CN105880342B - Drop stamping transfer matic transfer robot and application method - Google Patents
Drop stamping transfer matic transfer robot and application method Download PDFInfo
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- CN105880342B CN105880342B CN201610428338.6A CN201610428338A CN105880342B CN 105880342 B CN105880342 B CN 105880342B CN 201610428338 A CN201610428338 A CN 201610428338A CN 105880342 B CN105880342 B CN 105880342B
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- servo motor
- slideway
- transfer robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D22/00—Shaping without cutting, by stamping, spinning, or deep-drawing
- B21D22/02—Stamping using rigid devices or tools
- B21D22/022—Stamping using rigid devices or tools by heating the blank or stamping associated with heat treatment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D37/00—Tools as parts of machines covered by this subclass
Abstract
The present invention discloses a kind of drop stamping transfer matic transfer robot, and wherein X-axis mobile mechanism has the X-axis slideway being arranged on removable supporting mechanism, X-axis servo motor and X-axis transmission mechanism；Z-axis lifting mechanism has the Z axis pedestal being arranged on X-axis slideway, and Z axis mounting plate is vertically equipped on Z axis pedestal, and Z axis mounting plate is equipped with Z axis servo motor, Z axis slideway and Z-axis transmission mechanism；A axis rotating mechanisms have the A axis pedestals being arranged on Z axis slideway, and A axle installing plates are vertically equipped on A axis pedestals, and A axle installing plates are equipped with the electric rotating machine for controlling clamp system rotation；There is the clamp system mechanical arm, one end of mechanical arm to be mounted on by bearing assembly in the shaft of electric rotating machine, and the other end of mechanical arm is equipped with clamping cylinder and claw.The drop stamping transfer matic transfer robot can meet high-mechanical property labor and materials heat processing technique requirement to be added, and the part that it is produced is made to have higher static strength and fatigue strength.
Description
Technical field
The invention belongs to drop stamping processing field, and in particular to a kind of drop stamping transfer matic transfer robot and
Application method.
Background technology
Manipulator be one kind can Automatic Positioning Control, and Reprogrammable change multifunctional equipment, be widely used in machine
The departments such as tool manufacture, metallurgical, electronics and light industry.Drop stamping production technology facings high speed, automation, flexibility, precise treatment
Direction develop.Manipulator is applied in drop stamping production technology, the production of tradition machinery metaplasia is fundamentally changed, is modern heat
The important development direction of punching production technology.Currently, there is no report overheat punch process center on domestic market.
Invention content
The purpose of the invention is to provide a kind of drop stamping transfer matic transfer robot and application method, the drop stamping from
Moving-wire transfer robot is the key equipment in drop stamping production process, also can be used as the core of a whole set of machine adding system organic linking
Mechanism.The drop stamping transfer matic transfer robot can meet high-mechanical property labor and materials heat processing technique requirement to be added, make its production
Part have higher static strength and fatigue strength, to meet new standard, the new demand of development and production, and improve production effect
Rate, stock utilization.The invention flexible can also adjust, moreover it is possible to meet other high-mechanical property standard component heat processing technique requirements.
The technical solution adopted by the present invention is：
Drop stamping transfer matic transfer robot, including removable supporting mechanism (1), X-axis mobile mechanism (2), Z axis elevator
Structure (3), A axis rotating mechanism (4) and clamp system (5)；
The X-axis mobile mechanism (2) has X-axis slideway (2.1) of the setting on removable supporting mechanism (1), X-axis servo
Motor (2.2) and X-axis transmission mechanism (2.3)；X-axis slideway (2.1) the support Z-axis lifting mechanism (3) simultaneously limits Z axis elevator
Traveling track of the structure (3) in X-axis；The X-axis servo motor (2.2) and X-axis transmission mechanism (2.3) are for driving Z axis to lift
Mechanism (3) moves on X-axis slideway (2.1)；
The Z-axis lifting mechanism (3) has the Z for being arranged on X-axis slideway (2.1) and being connect with X-axis transmission mechanism (2.3)
Axis pedestal (3.1), Z axis mounting plate (3.2) is vertically equipped on Z axis pedestal (3.1), and Z axis mounting plate (3.2) is equipped with Z axis servo
Motor (3.3), Z axis slideway (3.4) and Z-axis transmission mechanism；The A axis rotating mechanism (4) is arranged on Z axis slideway (3.4),
And make lifting moving along Z axis slideway (3.4) under the action of Z axis servo motor (3.3) and Z-axis transmission mechanism；
The A axis rotating mechanism (4) has the A axis bottom for being arranged on Z axis slideway (3.4) and being connect with Z-axis transmission mechanism
Seat (4.1), A axle installing plates (4.2) are vertically equipped on A axis pedestal (4.1), and A axle installing plates (4.2) are equipped with for controlling folder
The electric rotating machine (4.3) of tight mechanism (5) rotation；
The clamp system (5) has mechanical arm (5.1), and one end of the mechanical arm (5.1) passes through bearing assembly (5.2)
In the shaft of electric rotating machine (4.3), one end of mechanical arm (5.1) is equipped with clamping cylinder (5.3) and claw (5.4), leads to
Cross unlatching and the closure of clamping cylinder (5.3) control claw (5.4).
