CN106475483A - Hot forming loading and unloading manipulator - Google Patents
Hot forming loading and unloading manipulator Download PDFInfo
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- CN106475483A CN106475483A CN201510549598.4A CN201510549598A CN106475483A CN 106475483 A CN106475483 A CN 106475483A CN 201510549598 A CN201510549598 A CN 201510549598A CN 106475483 A CN106475483 A CN 106475483A
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Abstract
The present invention relates to hot forming stamping technology, refer in particular to hot forming loading and unloading manipulator.This mechanical hand is mainly made up of the rotating mechanism of horizontal direction, the elevating mechanism of short transverse, actuator；Wherein, the rotating mechanism of horizontal direction is mainly made up of electric rotating machine, shaft coupling, central shaft A, gear A, gear B, central shaft B, gear C, eccentric leading screw；The elevating mechanism of short transverse is mainly made up of lifting motor, shaft coupling, eccentric leading screw, central shaft B；Actuator is mainly made up of mechanical arm fixed plate, two horizontal mechanical arms, combination magnechuck, longitudinal mechanical arms；Combination magnechuck is mainly made up of fixing screws, welded nut and magnechuck.The present invention solves high temperature plate or hot forming stamping parts occurs in transfer process disturbs and spends big, and radiating is excessive, and positioning precision is not high, gripping inconvenience and lead to inefficient the problems such as thus improving transfer efficiency and improving transfer mass.
Description
Hot forming loading and unloading manipulator.
Technical field
The present invention relates to hot forming stamping technology, refer in particular to the upper and lower mechanical hand of hot forming.
Background technology
Hot forming stamping technology, as a new stamping technology, has the advantages of forming property is good, and profiled member intensity is high, and hot forming stamping parts has extensive use in automobile industry；Wherein, it is critical only that plate is placed in vacuum furnace of hot forming stamping technology is heated between 800 degrees Celsius to 900 degrees Celsius, it is then transferred to shape on stamping machine, quench, finally temperature is removed from the molds in 100 degrees Celsius to 200 degrees Celsius of drip molding, so, there are two steps to all refer to the plate of high temperature or the transfer of stamping parts in hot forming stamping technology：First, plate is transferred to stamping machine from vacuum furnace；2nd, hot forming stamping parts takes out from stamping machine and is put into specified location；During plate is transferred to stamping machine from vacuum furnace, if using standard machinery handss as transfer tool, the plate cooling of manipulator clamping position can be caused rapid, have a strong impact on the forming quality of drip molding, on the other hand, using method of clamping shift plate can because plate temperature too high thus lead to plate to be easily deformed thus be difficult to be accurately positioned also result in hot forming stamping parts stamping quality not high；During pickup, if standard machinery handss are used for the taking-up process of drip molding, often it is difficult the gripping of standard machinery handss and causes transfer efficiency to decline because drip molding is complex-shaped；Due to the presence of temperature factor in hot forming punching course, mechanical hand also can be damaged using standard machinery handss.
Therefore, with application in manufacturing industry for the hot forming stamping technology and development, actual production demand makes a kind of development of hot forming loading and unloading manipulator have the construction value meaning of reality.
Content of the invention
The invention aims to overcoming above-mentioned the deficiencies in the prior art, a kind of hot forming loading and unloading manipulator is proposed, it can be used for shifting high temperature plate or hot forming stamping parts；Separately, the extended length of mechanical hand is adjustable, and the width between two horizontal mechanical arms is adjustable, and the relative position of each magnechuck is adjustable for the elevating movement of the rotary motion of the horizontal direction of this mechanical hand and short transverse；The purpose of this invention aims to solve the problem that high temperature plate or hot forming stamping parts occurs in transfer process disturbs and spends big, and radiating is excessive, and positioning precision is not high, gripping inconvenience and lead to inefficient the problems such as and to improve transfer efficiency and improve transfer mass.
