CN103213839A - Sorting, clamping and conveying industrial robot applied to forging industry - Google Patents
Sorting, clamping and conveying industrial robot applied to forging industry Download PDFInfo
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- CN103213839A CN103213839A CN2013100640588A CN201310064058A CN103213839A CN 103213839 A CN103213839 A CN 103213839A CN 2013100640588 A CN2013100640588 A CN 2013100640588A CN 201310064058 A CN201310064058 A CN 201310064058A CN 103213839 A CN103213839 A CN 103213839A
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Abstract
The invention discloses a sorting, clamping and conveying industrial robot applied to forging industry. The sorting, clamping and conveying industrial robot is characterized by comprising a rotary base, a large arm, a small arm, a material sucking and clamping device, a large arm driving mechanism and a small arm driving mechanism, wherein the large arm is arranged on the rotary base, the small arm is arranged on the head of the large arm, and a workpiece clamping device is arranged on the small arm; and the large arm is driven by the large arm driving mechanism to swing along a large arm transmission shaft, and the small arm is driven by the small arm driving mechanism to swing along a small arm transmission shaft. The sorting, clamping and conveying industrial robot disclosed by the invention, can realize the telescopic swing of the large arm and the small arm, the automatic sorting and the operation of clamping a workpiece into an inlet of a diathermanous furnace through the large arm arranged on the rotary base and the small arm arranged on the large arm, has the advantages of large working radius, high working efficiency, low noise and the like, saves a great amount of labors, has a simple structure, and is reliable in working and lower in manufacturing and maintenance costs.
Description
Technical field
The invention belongs to and forge the clamping transportation industrial robot of already selecting materials.
Background technology
Forging industry has two kinds of modes of selecting materials at present.Front end at forging press is the front end of diathermic furnace, and the material loading of various stub material is the heaviest and work capacity maximum of work capacity always.Be the operative employee for a long time always with one of hand clamp then a manual clamping send the heating fire door to, the danger of being burnt by scald is not only also arranged during labour intensity Datong District; Another kind is exactly the vibration feeding mode that adopts vibrating disk, vibrating disk can meet the demands aspect increaseing productivity, but, the shortcoming of this mode is will the height that vibrating disk is installed be arranged on the twice height of diathermic furnace, material promptly is that the stub material also will rise to this height from ground simultaneously, not only promoting wastes time and energy, and potential safety hazard is arranged simultaneously.The shortcoming of vibrating disk maximum is a noise in fact, coils all interior stub material along with the disk body power frequency vibration because the vibrating disk work principle is it, generally all wants more than 80 decibels, and noise also is to pollute now.In view of above reason, the forging industry intelligence of the present invention industrial robot of selecting materials has overcome above-mentioned shortcoming of selecting materials fully.
Summary of the invention
The object of the invention is that the defective at prior art provides a kind of select materials function of clamping carrying of intelligence that has, the forging that has solved the deficiency of general vibrating disk and other modes of selecting materials the simultaneously again clamping transportation industrial robot of already selecting materials.
The present invention adopts following technical scheme for achieving the above object:
A kind of forging industry clamping transportation industrial robot of selecting materials, it is characterized in that: it comprises rotating base, big arm, forearm, suction holding device, big arm driver train and forearm driver train; Described big arm is installed on the rotating base, and described forearm is arranged on the head of described big arm, and described work holder is arranged on the described forearm; Described big arm is swung with transmission shaft by big arm drive mechanism, described forearm by the forearm drive mechanism with the forearm shaft swing.
It is further characterized in that: be provided with brake equipment in described big arm driver train and the forearm driver train, described brake equipment comprises brake cylinder and brake facing, by braking flexible the cooperation with brake facing of cylinder.
Further: described big arm driver train comprises big arm synchronous motor, be arranged on the big arm small synchronous pulley in the rotating shaft of big arm synchronous motor, the big big synchronous pulley of arm and with the transmission shaft of the concentric setting of the big synchronous pulley of big arm; Be with synchronously by big arm between described big arm small synchronous pulley and the big big synchronous pulley of arm and be connected; Described forearm driver train comprises the forearm synchronous motor, be arranged on the big synchronous pulley of forearm small synchronous pulley, forearm in the rotating shaft of forearm synchronous motor, be arranged on forearm fork, an end on the big synchronous pulley of forearm is connected the little arm brace on the forearm fork and is arranged on forearm rotating shaft on the forearm; Be with synchronously by forearm between described forearm small synchronous pulley and the big synchronous pulley of forearm and be connected; Described big arm, forearm, little arm brace and forearm fork form four-bar linkage structure.
Further: the big synchronous pulley of described big arm is provided with big help power fork, and described big help power fork one end links to each other with big help strength cylinder.