The drop stamping transfer matic transfer robot, the removable supporting mechanism (1) have babinet (1.1), babinet
(1.1) it is equipped with stage body (1.2), babinet (1.1) following four corners is respectively equipped with travelling wheel (1.3), each travelling wheel (1.3)
Outside is equipped with support lower margin (1.4)；The babinet (1.1) is equipped with for controlling X-axis servo motor (2.2), Z axis servo motor
(3.3), the turn-key system of electric rotating machine (4.3) and clamping cylinder (5.3) work.
The drop stamping transfer matic transfer robot is additionally provided with flexible blowing dress on the removable supporting mechanism (1)
It sets (6), the flexibility discharging device is located at the side of X-axis slideway (2.1)；The flexibility discharging device has bottom plate (6.1), bottom
The middle part of plate (6.1) is equipped with screw thread guide post (6.3), and the periphery that screw thread guide post (6.3) is located on bottom plate (6.1) is equipped with several light
Sliding guide post (6.2), the top of screw thread guide post (6.3) are equipped with V-type fixture block (6.5) and cover board (6.6) for blank (8) to be clamped,
Screw thread guide post (6.3) is equipped with the support platform (6.4) with nut, the nut on the support platform (6.4) by with screw thread
Guide post (6.3) cooperation control support platform (6.4) moves up and down；It is additionally provided with and smooth guide post on the support platform (6.4)
(6.2) guide hole coordinated.
The drop stamping transfer matic transfer robot, the cover board (6.6) are L-type cover board (6.6) and are furnished with adjustable top
Silk, cover board (6.6) one side wall are mounted on by bolt on V-type fixture block (6.5), and cover board (6.6) another side wall is located at V-type fixture block
(6.5) top, another side wall of the cover board (6.6) have a gap；V-type fixture block (6.5) is open with V-type, the gap
It is oppositely arranged with V-type opening, the adjustable jackscrew is mounted in cover board (6.6) one side wall, is open and is coordinated with V-type；The blank
(8) effect being open by gap, adjustable jackscrew and V-type is located in support platform (6.4).
The drop stamping transfer matic transfer robot is equipped with heat-insulated between the clamping cylinder (5.3) and claw (5.4)
Potsherd (5.5), the claw (5.4) are high-temperature alloy steel claw (5.4).
One end of the drop stamping transfer matic transfer robot, the removable supporting mechanism (1) is additionally provided with connection group
Part (7), the removable supporting mechanism (1) are connect by connection component (7) with metal extrusion press (9).
The drop stamping transfer matic transfer robot, the electric rotating machine (4.3) pass through retarder and mechanical arm (5.1)
One end of connection, i.e., the described mechanical arm (5.1) is mounted on by bearing assembly (5.2) on the output shaft of retarder.
A kind of drop stamping transfer matic further includes metal extrusion press (9), metal extrusion press using the transfer robot
Operation cabinet (10) and high frequency induction heater (11), the metal extrusion press (9), which is arranged on ground (12), is located at transmitting mechanical
The front end of hand, the high frequency induction heater (11) and metal extrusion press operation cabinet (10) are located at the two of transfer robot
Side.