Mechanical hand involved in the present invention is a kind of hot forming loading and unloading manipulator, and the structure of this mechanical hand mainly includes the rotating mechanism of horizontal direction, the elevating mechanism of short transverse, actuator；The rotary motion completing horizontal direction by said mechanism of this mechanical hand, the elevating movement of short transverse, the a series of motion such as adjustment campaign of mechanical hand, by the transfer being finally completed high temperature plate or hot forming stamping parts from a position to another position that cooperates of various motions.
The rotary motion of the horizontal direction in the present invention is mainly realized by the kinematic chain that electric rotating machine, shaft coupling, central shaft A, gear A, gear B, central shaft B, gear C, eccentric leading screw form, the direction of rotation changing electric rotating machine can achieve the rotation clockwise, counterclockwise of mechanical hand horizontal direction, to meet the demand of high temperature plate or hot forming stamping parts on transfer varying level position.
In horizontal revolving motion mechanism in the present invention, gear A, gear B and gear C can be changed.On the premise of gear A and gear B centre-to-centre spacing are constant, gear ratio can be changed with gear B by replacing gear A and can realize the different requirement of mechanical hand：Using the little gear of gear ratio, the accuracy of transmission can be controlled, increase transmission accuracy；Using the big gear of gear ratio, the speed of transfer plate, improve production efficiency can be improved.
The shape of the horizontal revolving motion mechanism middle gear B in the present invention and gear C, equivalently-sized, the lower end of eccentric leading screw is connected with gear B, the upper end of eccentric leading screw is connected with gear C, and the axis of bias leading screw is perpendicular to the plane of two gears, rotated with ensureing that eccentric leading screw upper/lower terminal does angular velocity identical, in order to avoid to gear B and unequal to the power of gear C during the horizontal rotation of eccentric leading screw.If eccentric leading screw is excessive to the active force of any one of gear B or gear C, gear can be damaged thus reducing the service life of mechanical hand in the repeating motion of mechanical hand.
The elevating movement of the short transverse in the present invention is mainly realized by the kinematic chain that lifting motor, shaft coupling, eccentric leading screw, central shaft B form, the direction of rotation of change lifting motor can achieve moving up or down of the short transverse of mechanical hand, to meet the demand of the high temperature plate on transfer differing heights or hot forming stamping parts.
Self-locking thread is had on eccentric leading screw in the present invention, relevant position in actuator also has self-locking thread, it is connected by the self-locking thread between actuator and eccentric leading screw, during ensureing the elevating movement of actuator rotary motion in the horizontal direction and short transverse, will not drop easily thus avoiding damage product and work safety accident.
Actuator in the present invention is mainly made up of the longitudinal mechanical arm of mechanical arm fixed plate, two horizontal mechanical arms and, and longitudinal mechanical hand is arranged between two horizontal mechanical hands, and mechanical hand arrangement constitutes I-shaped；Groove is had in mechanical arm fixed plate, the screwed one end of fixing screws is connected through this groove with horizontal mechanical arm, adjust the position that the interval between two fixing screws just can control two horizontal mechanical arms, to adapt to grip high temperature plate or the hot forming stamping parts of different in width.
Combination magnechuck is fixed with the mechanical arm in the present invention, concrete distribution is as follows：It is each on every horizontal mechanical arm that equipped with two combination magnechucks, totally four magnechucks, one longitudinal mechanical arm combines magnechuck equipped with one,
Wherein, the relative position of five magnechucks is to change, the position being contained in the magnechuck of horizontal mechanical arm can transversely change, and the magnechuck being contained in longitudinal mechanical arm can be along longitudinal change, to adapt to high temperature plate or the hot forming stamping parts of gripping different length and shape.
Horizontal mechanical hand in the present invention is made up of hydraulic cylinder, knock-pin；The direction of motion of the length of knock-pin ejection and knock-pin is by hydraulic cylinder control, overhanging and contractile motion is completed by the above-mentioned ejection distance that partly can adjust knock-pin and ejection direction, to realize mechanical hand to the gripping high temperature plate of different distance or the transfer of hot forming stamping parts.
