CN107234207A - Six mould Cold headers change the mold aided arm prosthesis system - Google Patents
Six mould Cold headers change the mold aided arm prosthesis system Download PDFInfo
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- CN107234207A CN107234207A CN201710406203.4A CN201710406203A CN107234207A CN 107234207 A CN107234207 A CN 107234207A CN 201710406203 A CN201710406203 A CN 201710406203A CN 107234207 A CN107234207 A CN 107234207A
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- Prior art keywords
- connecting rod
- large arm
- forearm
- clamping jaw
- cylinder
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J13/00—Details of machines for forging, pressing, or hammering
- B21J13/08—Accessories for handling work or tools
- B21J13/085—Accessories for handling work or tools handling of tools
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- Mechanical Engineering (AREA)
- Moulds For Moulding Plastics Or The Like (AREA)
- Prostheses (AREA)
Abstract
Aided arm prosthesis system is changed the mold the present invention relates to a kind of six moulds Cold header.It is characterized in that：The aided arm prosthesis system includes large arm, forearm, main grip, secondary handgrip, pneumatic impact spanner, pneumatic controller and other chain pipe fittings.The large arm is fixed on Cold header by nut, and the pipe end of swivel link is directly sleeved on middle connecting pole, realizes the rotary motion of horizontal plane, and the long and short connecting rod of large arm is realized to be swung in perpendicular；The forearm is linked together by the thrust bearing being arranged symmetrically with large arm connecting rod, realizes that forearm does horizontal revolving motion relative to large arm connecting rod axis, reasonable in design, compact conformation of the invention and easy to use.
Description
Technical field
Aided arm prosthesis system is changed the mold the present invention relates to six mould Cold headers.
Background technology
At present, developing rapidly with national economy, society expands day by day to the demand of fastener and shaped piece.Fastener
It is the basic mechanical organ of national strategy with shaped piece, cold pier technique is to process the major way of this kind of part, because cold working is logical
Normal needs tens, hundreds of tons of power, used mould are generally also heavier, and cold pier portion structure is complicated, die change
Narrow space, causes to change the mold labor intensity manually greatly, is easily damaged other association parts of complete machine, and the die change cycle is long, and one
As want more than 2 experienced operator's cooperations more than half a day could complete, and due to workman's skills involved in the labour Different Effects assembling
Precision, workman itself is also easily injured.The single die quality that such as DBP206 Cold headers are used is just more than 40kg, dynamic model and fixed
Maximum distance is no more than 700mm between mould, and Cold header realizes that cold pier action portion structure is complicated, and component part is more than thousand
It is individual.And low cost how is realized, high accuracy, high efficiency, the problem of safety mold changing always is puzzlement Cold header mold changing work.State
It is interior there is presently no specifically designed for Cold header is quick, safety mold changing manipulator production, related patent and Publications is also few.Example
Such as,《Equipment》Periodical has delivered a kind of special offline mould changing device of multi-station cold-heading forming machine, and mould and die cavity are constituted into one
Part, realization is once changed the mold.But this structure needs very high machining accuracy, and the high-precision processing cost of big part is very high, and
Contact surface precision is also easily damaged, and Cold header mould installion precision reaches less than 2, is realized more difficult.
The content of the invention
In order to overcome the shortcomings of technical background, aided arm prosthesis system is changed the mold the invention discloses a kind of six moulds Cold header.
Not only can quickly it change the mold, it may also be ensured that high accuracy and safety.To solve the above problems, the technical solution used in the present invention
It is：A kind of six mould Cold headers mold changing aided arm prosthesis system, including be arranged on Cold header side large arm, large arm upper end and its
Cantilever end swings up and down the forearm of setting, in the main grip that horizontal plane is rotated and is arranged on below forearm cantilever end and in master
Horizontal extension sets and is used for the secondary handgrip for clamping mould on handgrip；Secondary handgrip is located above Cold header die cavity.