A kind of application method of the drop stamping transfer matic transfer robot, includes the following steps：
1) before transfer robot being pushed into metal extrusion press (9) by removable supporting mechanism (1), and pass through connection component
(7) it is connected and fixed with metal extrusion press (9)；
2) blank (8) is placed on flexible discharging device (6), and passes through the nut adjustment base in support platform (6.4)
The height for expecting (8) after determining blank (8) height, is positioned blank (8) using the clamping of V-type fixture block (6.5) and cover board (6.6)
In support platform (6.4)；
5) it by X-axis servo motor (2.2), Z axis servo motor (3.3) and electric rotating machine (4.3), sets about in velocity mode
It is dynamic by the clamp system (5) for being clamped with smooth bar be separately adjusted to angularly flexible discharging device (6) blank (8) position to be held,
Blank (8) position to be heated of high frequency induction heater (11), blank (8) position to be processed of metal extrusion press (9) carry out class
It works knife like lathe, while recording the spatial coordinate location of three positions；Billet size parameter to be processed, operation speed
Spend parameter, turn-key system is written in the space position parameter of three positions；
6) intelligent operation process：One-touch startup stops, and passes through X-axis servo motor (2.2), Z axis servo motor first
(3.3) clamp system (5) is adjusted to blank (8) position to be held with electric rotating machine (4.3)；Pass through folder in clamp system (5)
Clamping blank (8) is opened and be closed to tight cylinder (5.3) control claw (5.4)；Then it is controlled and is pressed from both sides by Z axis servo motor (3.3)
Tight mechanism (5) rising makes blank (8) be detached from flexible discharging device (6), passes through X-axis servo motor (2.2), Z axis servo motor
(3.3) clamp system (5) is adjusted to blank (8) position to be heated with electric rotating machine (4.3), by controlling clamping cylinder
(5.3) claw (5.4) that blank (8) is clamped is extended in high frequency induction heater (11), is begun to warm up；After the completion of heating, lead to
The claw (5.4) for crossing clamping cylinder (5.3) control clamping heating blank (8) is detached from high frequency induction heater (11)；It is watched by X-axis
Motor (2.2), Z axis servo motor (3.3) and electric rotating machine (4.3) control clamp system (5) is taken to send the blank (8) after heating
To position to be processed in metal extrusion press (9), then mold is lowered into, claw (5.4) is opened by controlling clamping cylinder (5.3)
Complete blanking；Finally, clamp system (5) is retracted from metal extrusion press (9), system back to zero；
5) it works finally by metal extrusion press operation cabinet (10) control metal extrusion press (9), completes adding for blank (8)
Work.
The invention has the advantages that：
A kind of drop stamping transfer matic transfer robot of the present invention includes mainly removable supporting mechanism and turn-key system, flexibility
Discharging device, X-axis mobile mechanism, Z-axis lifting mechanism, A axis rotating mechanism, clamp system (pneumatic), connection component etc..Wherein may be used
Mobile supporting mechanism is mainly used to positioning support and places pneumatic element, electrical equipment；Blank can be written in turn-key system in batches
Gauge size, can be by host computer management and control, and periodically stores warning message, the torque velocities output situation of each motor,
Position situation, the position situation of cylinder；Flexible discharging device can be extended to the automatic charging line based on vibrating disk etc., add certainly
Dynamic lower stockline can form the machining center with certain beat；Three coordinate machine structure (X-axis mobile mechanism, Z-axis lifting mechanism, A
Axis rotating mechanism) complete positioning and transport；Connection component is for manipulator is connected with metal extrusion press, not only secures machine
The position of tool hand in z-direction, it is ensured that manipulator linear precision in the X direction.The present invention is primarily referred to as with servo motor
With air source as power source.It is all made of servo motor and transmission mechanism in three motions, completes scheduled space bit
The movement set.Leading screw module can be used in X-axis, Z axis, and Z axis drives mechanical arm to rotate by retarder.
A kind of drop stamping transfer matic transfer robot of the present invention is suitable for not using packaged type supporting mechanism as platform
Fixed production scene.Manipulator, heating equipment, process equipment have versatility at split structure, convenient for safeguarding.It is flexible
Feeding device guarantee is to be fed certain versatility；Special fixture of the pneumatic clamping mechanism equipped with different range ensures labor and materials to be added
Versatility is pratical and feasible.Three-coordinate manipulator makes machinery positioning more precisely, securely and reliably using absolute position monitoring system.