Combination magnechuck in the present invention is mainly made up of fixing screws, welded nut and magnechuck；The lower surface of magnechuck and high temperature plate directly contact, for reducing the temperature of magnechuck, the shell of magnechuck has exotic material to make and the lower surface in magnechuck is coated one layer of heat-barrier material；A welded nut is welded in the center of magnechuck upper surface, laterally the magnechuck of mechanical arm is to be connected with welded nut by the groove that fixing screws pass through knock-pin end, and the magnechuck of longitudinal mechanical arm is to be connected with welded nut by the groove that fixing screws pass through longitudinal mechanical arm center.
Elevating movement in rotary motion in horizontal direction in the present invention, short transverse, the motion such as the gripping of mechanical hand and released movement can control associated mechanisms to realize by PLC；By the initial position of mechanical arm, target location, calculate the process anglec of rotation in mechanical hand horizontal direction and the backhaul anglec of rotation, lifting height in short transverse and falling head, the relevant parameter such as the outreach of knock-pin and contract by distance, these parameters is passed through in programming input PLC and stores；Under the control of PLC, electric rotating machine, lifting motor, mechanical hand, magnechuck in a predetermined sequence generation action thus completing the transfer from a position to another position for the pickup folder.
Advantages of the present invention：(1) in horizontal revolving motion mechanism, under the constant premise of the centre-to-centre spacing of gear A and gear B 4, change gear A and gear B changes gear ratio, the different demands to mechanical hand can be met；(2) used cooperatively using horizontal mechanical hand, longitudinal mechanical hand, can effectively prevent disturbing of high temperature plate from spending big, the positioning precision of raising plate；(3) the adjustable gripping demand that can meet different size pickup folder of width of the extension elongation of mechanical arm, horizontal mechanical hand, expands range；(4) relative position of each magnechuck is adjustable can shift complex-shaped high temperature plate or hot forming stamping parts, solve the problems, such as to grip due to complicated shape inconvenient, inefficient；(5) coat the low heat-barrier material of one layer of heat transfer coefficient between the surface of sucker contact and high temperature plate, reduce the temperature protection magnechuck of magnechuck；(6) this mechanical hand transferable transfer high temperature plate or hot forming stamping parts are it can also be used to transfer room temperature high temperature plate or hot forming stamping parts, applied widely.
Brief description
The front view of Fig. 1 hot forming mechanical hand；
The front view of Fig. 2 actuator；
The front view of Fig. 3 longitudinal direction mechanical arm.
In figure：1st, electric rotating machine, 2, shaft coupling, 3, central shaft A, 4, gear A, 5th, gear B, 6, deep groove ball bearing, 7, support, 8, gear C, 9th, lifting motor, 10, central shaft B, 11, eccentric leading screw, 12, machine arm fixing plate, 13rd, hydraulic cylinder, 14, knock-pin, 15, combination magnechuck, 16th, longitudinal mechanical arm, 17, fixing screws, 18, welded nut, 19th, magnechuck, 20, upper junction plate, 21, lower connecting plate.
Specific embodiment
From figure l, a kind of the main of present invention hot forming loading and unloading manipulator is made up of electric rotating machine l, shaft coupling 2, central shaft A3, gear A 4, gear B 5, deep groove ball bearing 6, support 7, gear C 8, lifting motor 9, central shaft B10, eccentric leading screw 11, mechanical arm fixed plate 12, hydraulic cylinder 13, knock-pin 14, combination magnechuck 15, longitudinal mechanical arm 16；Combine that this mechanical hand can complete horizontal revolving motion, the magnetic force of elevating movement, plate or hot forming stamping parts in short transverse is drawn and finally realized plate or the transfer movement of hot forming stamping parts by above-mentioned part.