Large arm include be arranged on Cold header on head tree, the middle connecting pole being arranged on head tree, lower rotational or
It is fixedly installed on the swivel link on middle connecting pole top, in two the first U-shaped seats for being set in parallel at the top of swivel link
Rotary shaft and it is parallel to each other and root is sleeved on large arm long connecting rod in corresponding rotary shaft and large arm short connecting rod；Large arm
Long connecting rod is located at the surface of large arm short connecting rod, and the root of large arm long connecting rod is exposed to the first U-shaped seat, in the root of large arm long connecting rod
Connection journal stirrup is respectively arranged with subordinate end and middle connecting pole, limit spring is provided between two connection journal stirrups；It is small
Arm includes connecting rod, the forearm girder being horizontally set on below connecting rod and is arranged on connecting rod lower end axle and forearm girder
Between thrust bearing；Two parallel connection bearing pins, connection bearing pin and the 2nd U are fitted with the second U-shaped seat of connecting rod
Type seat is close to by the bearing pin nut back of the body and connect；The stem of large arm long connecting rod and the stem of large arm short connecting rod are set in relative
Connect on bearing pin；Two intersection points and large arm long connecting rod of large arm long connecting rod and large arm short connecting rod and described two connection bearing pins with
Large arm short connecting rod and two intersection points of described two rotary shafts, this four intersection point lines are in perpendicular formation parallelogram knot
Structure；Forearm girder lower end is provided with connection rotating shaft, thrust bearing is provided between connection rotating shaft and forearm girder, in thrust
Bearing (ball) cover is provided with above bearing, connection rotating shaft upper end is provided with the rotating shaft for carrying on the back thrust bearing below tight bearing (ball) cover
Fixing nut, is being arranged on the rotating shaft fixing nut that is provided with below the axle of connecting rod lower end for carrying on the back tight thrust bearing；Connection
Bar is vertically positioned at the left and right ends of forearm girder with connection rotating shaft respectively, and connecting rod is located at forearm girder respectively with connection rotating shaft
Both sides up and down.Distribution box is provided with large arm；Pneumatic impact spanner is hung with forearm girder, is provided with forearm girder
The three hole button boxes electrically connected with distribution box；Main grip jettron, secondary handgrip are respectively arranged with three hole button boxes pneumatic
Switch and pneumatic impact spanner gas source switch.Secondary handgrip includes the finger grip mounts that top is connected with connection rotating shaft；In handgrip peace
Shelve lower end and be provided with two guide rail bearings, being horizontally disposed between two guide rail bearings has line slideway, in line slideway water
Smooth move is provided with Linear bearing fixing seat, and L-type connecting plate is connected with by fixing nut in Linear bearing fixing seat both sides,
L-type connecting plate lower end is provided with rotation and clamps cylinder mount frame, and clamping cylinder mount frame side in rotation is provided with horizontal positioned
Rotation clamping cylinder, rotation clamping cylinder is connected by bolt cylinder and cylinder nut and rotation clamping cylinder mount frame, rotation
The piston rod for turning clamping cylinder is connected with shaft coupling, and the opposite side that rotation clamps cylinder mount frame is provided with and shaft coupling transmission company
The two coaxial clamping jaw mounting brackets connect, spacing collar is provided between being provided with two coaxial clamping jaw mounting brackets, limit
Position sleeve is connected with clamping jaw mounting bracket by nuts and bolt；At least three folders are distributed with circumference array on clamping jaw mounting bracket
Pawl；At least three clamping jaws are used to clamp mould；Arc guide rail disk is fixedly installed between clamping jaw mounting bracket and clamping jaw mounting bracket,
Be provided with journal bearing between arc guide rail disk and the output shaft of shaft coupling, on arc guide rail disk circumference array be distributed with to
Few three arc orbits, arc orbit is set along its track length direction on arc guide rail disk along thoughtfully axle center is progressive outside circle
Put；The root of clamping jaw is located in corresponding arc orbit respectively；Main grip include be arranged on finger grip mounts side casing,
At least two horizontal through casing line slideway and the bushing that is arranged in casing and is contacted with line slideway；In casing
Both sides be symmetrically arranged with carrier bar, two guide grooves are vertically arranged with carrier bar, two are provided with the inside of each carrier bar
The clamping jaw of individual V-type, the clamping jaw back side is connected with the bolt through correspondence guide groove, is provided with the outside of carrier bar and bolted spiral shell
Female and pad；Linear bearing is provided between line slideway and carrier bar, is provided with and is led with straight line between described two carrier bars
The parallel cylinder axis of rail, is provided with the linear bearing being sleeved on cylinder axis in casing, is provided with and cylinder in casing side
The guide rod cylinder parallel with line slideway；Described two cylinders are oppositely arranged, the air cylinder guide rod of each cylinder respectively with it is corresponding
Carrier bar is connected by fixing nut；The clamping jaw of the V-type is used to clamp mould；Longitudinal center line where the clamping jaw of the V-type
It is coaxial with longitudinal center line where three clamping jaws.The side of clamping jaw is provided with clamping jaw positive stop strip.On finger grip mounts
It is provided with main handle.Cylinder mount frame side, which is clamped, in rotation is provided with time handle.