Standard component drop stamping transfer matic transfer robot can meet high-mechanical property labor and materials heat processing technique requirement to be added, make
Its part produced has higher static strength and fatigue strength, to meet new standard, the new demand of development and production, and improves
Production efficiency, stock utilization.The invention flexible can also adjust, moreover it is possible to meet other high-mechanical property standard component heat processing techniques
It is required that.
A kind of drop stamping transfer matic transfer robot of the present invention is easy to operate to generally comprise (1) preparation：Check equipment
System electrification after each connector non-loosening, mechanical location safety starts to get ready (relative to three-coordinate manipulator manually if alarm free
Three-dimensional reference zero measures the corresponding coordinate of feeding device, heating equipment, punching machine spatial reference point), and be written, carry out parameter
Change.(2) working method：After each equipment connection signal is normal, feeding preparation clicks automatic startup, and system presses reference order
Complete in place feeding, feeding clamping heating, etc. it is to be heated complete, feeding processing, blanking in place and retract, complete punch process,
The actions such as back to zero.
Description of the drawings
Fig. 1 is the structural schematic diagram of the invention drop stamping transfer matic transfer robot.
Fig. 2 is the side view of the invention drop stamping transfer matic transfer robot.
Fig. 3 is the invention drop stamping transfer matic transfer robot with respect to operating position figure.
The structural schematic diagram of Fig. 4 flexibility discharging devices.
The structural schematic diagram of Fig. 5 pneumatic clamping mechanisms.
Wherein：Removable supporting mechanism 1, babinet 1.1, stage body 1.2, travelling wheel 1.3 support lower margin 1.4, X-axis moving machine
Structure 2, X-axis slideway 2.1, X-axis servo motor 2.2, X-axis transmission mechanism 2.3, Z-axis lifting mechanism 3, Z axis pedestal 3.1, Z axis installation
Plate 3.2, Z axis servo motor 3.3, Z axis slideway 3.4, A axis rotating mechanism 4, A axis pedestal 4.1, A axle installing plates 4.2, electric rotating machine
4.3, clamp system 5, mechanical arm 5.1, bearing assembly 5.2, clamping cylinder 5.3, claw 5.4, thermal insulation ceramics piece 5.5, flexibility is put
Expect device 6, bottom plate 6.1, smooth guide post 6.2, screw thread guide post 6.3, support platform 6.4, V types fixture block 6.5, cover board 6.6, connection
Component 7, blank 8, metal extrusion press 9, metal extrusion press operation cabinet 10, high frequency induction heater 11, ground 12.
Specific implementation mode
A kind of drop stamping transfer matic transfer robot as shown in Figs. 1-5, including removable supporting mechanism 1, X-axis mobile mechanism
2, Z-axis lifting mechanism 3, A axis rotating mechanism 4 and clamp system 5；
The X-axis mobile mechanism 2 has the X-axis slideway 2.1 being arranged on removable supporting mechanism 1, X-axis servo motor
2.2 and X-axis transmission mechanism 2.3；The X-axis slideway 2.1 supports Z-axis lifting mechanism 3 and limits Z-axis lifting mechanism 3 in X-axis
Traveling track；The X-axis servo motor 2.2 and X-axis transmission mechanism 2.3 are for driving Z-axis lifting mechanism 3 in X-axis slideway
It is moved on 2.1；
The Z-axis lifting mechanism 3 has the Z axis pedestal for being arranged on X-axis slideway 2.1 and being connect with X-axis transmission mechanism 2.3
3.1, Z axis mounting plate 3.2 is vertically equipped on Z axis pedestal 3.1, Z axis mounting plate 3.2 is equipped with Z axis servo motor 3.3, Z axis is slided
Road 3.4 and Z-axis transmission mechanism；The A axis rotating mechanism 4 is arranged on Z axis slideway 3.4, and in Z axis servo motor 3.3 and Z axis
Make lifting moving along Z axis slideway 3.4 under the action of transmission mechanism；
The A axis rotating mechanism 4 has the A axis pedestals for being arranged on Z axis slideway 3.4 and being connect with Z-axis transmission mechanism
A axle installing plates 4.2 are vertically equipped on 4.1, A axis pedestals 4.1, A axle installing plates 4.2 are equipped with to be rotated for controlling clamp system 5
Electric rotating machine 4.3；
Clamp system 5 as shown in Figure 5 has mechanical arm 5.1, and one end of the mechanical arm 5.1 is pacified by bearing assembly 5.2