Its feature also is: described suction holding device comprises workpiece arrangement pipe, workpiece sensing gripper cylinder, iron-cobalt-nickel industry magnet steel, suction assembly, takes off material cylinder, suction cylinder; Described workpiece arrangement pipe is arranged on the forearm head, and described workpiece sensing gripper cylinder is arranged on workpiece arrangement tube side part; The industry of described iron-cobalt-nickel magnet steel, suction assembly, take off material cylinder, suction cylinder and connect successively and be arranged on the forearm.
It is further characterized in that: described suction cylinder rear portion is provided with suction cylinder hold-down bolt and suction cylinder travel switch.
The present invention can realize the telescopic oscillating of big arm and forearm by being installed in the big arm on the rotating base and being installed in forearm on the big arm, selects materials automatically and holding workpiece to diathermic furnace enters the mouth, and has that swinging radius is big, high efficiency, low noise advantages.Saved a large amount of artificial.And the present invention is simple in structure, reliable operation, and manufacturing cost and maintenance cost are also lower.
Description of drawings
Fig. 1 is a cut-away view of the present invention.
Fig. 2 picks up the constitution diagram of workpiece for the present invention
Fig. 3 returns the zero-bit constitution diagram for the present invention.
Fig. 4 returns zero-bit for the present invention, workpiece arrangement back state.
Fig. 5 is a suction holding device partial enlarged drawing of the present invention.
The specific embodiment
Shown in Fig. 1-5 a kind of forging industry select materials the clamping transportation industrial robot it comprise rotating base, big arm, forearm, suction holding device, big arm driver train and forearm driver train; Described big arm is installed on the rotating base, and described forearm is arranged on the head of described big arm, and described work holder is arranged on the described forearm; Described big arm is swung with transmission shaft by big arm drive mechanism, described forearm by the forearm drive mechanism with the forearm shaft swing.
Be provided with brake equipment in described big arm driver train and the forearm driver train, described brake equipment comprises brake cylinder and brake facing, by braking flexible the cooperation with brake facing of cylinder.Described big arm driver train comprises big arm synchronous motor 16, be arranged on the big arm small synchronous pulley 14 in big arm synchronous motor 16 rotating shafts, the big big synchronous pulley 18 of arm and with the transmission shaft 3 of the big synchronous pulley 18 concentric settings of big arm; Be with 17 to be connected synchronously by big arm between described big arm small synchronous pulley 14 and the big big synchronous pulley 18 of arm; Described forearm driver train comprises forearm synchronous motor 8, be arranged on the big synchronous pulley 6 of forearm small synchronous pulley 10, forearm in 8 rotating shafts of forearm synchronous motor, be arranged on forearm fork 2, an end on the big synchronous pulley 6 of forearm is connected the forearm pull bar 22 on the forearm fork 2 and is arranged on forearm rotating shaft on the forearm; Be with 7 to be connected synchronously by forearm between described forearm small synchronous pulley 10 and the big synchronous pulley 6 of forearm; Described big arm, forearm, forearm pull bar 22 and forearm fork 2 form four-bar linkage structure.The big synchronous pulley 18 of described big arm is provided with big help power fork 13, and described big help power fork 13 1 ends link to each other with big help strength cylinder 23.
Described suction holding device comprises workpiece arrangement pipe 27, workpiece sensing gripper cylinder 28, iron-cobalt-nickel industry magnet steel 29, suction assembly 35, takes off material cylinder 30, suction cylinder 32; Described workpiece arrangement pipe 27 is arranged on the forearm head, and described workpiece sensing gripper cylinder 28 is arranged on workpiece arrangement pipe 27 sidepieces; The industry of described iron-cobalt-nickel magnet steel 29, suction assembly 35, take off material cylinder 30, suction cylinder 32 and connect successively and be arranged on the forearm.Described suction cylinder 32 rear portions are provided with suction cylinder hold-down bolt 33 and suction cylinder travel switch 34.
Its mode of operation is shown in Fig. 1-4.
It is in running order at first will to forge the clamping transportation industrial robot of already selecting materials.At first promptly being that substance 0.5Kg----7.5Kg cylinder stub material is random at random with stub material workpiece 25 is placed in the stub material Workpiece storage basket 24.Big arm brake cylinder 19 piston rods are regained big arm brake facing 20 and are disengaged condition with the big big synchronous pulley 18 of arm, the big arm synchronous motor 16 that is installed on the big arm synchronous motor adapter plate 15 is with 17 to drive the big synchronous pulley 18 of big arm by big arm small synchronous pulley 14 and big arm synchronously, by big arm attaching parts 21 the industrial robot ' s arm 1 of selecting materials is swung to stub material Workpiece storage basket 24 directions then.Simultaneously, the piston rod of big help strength cylinder 23 promotes the big arm synchronous motor 16 of big help power fork 13 power-assisteds the industrial robot ' s arm 1 of selecting materials is swung to stub material Workpiece storage basket 24 directions.
