systems Gmbh | Transport unit |
| CN102173097A (en) * | 2011-02-12 | 2011-09-07 | 中国农业大学 | Multi-station automatic feeding method and device |
-
2011
- 2011-10-09 CN CN2011103012168A patent/CN102335714A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4604021A (en) * | 1982-12-08 | 1986-08-05 | Eumuco Aktiengesellschaft Fur Maschinenbau | Lifting beam manipulator assembly for forging presses |
| DE20311306U1 (en) * | 2003-06-06 | 2003-10-02 | Langenstein & Schemann Gmbh, 96450 Coburg | Forging system with automatic support for workpiece with robotic grips on opposite sides of the workpiece |
| WO2011067260A1 (en) * | 2009-12-01 | 2011-06-09 | Kuka Systems Gmbh | Transport unit |
| CN101780517A (en) * | 2010-02-26 | 2010-07-21 | 华南理工大学 | Engine valve electric-upsetting hot-forging forming flexible manufacturing line |
| CN102173097A (en) * | 2011-02-12 | 2011-09-07 | 中国农业大学 | Multi-station automatic feeding method and device |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI498185B (en) * | 2012-09-29 | 2015-09-01 | Hon Hai Prec Ind Co Ltd | Disassembly system |
| CN105363991A (en) * | 2014-08-25 | 2016-03-02 | 苏州市东盛锻造有限公司 | Multifunctional lower sliding plate device of die-forging hydraulic press |
| CN104723351A (en) * | 2015-03-09 | 2015-06-24 | 上海交通大学 | Robot paw used for die forging manufacture |
| CN107790600A (en) * | 2017-10-30 | 2018-03-13 | 众恒汽车部件有限公司 | Full-automatic sub- riveting device |
| CN107891081A (en) * | 2017-11-04 | 2018-04-10 | 宁波德科自动门科技有限公司 | A kind of cap presser of conveniently mold changing |
| CN108326225A (en) * | 2018-03-28 | 2018-07-27 | 常熟非凡新材股份有限公司 | The forging material conveying device of punching press steel ball |
| CN108326225B (en) * | 2018-03-28 | 2023-12-15 | 常熟非凡新材股份有限公司 | Forging material conveying device for stamping steel balls |
| CN109007945A (en) * | 2018-06-12 | 2018-12-18 | 合肥中农科泓智营养健康有限公司 | A kind of accurate nutraceutical 3D printing system of cooperating type and method |
| CN111822637A (en) * | 2020-07-01 | 2020-10-27 | 营口锻压机床有限责任公司 | Servo-type flexible walking beam mechanism for hot die forging press |
| CN113501438A (en) * | 2021-06-07 | 2021-10-15 | 江苏省社渚轴承有限公司 | Material conveying system of full-automatic sleeve forging process robot |
| CN113501438B (en) * | 2021-06-07 | 2024-02-13 | 江苏省社渚轴承有限公司 | Full-automatic overlap forging process robot material conveying system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102335714A (en) | Multi-joint robot-based multi-station stepped feeding method for forging industry | |
| CN205870522U (en) | A five-axis swing arm forging robot | |
| CN102173097B (en) | Multi-station automatic feeding method and device | |
| CN101829737B (en) | Feeding device and feeding method thereof | |
| CN106739124A (en) | Crystallite copper ball Full-automatic hydraulic forming machine | |
| CN103878265B (en) | A kind of workpiece automatic transmission system | |
| CN203917775U (en) | On a kind of cold headers, use translation clamping mechanism | |
| CN203764846U (en) | Hot forging mechanical arm and hot forging nut automatic forming device with same | |
| CN204471376U (en) | A kind of High Speed Light truss robot | |
| CN108112241B (en) | roll forging machine and roll forging method | |
| CN103861963B (en) | Thin-wall gold tube automatic necking machines | |
| CN204430050U (en) | A kind of manipulator being applicable to the transfer of Press Automatic Produce Line workpiece | |
| CN102950590A (en) | Two-axis manipulator for press line and working process of two-axis manipulator | |
| CN106881427A (en) | Conveying device, process units, multistage pressure forming machine and the method for being manufactured product by workpiece by means of process units | |
| CN201669346U (en) | Material conveying device | |
| CN206286497U (en) | For the grading device of multi-station machine of gearbox gear forging and stamping | |
| CN206720345U (en) | A kind of profile steel stacker | |
| CN210757722U (en) | Punching three-dimensional manipulator | |
| CN210098852U (en) | Multi-station side double-hole cold header | |
| CN202555716U (en) | Conveying mechanism of large-size three-dimensional manipulator | |
| CN202964649U (en) | Two-axis manipulator used on stamping production line | |
| CN210816826U (en) | Multi-shaft composite feeding device for arc-like parts | |
| CN216328313U (en) | Three-axis manipulator with variable-pitch clamping jaw | |
| CN212494999U (en) | Workpiece transfer manipulator for continuous production of large punch press | |
| CN101474657A (en) | Multi-station forging and pressing robot for continuous forging |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20120201 |