In the shaft of electric rotating machine 4.3, one end of mechanical arm 5.1 is equipped with clamping cylinder 5.3 and claw 5.4, passes through clamping cylinder
The unlatching of 5.3 control claws 5.4 and closure.Thermal insulation ceramics piece 5.5 is equipped between the clamping cylinder 5.3 and claw 5.4, it is described
Claw 5.4 is high-temperature alloy steel claw 5.4.The electric rotating machine 4.3 is connect by retarder with mechanical arm 5.1, i.e., the described machine
One end of tool arm 5.1 is mounted on by bearing assembly 5.2 on the output shaft of retarder.Due to second technique of blank to be processed
Process is that 600 DEG C or more are heated in high frequency induction heater 11, can be only achieved the performance requirement of labor and materials to be added, therefore use
High-temperature alloy steel claw, and claw and clamping cylinder being isolated using thermal insulation ceramics piece 5.5, protection clamping cylinder is in order to avoid high temperature damages
It is bad.Clamp system 5 uses pneumatic clamping mechanism 5, air source to control the flexible of clamping cylinder through two-position four-way solenoid directional control valve, in turn
Unlatching and the closure of claw are controlled, then the aperture of governing speed control valve can control the flow of compressed air, so that it may with control
The unlatching of fabrication pawl and the speed of closure.
There is the removable supporting mechanism 1 babinet 1.1, babinet 1.1 to be equipped with stage body 1.2,1.1 following four corners of babinet point
Not She You travelling wheel 1.3, the outside of each travelling wheel 1.3 is equipped with support lower margin 1.4；The babinet 1.1 is equipped with for controlling X
The turn-key system that axis servo motor 2.2, Z axis servo motor 3.3, electric rotating machine 4.3 and clamping cylinder 5.3 work.Turn-key system
With main PLC and motion-control module core in order to control；Touch screen and panel button switch indication light are operating system；Utilize detection
Sensor forms the absolute valve system of closed loop.
Flexible discharging device 6 is additionally provided on the removable supporting mechanism 1, the flexibility discharging device is located at X-axis slideway
2.1 side；There is flexibility discharging device bottom plate 6.1, the middle part of bottom plate 6.1 to be equipped with screw thread guide post 6.3, bottom plate as shown in Figure 4
Several smooth guide posts 6.2 are equipped with positioned at the periphery of screw thread guide post 6.3 on 6.1, the top of screw thread guide post 6.3 is equipped with for base to be clamped
The V-type fixture block 6.5 and cover board 6.6 of material 8, screw thread guide post 6.3 are equipped with the support platform 6.4 with nut, the support platform 6.4
On nut by with screw thread guide post 6.3 coordinate control support platform 6.4 move up and down；It is additionally provided in the support platform 6.4
The guide hole coordinated with smooth guide post 6.2.The cover board 6.6 is L-type cover board 6.6 and is furnished with adjustable jackscrew, 6.6 one side wall of cover board
It is mounted on V-type fixture block 6.5 by bolt, 6.6 another side wall of cover board is located at the top of V-type fixture block 6.5；The cover board 6.6 is another
There is one side wall a gap, V-type fixture block 6.5 to be open with V-type, and the gap is oppositely arranged with V-type opening, the adjustable jackscrew
In 6.6 one side wall of cover board, it is open and coordinates with V-type；The effect that the blank 8 is open by gap, adjustable jackscrew and V-type
It is located in support platform 6.4.By adjusting the nut in the support platform 6.4 with nut, make entire support platform 6.4 in light
It under the guiding of sliding guide post 6.2, can move up and down on screw thread guide post 6.3, be mainly used to adapt to the base to be added of different length
The support of material, according to actual condition, adjustable range can be between 0~85mm.It is waited for using cover board 6.6 and the clamping of V-type fixture block 6.5
Turned blank, and ensure that every time clamped height is consistent when upper material clamping blank to be processed.
One end of the removable supporting mechanism 1 is additionally provided with connection component 7, and the removable supporting mechanism 1 passes through connection
Component 7 is connect with metal extrusion press 9.