From figure l, a kind of rotating mechanism of the horizontal direction of present invention hot forming loading and unloading manipulator is mainly made up of electric rotating machine l, shaft coupling 2, central shaft A3, gear A 4, gear B 5, central shaft B10, gear C 8, eccentric leading screw 11；The structure of the rotating mechanism of horizontal direction is as follows：Electric rotating machine l is fixed on the bottom of support 7, the axle of electric rotating machine l is connected by shaft coupling 2 with central shaft A3, the top of central shaft A3 is connected with gear A 4 by wedge key, gear A 4 is meshed with the gear B 5 on the right side of it, central shaft B10 pass through gear B 5 center and with gear B 5 pass through wedge shape bonded, central shaft B10 top is connected with gear C 8 by wedge key, the bottom of central shaft B10 is connected with support 7 by bearing, the bottom of eccentric leading screw 11 is arranged on the right side of gear B 5 by bearing, and eccentric leading screw 11 passes through the right side of gear C 8；The motor process of the rotary motion of horizontal direction is as follows：The rotary motion of electric rotating machine l passes to gear A 4 by shaft coupling 2 and rotates, the rotary motion of gear A 4 passes to gear B 5 by what gear engaged, gear B 5 drives the rotation of central shaft B10, and gear C 8 does identical with the shapes and sizes of gear B 5 so that central shaft B10 drives gear C 8 to do the rotary motion with gear B 5 same angular velocity；Eccentric leading screw 11 axis around central shaft B10 under the impetus of gear B 5 and gear C 8 revolving force rotates；The inner hole wall that the rotary motion of eccentric leading screw 11 can connect in eccentric leading screw 11 and actuator produces a side force thus pushing executing mechanism rotates, thus realizing actuator along the horizontal revolving motion of a direction, the direction of rotation changing electric rotating machine l can achieve rightabout horizontal revolving motion.
From figure l, a kind of elevating mechanism of the short transverse of present invention hot forming loading and unloading manipulator is mainly made up of lifting motor 9, shaft coupling 2, the eccentric leading screw 11 having self-locking thread, central shaft B10, mechanical arm fixed plate 12；The structure of the elevating mechanism of short transverse is as follows：Lifting motor 9 is passed through shaft coupling 2 and is connected with the top of eccentric leading screw 11, the bottom of eccentric leading screw 11 is arranged on the right side of gear B 5 by bearing, eccentric leading screw 11 adopt self-locking thread and mechanical arm fixed plate 12 formed self-locking be connected and bias leading screw 11 axis perpendicular to mechanical arm fixed plate 12 upper plane, central shaft B10 is connected with mechanical arm fixed plate 12 by feather key；The motor process of the elevating movement of short transverse is as follows：The rotary motion of lifting motor 9 is converted to the rotary motion of eccentric leading screw 11 by shaft coupling 2, the rotation of eccentric leading screw 11 can form the power of a short transverse in eccentric leading screw 11 and mechanical arm fixed plate 12 thread contact part, the feather key of central shaft B10 and mechanical arm fixed plate 12 can hinder the rotation of the horizontal direction of mechanical arm fixed plate 12, so that mechanical arm fixed plate 12 is only capable of edge and is somebody's turn to do
The direction motion of power, the direction of rotation changing lifting motor 9 can achieve the motion of the contrary short transverse of mechanical arm fixed plate 12.
The whole job step of this mechanical hand is as follows：First, the width between two horizontal mechanical arms is adjusted according to the shape of pickup folder, size, the relative position of position on horizontal mechanical arm for longitudinal mechanical arm and each magnechuck；Second, initial position, target location according to mechanical arm, calculate the process anglec of rotation in mechanical hand horizontal direction and the backhaul anglec of rotation, lifting height in short transverse and falling head, the relevant parameter such as the outreach of knock-pin and contract by distance, and above-mentioned parameter is inputted the control parameter as motion in PLC；3rd .PLC run within program obtain the kinematic parameter of each mechanism and sequence of motion thus the job order to each mechanism and motor process are controlled in order, the rotary motion completing horizontal direction by the motion of associated mechanisms of this mechanical hand, the elevating movement of short transverse, and then complete mechanical hand from the range of motion being adjusted to transfer, it has been finally completed the transfer from a position to another position for the pickup folder.