When the big arm 1 of the industrial robot of selecting materials when stub material Workpiece storage basket 24 directions swing to the desired location, big arm brake cylinder 19 piston rods stretch out big arm brake facing 20 and are braking state with the big big synchronous pulley 18 of arm, and forearm brake cylinder 5 piston rods are regained forearm brake facing 4 and are disengaged condition with the big synchronous pulley 6 of forearm.At this moment, the forearm synchronous motor 8 that is installed on the forearm synchronous motor adapter plate 9 is with the big synchronous pulley 6 driving transmission shafts 3 of 7 drive forearms to drive industrial machine forearm fork 2 rotations of selecting materials by forearm small synchronous pulley 10 and forearm synchronously, cause the industrial robot forearm 26 of selecting materials to be swung by forearm pull bar 22 to stub material Workpiece storage basket 24 directions, after the desired location, forearm brake cylinder 5 piston rods stretch out forearm brake facing 4 and are braking state with the big synchronous pulley 6 of forearm.
At this moment, being installed in industrial robot forearm 26 in-to-in suction cylinders 32 piston rods of selecting materials stretches out, be installed in and take off taking off material cylinder 30 piston rods of material on the cylinder mounting plate 31 and stretch out the iron-cobalt-nickel industry magnet steel 29 that drives its front end and suction assembly 35 near the stub material workpiece 25 in the Workpiece storage basket 24, after suction assembly 35 strikes stub material workpiece 25, cause the suction assembly 35 that picks up stub material workpiece 25 and take off material cylinder 30, take off material cylinder mounting plate 31 and suction cylinder 32 integral body and retreat, suction cylinder hold-down bolt 33 bump suction cylinder travel switches 34 Intelligent Measurement have touched workpiece to forging the clamping transportation industrial robot front end of already selecting materials.Suction cylinder 32 piston rods are regained, and stub material workpiece 25 enters workpiece arrangement pipe 27, is organized into predetermined direction.This moment, workpiece sensing gripper cylinder 28 piston rods stretched out, and when finding that no workpiece picks up, forged the clamping transportation industrial robot of already selecting materials and repeated an action, when finding workpiece is arranged, just with Work-sheet pressing.Forge the industrial robot ' s arm 1 of intelligent the selecting materials of clamping transportation industrial robot of selecting materials of industry and the industrial robot forearm 26 of selecting materials and lift simultaneously, get back to zero-bit.When being installed in industrial robot permanent seat swivel mount 11 on the industrial robot permanent seat 12 and rotating to the desired location, workpiece sensing gripper cylinder piston rod 28 unclamps, taking off material cylinder 30 regains, iron-cobalt-nickel industry magnet steel 29 is thrown off with suction assembly 35, and stub material workpiece 25 is shed to assigned address automatically.Above actuation cycle is reciprocal.
The industrial robot ' s arm 1 of selecting materials in normal operation also can move simultaneously to moving respectively with the industrial robot forearm 26 of selecting materials.Can move respectively in the time of debugging and also can move simultaneously.
Claims (6)
1. one kind is forged the clamping transportation industrial robot of already selecting materials, and it is characterized in that: it comprises rotating base, big arm, forearm, suction holding device, big arm driver train and forearm driver train; Described big arm is installed on the rotating base, and described forearm is arranged on the head of described big arm, and described work holder is arranged on the described forearm; Described big arm is swung with transmission shaft by big arm drive mechanism, described forearm by the forearm drive mechanism with the forearm shaft swing.
2. the forging according to claim 1 industry clamping transportation industrial robot of selecting materials, it is characterized in that: be provided with brake equipment in described big arm driver train and the forearm driver train, described brake equipment comprises brake cylinder and brake facing, by braking flexible the cooperation with brake facing of cylinder.
3. the forging according to claim 1 and 2 industry clamping transportation industrial robot of selecting materials is characterized in that: described big arm driver train comprises big arm synchronous motor, is arranged on the big arm small synchronous pulley in the rotating shaft of big arm synchronous motor, the big big synchronous pulley of arm and with the transmission shaft of the concentric setting of the big synchronous pulley of big arm; Be with synchronously by big arm between described big arm small synchronous pulley and the big big synchronous pulley of arm and be connected; Described forearm driver train comprises the forearm synchronous motor, be arranged on the big synchronous pulley of forearm small synchronous pulley, forearm in the rotating shaft of forearm synchronous motor, be arranged on forearm fork, an end on the big synchronous pulley of forearm is connected the little arm brace on the forearm fork and is arranged on forearm rotating shaft on the forearm; Be with synchronously by forearm between described forearm small synchronous pulley and the big synchronous pulley of forearm and be connected; Described big arm, forearm, little arm brace and forearm fork form four-bar linkage structure.