A kind of drop stamping transfer matic further includes metal extrusion press 9, metal extrusion press operation using above-mentioned transfer robot
Cabinet 10 and high frequency induction heater 11, the metal extrusion press 9 are arranged on ground 12 positioned at the front end of transfer robot, institute
It states high frequency induction heater 11 and metal extrusion press operation cabinet 10 is located at the both sides of transfer robot.
A kind of application method of above-mentioned drop stamping transfer matic transfer robot, includes the following steps：
1) before transfer robot being pushed into metal extrusion press 9 by removable supporting mechanism 1, and by connection component 7 with
Metal extrusion press 9 is connected and fixed；
2) blank 8 is placed on flexible discharging device 6, and passes through the height of the nut adjustment blank 8 in support platform 6.4
Blank 8, after determining 8 height of blank, is located in support platform 6.4 by degree using the clamping of V-type fixture block 6.5 and cover board 6.6；
It 3), manually will under velocity mode by X-axis servo motor 2.2, Z axis servo motor 3.3 and electric rotating machine 4.3
Clamp system 5 through smooth bar (simulation blank 8) has been clamped is separately adjusted to angularly 8 position to be held of blank of flexible discharging device 6
Set top, 8 position to be heated of blank of high frequency induction heater 11, metal extrusion press 98 position to be processed of blank, carry out class
It works knife like lathe, while recording the spatial coordinate location of three positions；8 dimensional parameters of blank to be processed, operation
Speed parameter, three positions space position parameter turn-key system is written；
4) intelligent operation process：One-touch startup stops, and passes through X-axis servo motor 2.2,3.3 and of Z axis servo motor first
Electric rotating machine 4.3 adjusts clamp system 5 to above 8 position to be held of blank, then declines；By clamping gas in clamp system 5
Cylinder 5.3 controls claw 5.4 and opens and be closed clamping blank 8；Then clamp system 5 is controlled by Z axis servo motor 3.3 to rise
So that blank 8 is detached from flexible discharging device 6, will be pressed from both sides by X-axis servo motor 2.2, Z axis servo motor 3.3 and electric rotating machine 4.3
Tight mechanism 5 is adjusted to 8 position to be heated of blank, then is risen, and the claw of blank 8 will be clamped by controlling clamping cylinder 5.3
5.4 extend in high frequency induction heater 11, begin to warm up；Subsequently, heating is completed, and is added by the control clamping of clamping cylinder 5.3
The claw 5.4 of hot blank 8 is detached from high frequency induction heater 11；Pass through X-axis servo motor 2.2, Z axis servo motor 3.3 and rotation
Motor 4.3 controls clamp system 5 and send the blank 8 after heating into metal extrusion press 9 above position to be processed, then lowers into
Mold opens the completion blanking of claw 5.4 by controlling clamping cylinder 5.3；Finally, clamp system 5 is moved back from metal extrusion press 9
It returns, system back to zero；
5) it controls metal extrusion press 9 finally by metal extrusion press operation cabinet 10 to work, completes the processing of blank 8.