, can be quick, safe and reliable by aided arm prosthesis system using such scheme when carrying out Cold header mold changing
Cold header die change is realized, that is, reduces the cost of mold changing, the security and efficiency of mold changing are improved again.Swivel link of the present invention
Pipe end is directly sleeved on middle connecting pole, simple and reliable for structure, and the connected mode of large arm and forearm is can to ensure mould shaft
Line remains horizontality, convenient for assembly, to realize in mould gripping and the designed special fixture of assembling, by straight line clamping jaw and
Rotation clamping jaw is used in combination, and can both ensure the intensity of seizing on both sides by the arms of heavy dies, mould installion range demands can be met again, introduces
Pneumatic impact spanner can both realize the elastic of rapid bolt nut, and the pretightning force of fast screw-nut, multiple thrust axis can be controlled again
The use held, both can smoothly realize that Aided Machine arm was rotated, and can reduce the fitted position of arm again, use limit spring
Can be with the lifting of control machinery hand large arm.
Brief description of the drawings
Fig. 1 is patent main grip structural representation of the present invention.
Fig. 2 is patent of the present invention time gripping structure schematic diagram.
Fig. 3 is patent forearm hand structural representation of the present invention.
Fig. 4 is patent large arm hand structural representation of the present invention.
Fig. 5 is that the mould Cold header of patent six of the present invention changes the mold aided arm prosthesis system hand structural representation.
Fig. 6 is structural representation after patent of the present invention clamping mould.
Fig. 7 is another viewing angle constructions schematic diagram of patent of the present invention time handgrip.
Fig. 8 is another viewing angle constructions schematic diagram of patent large arm hand of the present invention.
Embodiment
As shown in figures 1-8, as shown in figure 1, the six mould Cold headers of the present embodiment change the mold aided arm prosthesis system, including set
Put in the large arm 400 of Cold header side, in the upper end of large arm 400 and its cantilever end swings up and down the forearm 300 of setting, in level
Main grip 100 and horizontal extension sets and used in main grip 100 that face rotates and is arranged on below the cantilever end of forearm 300
In the secondary handgrip 200 of clamping mould 211；Secondary handgrip 200 is located at the top of Cold header die cavity 001.Large arm 400 includes being arranged on cold
Head tree 408, the middle connecting pole 407 being arranged on head tree 408, lower rotational on pier machine are fixedly installed on centre and connected
Connect the swivel link 403 on the top of post 407, two be set in parallel in the first U-shaped seat at the top of swivel link 403 rotary shaft,
And be parallel to each other and root is sleeved on large arm long connecting rod 401 in corresponding rotary shaft and large arm short connecting rod 402；Big brachium
Connecting rod 401 is located at the surface of large arm short connecting rod 402, and the root of large arm long connecting rod 401 is exposed to the first U-shaped seat, in big brachium
Be respectively arranged with connection journal stirrup 406 on the root lower end of connecting rod 401 and middle connecting pole 407, connected at two journal stirrups 406 it
Between be provided with limit spring 404；Forearm 300 includes connecting rod 301, is horizontally set on the forearm girder of the lower section of connecting rod 301
306 and the thrust bearing 304 that is arranged between the lower end axle of connecting rod 301 and forearm girder 306；The second of connecting rod 301
Two parallel connection bearing pins 302 are fitted with U-shaped seat, the connection U-shaped seat of bearing pin 302 and second is carried on the back tightly by bearing pin nut 303
Connection；The stem of large arm long connecting rod 401 and the stem of large arm short connecting rod 402 are set on relative connection bearing pin 302；
Large arm long connecting rod 401 and large arm short connecting rod 402 be connected with two two intersection points and large arm long connecting rod 401 of bearing pin 302 with it is big
Two intersection points of arm short connecting rod 402 and two rotary shafts, this four intersection point lines are in perpendicular formation parallelogram sturcutre；
The lower end of forearm girder 306 is provided with connection rotating shaft 312, thrust axis is provided between connection rotating shaft 312 and forearm girder 306
Hold, bearing (ball) cover 313 is provided with above thrust bearing, be provided with the upper end of connection rotating shaft 312 for carrying on the back tight bearing (ball) cover 313
The rotating shaft fixing nut 314 of lower section thrust bearing, is provided with for carrying on the back tight thrust being arranged on below the lower end axle of connecting rod 301