4. the forging according to claim 3 industry clamping transportation industrial robot of selecting materials, it is characterized in that: the big synchronous pulley of described big arm is provided with big help power fork, and described big help power fork one end links to each other with big help strength cylinder.
5. the forging according to claim 1 industry clamping transportation industrial robot of selecting materials, it is characterized in that: described suction holding device comprises workpiece arrangement pipe, workpiece sensing gripper cylinder, iron-cobalt-nickel industry magnet steel, suction assembly, takes off and expect cylinder, suction cylinder; Described workpiece arrangement pipe is arranged on the forearm head, and described workpiece sensing gripper cylinder is arranged on workpiece arrangement tube side part; The industry of described iron-cobalt-nickel magnet steel, suction assembly, take off material cylinder, suction cylinder and connect successively and be arranged on the forearm.
6. the forging according to claim 5 industry clamping transportation industrial robot of selecting materials, it is characterized in that: described suction cylinder rear portion is provided with suction cylinder hold-down bolt and suction cylinder travel switch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310064058.8A CN103213839B (en) | 2013-02-28 | 2013-02-28 | A kind of forging industry is selected materials clamping transportation industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310064058.8A CN103213839B (en) | 2013-02-28 | 2013-02-28 | A kind of forging industry is selected materials clamping transportation industrial robot |
Publications (2)
| Publication Number | Publication Date |
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| CN103213839A true CN103213839A (en) | 2013-07-24 |
| CN103213839B CN103213839B (en) | 2016-01-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310064058.8A Expired - Fee Related CN103213839B (en) | 2013-02-28 | 2013-02-28 | A kind of forging industry is selected materials clamping transportation industrial robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104786210A (en) * | 2015-04-29 | 2015-07-22 | 佛山市万世德机器人技术有限公司 | Manipulator for boxing robot |
| CN105033148A (en) * | 2015-08-19 | 2015-11-11 | 浙江博雷重型机床制造有限公司 | Forging loading robot |
| CN108582040A (en) * | 2018-05-04 | 2018-09-28 | 广东天太机器人有限公司 | A kind of industrial robot with novel power assisting device |
| CN109093086A (en) * | 2017-06-21 | 2018-12-28 | 江苏金恒信息科技股份有限公司 | A kind of slag adding machine device people and add slag system |
| CN110405746A (en) * | 2019-07-25 | 2019-11-05 | 艾思博(武汉)科技有限公司 | A kind of carrying mechanism of optical fiber powder stick |
| CN112958714A (en) * | 2021-05-18 | 2021-06-15 | 机械科学研究总院江苏分院有限公司 | Plate stamping system and processing method thereof |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108033277A (en) * | 2017-12-05 | 2018-05-15 | 长沙展朔轩兴信息科技有限公司 | A kind of robot for carrying and piling |
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Patent Citations (8)
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| GB2168676A (en) * | 1984-10-19 | 1986-06-25 | Robot City Technology Limited | Robotic arm |
| CN2465893Y (en) * | 2001-01-20 | 2001-12-19 | 中国科学院沈阳自动化研究所 | Vertical joint type robot operator |
| CN2744482Y (en) * | 2004-09-29 | 2005-12-07 | 范宏才 | Robot driven by bi-rotor large torque motor |
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| JP2009143664A (en) * | 2007-12-13 | 2009-07-02 | Mitsubishi Materials Techno Corp | Transfer device of core for winder |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104786210A (en) * | 2015-04-29 | 2015-07-22 | 佛山市万世德机器人技术有限公司 | Manipulator for boxing robot |
| CN105033148A (en) * | 2015-08-19 | 2015-11-11 | 浙江博雷重型机床制造有限公司 | Forging loading robot |
| CN105033148B (en) * | 2015-08-19 | 2017-01-04 | 浙江博雷重型机床制造有限公司 | A kind of forging feeding robot |
| CN109093086A (en) * | 2017-06-21 | 2018-12-28 | 江苏金恒信息科技股份有限公司 | A kind of slag adding machine device people and add slag system |
| CN109093086B (en) * | 2017-06-21 | 2024-04-02 | 江苏金恒信息科技股份有限公司 | Slag adding robot and slag adding system |
| CN108582040A (en) * | 2018-05-04 | 2018-09-28 | 广东天太机器人有限公司 | A kind of industrial robot with novel power assisting device |
| CN108582040B (en) * | 2018-05-04 | 2024-05-07 | 广东天太机器人有限公司 | Industrial robot with novel booster unit |
| CN110405746A (en) * | 2019-07-25 | 2019-11-05 | 艾思博(武汉)科技有限公司 | A kind of carrying mechanism of optical fiber powder stick |
| CN112958714A (en) * | 2021-05-18 | 2021-06-15 | 机械科学研究总院江苏分院有限公司 | Plate stamping system and processing method thereof |
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| CN103213839B (en) | 2016-01-20 |
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