Claims (6)
1. drop stamping transfer matic transfer robot, which is characterized in that including move supporting mechanism (1), X-axis mobile mechanism (2),
Z-axis lifting mechanism (3), A axis rotating mechanism (4) and clamp system (5)；
The X-axis mobile mechanism (2) has X-axis slideway (2.1) of the setting on removable supporting mechanism (1), X-axis servo motor
(2.2) and X-axis transmission mechanism (2.3)；X-axis slideway (2.1) the support Z-axis lifting mechanism (3) simultaneously limits Z-axis lifting mechanism
(3) the traveling track in X-axis；The X-axis servo motor (2.2) and X-axis transmission mechanism (2.3) are for driving Z axis elevator
Structure (3) moves on X-axis slideway (2.1)；
The Z-axis lifting mechanism (3) has the Z axis bottom for being arranged on X-axis slideway (2.1) and being connect with X-axis transmission mechanism (2.3)
Seat (3.1), Z axis mounting plate (3.2) is vertically equipped on Z axis pedestal (3.1), and Z axis mounting plate (3.2) is equipped with Z axis servo motor
(3.3), Z axis slideway (3.4) and Z-axis transmission mechanism；The A axis rotating mechanism (4) is arranged on Z axis slideway (3.4), and in Z
Make lifting moving along Z axis slideway (3.4) under the action of axis servo motor (3.3) and Z-axis transmission mechanism；
The A axis rotating mechanism (4) has the A axis pedestals for being arranged on Z axis slideway (3.4) and being connect with Z-axis transmission mechanism
(4.1), A axle installing plates (4.2) are vertically equipped on A axis pedestal (4.1), A axle installing plates (4.2) are equipped with for controlling clamping machine
The electric rotating machine (4.3) of structure (5) rotation；
There is the clamp system (5) mechanical arm (5.1), one end of the mechanical arm (5.1) to be installed by bearing assembly (5.2)
In the shaft of electric rotating machine (4.3), one end of mechanical arm (5.1) is equipped with clamping cylinder (5.3) and claw (5.4), passes through folder
The unlatching of tight cylinder (5.3) control claw (5.4) and closure；
Thermal insulation ceramics piece (5.5) is equipped between the clamping cylinder (5.3) and claw (5.4), the claw (5.4) is closed for high temperature
Golden steel claw (5.4)；
Flexible discharging device (6) is additionally provided on the removable supporting mechanism (1), the flexibility discharging device is located at X-axis slideway
(2.1) side；There is the flexibility discharging device bottom plate (6.1), the middle part of bottom plate (6.1) to be equipped with screw thread guide post (6.3), bottom
Several smooth guide posts (6.2) are equipped with positioned at the periphery of screw thread guide post (6.3) on plate (6.1), the top of screw thread guide post (6.3) is equipped with
V-type fixture block (6.5) for blank (8) to be clamped and cover board (6.6), screw thread guide post (6.3) are equipped with the support platform with nut
(6.4), the nut on the support platform (6.4) is moved down by coordinating with screw thread guide post (6.3) in control support platform (6.4)
It is dynamic；The guide hole coordinated with smooth guide post (6.2) is additionally provided on the support platform (6.4)；
The cover board (6.6) is L-type cover board (6.6) and is furnished with adjustable jackscrew, and cover board (6.6) one side wall is mounted on V by bolt
On type fixture block (6.5), cover board (6.6) another side wall is located at the top of V-type fixture block (6.5), another side wall tool of cover board (6.6)
There is a gap；V-type fixture block (6.5) is open with V-type, and the gap is oppositely arranged with V-type opening, and the adjustable jackscrew is mounted on
In cover board (6.6) one side wall, it is open and coordinates with V-type；The blank (8) is fixed by the effect that gap, adjustable jackscrew and V-type are open
Position is in support platform (6.4).
2. drop stamping transfer matic transfer robot as described in claim 1, which is characterized in that the removable supporting mechanism
(1) there is babinet (1.1), babinet (1.1) to be equipped with stage body (1.2), babinet (1.1) following four corners is respectively equipped with travelling wheel
(1.3), support lower margin (1.4) is equipped on the outside of each travelling wheel (1.3)；The babinet (1.1) is equipped with and is watched for controlling X-axis
Take the turn-key system of motor (2.2), Z axis servo motor (3.3), electric rotating machine (4.3) and clamping cylinder (5.3) work.
3. drop stamping transfer matic transfer robot as described in claim 1, which is characterized in that the removable supporting mechanism
(1) one end is additionally provided with connection component (7), and the removable supporting mechanism (1) passes through connection component (7) and metal extrusion press
(9) it connects.
4. drop stamping transfer matic transfer robot as described in claim 1, which is characterized in that the electric rotating machine (4.3) is logical
It crosses retarder to connect with mechanical arm (5.1), i.e., one end of the described mechanical arm (5.1) is mounted on by bearing assembly (5.2) slows down
On the output shaft of device.
5. a kind of drop stamping transfer matic, using transfer robot as described in any one of claims 1-3, which is characterized in that also wrap
Metal extrusion press (9), metal extrusion press operation cabinet (10) and high frequency induction heater (11) are included, the metal extrusion press (9) sets
Set the front end for being located at transfer robot on ground (12), the high frequency induction heater (11) and metal extrusion press operation cabinet
(10) both sides of transfer robot are located at.
