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
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- 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
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Abstract
The invention provides a multi-joint robot-based multi-station stepped feeding method for the forging industry, belonging to the technical field of automatic equipment of forging machinery. In the invention, the tail ends of mechanical arms of two multi-joint robots which are respectively provided with five or six rotating shafts are respectively fixedly provided with two moving beams; the two moving beams are provided with two groups of clamping claws with buffering mechanisms, the clamping claws are in one-to-one correspondence, and the number of the clamping claws can be increased or reduced according to needs simultaneously, the pitch of the clamping claws can be freely adjusted on the moving beams along the feeding direction, and the spatial movement locus of the two moving beams is set by the servo control system of the multi-joint robots so that the two moving beams can be synchronically combined to carry out motion at X, Y and Z directions; and a forged piece is clamped and loosened by the two groups of clamping claws so that the forged piece can be transmitted among the multi stations. According to the invention, the structure of the traditional stepped manipulator can be simplified, the repeated positioning accuracy of the forged piece can be improved, the multi-station transmission of forged pieces with larger weight and more specifications can be realized, and further, the flexibility of the automatic forging production line can be improved.
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)
1. based on the industrial multistation step feeding of the forging and pressing of articulated robot method; It is characterized in that: 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, two groups of folders are housed on two motion beams one to one grab, make two motion beams in X, Y, three direction aggregate motions of Z through articulated robot; Grab clamping and loosen forging by two groups of folders, be implemented in the conveying of forging between a plurality of stations.
2. the industrial multistation step feeding of the forging and pressing based on articulated robot according to claim 1 method, it is characterized in that: described motion beam can be a hollow beam, also can be solid beam, the motion beam can be changed according to the length actual needs.
3. the industrial multistation step feeding of the forging and pressing based on articulated robot according to claim 1 method; It is characterized in that: described two motion beams are synchronous in the aggregate motion of X, Y, three directions of Z; Its movement locus is to set through the servo-control system of articulated robot, and two motion beams remain level when spatial movement.
4. the industrial multistation step feeding of the forging and pressing based on articulated robot according to claim 1 method is characterized in that: described two groups of jaws can freely be adjusted spacing at motion beam upper edge feed direction, and the quantity of jaw can increase or reduce on demand.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011103012168A CN102335714A (en) | 2011-10-09 | 2011-10-09 | Multi-joint robot-based multi-station stepped feeding method for forging industry |
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| CN2011103012168A CN102335714A (en) | 2011-10-09 | 2011-10-09 | Multi-joint robot-based multi-station stepped feeding method for forging industry |
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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 of 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 |
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| 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 |
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Patent Citations (5)
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| 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 |
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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 of 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 |
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Application publication date: 20120201 |