Claims (3)
1. hot forming loading and unloading manipulator it is characterised in that：The upper and lower mechanical hand of described hot forming includes the rotating mechanism of horizontal direction, the elevating mechanism of short transverse and actuator；The rotating mechanism of horizontal direction is mainly made up of electric rotating machine, shaft coupling, central shaft A, gear A, gear B, central shaft B, gear C and eccentric leading screw；Electric rotating machine is fixed on the bottom of support, the axle of electric rotating machine is connected by shaft coupling with central shaft A, the top of central shaft A is connected with gear A by wedge key, gear A is meshed with the gear B on the right side of it, central shaft B pass through gear B center and with gear B pass through wedge shape bonded, central shaft B top is connected with gear C by wedge key, and the bottom of central shaft B is connected with support by bearing, the bottom of eccentric leading screw is arranged on the right side of gear B by bearing, and eccentric leading screw passes through the right side of gear C；The elevating mechanism of short transverse is mainly made up of lifting motor, shaft coupling, the eccentric leading screw having self-locking thread, central shaft B and mechanical arm fixed plate；Lifting motor is passed through shaft coupling and is connected with the top of eccentric leading screw, the bottom of eccentric leading screw is arranged on the right side of gear B by bearing, eccentric leading screw adopt self-locking thread and mechanical arm fixed plate formed self-locking be connected and bias leading screw axis perpendicular to mechanical arm fixed plate upper plane, central shaft B is connected with mechanical arm fixed plate by feather key；Actuator is mainly made up of mechanical arm fixed plate, two horizontal mechanical arms, combination magnechuck and a longitudinal mechanical arm；Wherein, horizontal mechanical arm is mainly made up of hydraulic cylinder and knock-pin；Groove is had on the right flank of mechanical arm fixed plate, a screwed hole is respectively had on the left surface of hydraulic cylinder of two horizontal mechanical arms, screw passes through the screwed hole on groove and the hydraulic cylinder of mechanical arm fixed plate to be connected the position of horizontal mechanical hand, the knock-pin of two horizontal mechanical arms is each passed through the groove of longitudinal mechanical arm both sides, using bolt connection between longitudinal mechanical arm and knock-pin, four combination magnechucks are sleeved on the knock-pin of horizontal mechanical arm two-by-two, and a combination magnechuck is sleeved on longitudinal mechanical arm.
2. the hot forming loading and unloading manipulator according to claim l it is characterised in that：Combination magnechuck is mainly made up of fixing screws, welded nut and magnechuck, the center that welded nut is welded on magnechuck upper surface makes both be integrally formed, laterally the magnechuck of mechanical arm is to be connected with welded nut by the groove that fixing screws pass through knock-pin end, and the magnechuck of longitudinal mechanical arm is to be connected with welded nut by the groove that fixing screws pass through longitudinal mechanical arm center.
3. hot forming loading and unloading manipulator according to claim 2 it is characterised in that：Coat the low heat-barrier material of one layer of heat transfer coefficient in the surface of magnechuck and high temperature plate directly contact, the shell of magnechuck is made up of heat proof material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510549598.4A CN106475483A (en) | 2015-09-01 | 2015-09-01 | Hot forming loading and unloading manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510549598.4A CN106475483A (en) | 2015-09-01 | 2015-09-01 | Hot forming loading and unloading manipulator |
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| CN106475483A true CN106475483A (en) | 2017-03-08 |
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| CN201510549598.4A Pending CN106475483A (en) | 2015-09-01 | 2015-09-01 | Hot forming loading and unloading manipulator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108032294A (en) * | 2017-12-15 | 2018-05-15 | 安徽省繁昌县皖南阀门铸造有限公司 | A kind of manipulator |
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- 2015-09-01 CN CN201510549598.4A patent/CN106475483A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108032294A (en) * | 2017-12-15 | 2018-05-15 | 安徽省繁昌县皖南阀门铸造有限公司 | A kind of manipulator |
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Application publication date: 20170308 |
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| WD01 | Invention patent application deemed withdrawn after publication |