6. a kind of application method of the drop stamping transfer matic transfer robot as described in claim 1-3 is any, which is characterized in that packet
Include following steps：
1）Before transfer robot is pushed into metal extrusion press (9) by removable supporting mechanism (1), and pass through connection component (7)
It is connected and fixed with metal extrusion press (9)；
2）Blank (8) is placed on flexible discharging device (6), and passes through the nut adjustment blank (8) in support platform (6.4)
Height, after determining blank (8) height, blank (8) is located in support using the clamping of V-type fixture block (6.5) and cover board (6.6)
On platform (6.4)；
3）By X-axis servo motor (2.2), Z axis servo motor (3.3) and electric rotating machine (4.3), manually will under velocity mode
The clamp system (5) for being clamped with smooth bar is separately adjusted to angularly blank (8) position to be held of flexible discharging device (6), high frequency
Blank (8) position to be heated of induction heater (11), blank (8) position to be processed of metal extrusion press (9) carry out similar machine
Bed works to knife, while recording the spatial coordinate location of three positions；Billet size parameter to be processed, the speed of service are joined
It counts, turn-key system is written in the space position parameter of three positions；
4）Intelligent operation process：One-touch startup stops, first by X-axis servo motor (2.2), Z axis servo motor (3.3) and
Electric rotating machine (4.3) adjusts clamp system (5) to blank (8) position to be held；Pass through clamping cylinder in clamp system (5)
(5.3) clamping blank (8) is opened and be closed to control claw (5.4)；Then clamp system is controlled by Z axis servo motor (3.3)
(5) rising makes blank (8) be detached from flexible discharging device (6), passes through X-axis servo motor (2.2), Z axis servo motor (3.3) and rotation
Rotating motor (4.3) adjusts clamp system (5) to blank (8) position to be heated, and base will be clamped by controlling clamping cylinder (5.3)
The claw (5.4) of material (8) extends in high frequency induction heater (11), begins to warm up；After the completion of heating, pass through clamping cylinder
(5.3) claw (5.4) of control clamping heating blank (8) is detached from high frequency induction heater (11)；Pass through X-axis servo motor
(2.2), Z axis servo motor (3.3) and electric rotating machine (4.3) control clamp system (5) send the blank (8) after heating to metal
Position to be processed in extruder (9), then mold is lowered into, it is opened under claw (5.4) completion by controlling clamping cylinder (5.3)
Material；Finally, clamp system (5) is retracted from metal extrusion press (9), system back to zero；
5）It works finally by metal extrusion press operation cabinet (10) control metal extrusion press (9), completes the processing of blank (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610428338.6A CN105880342B (en) | 2016-06-17 | 2016-06-17 | Drop stamping transfer matic transfer robot and application method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610428338.6A CN105880342B (en) | 2016-06-17 | 2016-06-17 | Drop stamping transfer matic transfer robot and application method |
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| Publication Number | Publication Date |
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| CN105880342B true CN105880342B (en) | 2018-08-07 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108927434B (en) * | 2018-06-07 | 2019-07-16 | 东风(武汉)实业有限公司 | The heat stamping and shaping device of high strength steel |
| CN110625018B (en) * | 2019-10-23 | 2021-03-19 | 马鞍山思哲知识产权服务有限公司 | Quick blank pressing device for manufacturing bell mouth pipe fitting |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2006130513A (en) * | 2004-11-02 | 2006-05-25 | Nissan Motor Co Ltd | Hot press working method and hot press working apparatus |
| CN203804971U (en) * | 2014-03-28 | 2014-09-03 | 东莞市德瑞精密设备有限公司 | Multilayer feeding and blanking linkage manipulator |
| CN103920780B (en) * | 2014-04-14 | 2016-03-30 | 沈阳众拓机器人设备有限公司 | Drop stamping automatic production line |
| CN204365885U (en) * | 2014-12-19 | 2015-06-03 | 山东科技大学 | A kind of loading and unloading manipulator for bearing outer ring extrusion process |
| CN205032529U (en) * | 2015-08-24 | 2016-02-17 | 深圳罗伯泰克科技有限公司 | Drop stamping integrated into one piece equipment |
| CN205869184U (en) * | 2016-06-17 | 2017-01-11 | 沈阳飞机工业（集团）有限公司 | Hot automatic press line and conveying manipulator thereof |
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