The rotating shaft fixing nut 315 of bearing 304；Connecting rod 301 is vertically positioned at the left and right of forearm girder 306 with connection rotating shaft 312 respectively
Two ends, and connecting rod 301 is located at the both sides up and down of forearm girder 306 with connection rotating shaft 312 respectively.It is provided with large arm 400
Distribution box 405；Pneumatic impact spanner 305 is hung with forearm girder 306, is provided with forearm girder 306 and the electricity of distribution box 405
Three hole button boxes 307 of connection；Main grip jettron 308 is respectively arranged with three hole button boxes 307, secondary handgrip is pneumatic opens
Close 309 and pneumatic impact spanner gas source switch 310.Secondary handgrip 200 includes the finger grip mounts that top is connected with connection rotating shaft 312
202；The lower end of finger grip mounts 202 is provided with two guide rail bearings 203, being horizontally disposed between two guide rail bearings 203 has
Line slideway 204, slides in the level of line slideway 204 and is provided with Linear bearing fixing seat 219, in Linear bearing fixing seat 219
Both sides are connected with L-type connecting plate 217 by fixing nut 218, and rotation clamping cylinder peace is provided with the lower end of L-type connecting plate 217
220 are shelved, the rotation clamping cylinder 208 that the side of cylinder mount frame 220 is provided with horizontal positioned is clamped in rotation, rotation clamps gas
Cylinder 208 clamps cylinder mount frame 220 with cylinder nut 207 and rotation by bolt cylinder 206 and is connected, and rotates clamping cylinder 208
Piston rod be connected with shaft coupling 221, the opposite side that rotation clamps cylinder mount frame 220 is provided with and the transmission of shaft coupling 221 connects
The two coaxial clamping jaw mounting brackets 213 connect, stop collar is provided between being provided with two coaxial clamping jaw mounting brackets 213
Cylinder 216, spacing collar 216 is connected with clamping jaw mounting bracket 213 by nut 214 and bolt 215；The circle on clamping jaw mounting bracket 213
All array distributions have at least three clamping jaws 212；At least three clamping jaws 212 are used to clamp mould 211；Clamping jaw mounting bracket 213 with
Arc guide rail disk 210 is fixedly installed between clamping jaw mounting bracket 213, arc guide rail disk 210 and shaft coupling 221 output shaft it
Between be provided with journal bearing 209, at least three arc orbits 2101, circular arc are distributed with circumference array on arc guide rail disk 210
The edge on arc guide rail disk 210 is progressively arranged from the outer thoughtful axle center of circle along its track length direction for track 2101；The root of clamping jaw 212
Portion is located in corresponding arc orbit 2101 respectively；Main grip 100 includes being arranged on the casing of the side of finger grip mounts 202
109th, at least two horizontal through casing 109 line slideway 105 and be arranged in casing 109 and connect with line slideway 105
Tactile bushing 107；Carrier bar 101 is symmetrically arranged with the both sides of casing 109, two guide grooves are vertically arranged with carrier bar 101,
The clamping jaw 114 of two V-types is provided with the inner side of each carrier bar 101, the back side of clamping jaw 114 is connected with through correspondence guide groove
Bolt 104, the nut 102 and pad 103 being connected with bolt 104 are provided with the outside of carrier bar 101；In line slideway 105 and chain
Linear bearing 106 is provided between plate 101, the cylinder axis parallel with line slideway 105 is provided between two carrier bars 101,
The linear bearing 108 being sleeved on cylinder axis is provided with casing 109, is provided with and air cylinder guide rod 111 in the side of casing 109
The cylinder 110 parallel with line slideway 105；Two cylinders 110 are oppositely arranged, the air cylinder guide rod 111 of each cylinder 110 respectively with
Corresponding carrier bar 101 is connected by fixing nut 112；The clamping jaw 114 of V-type is used to clamp mould 211；Where the clamping jaw 114 of V-type
Longitudinal center line and three clamping jaws 212 where longitudinal center line it is coaxial.The side of clamping jaw 114 is provided with clamping jaw spacing
Bar 113.Main handle 201 is provided with finger grip mounts 202.The side of cylinder mount frame 220, which is clamped, in rotation is provided with time handle
Hand 205.
Such as Fig. 1-8, as detailed description, the invention mainly comprises main grip 100, secondary handgrip 200, forearm 300, large arm
400th, pneumatic impact spanner 305, the part such as pneumatic controller.The one end of large arm 400 connects Cold header, the other end of large arm 400 connection forearm
300, in the other end lower end connection time handgrip 200 of forearm 300, main grip 100 is arranged on time finger grip mounts 202.It is pneumatic
Controller is arranged on forearm girder 306, and pneumatic impact spanner 305 is placed on the side of forearm girder 306.
Main grip 100 includes carrier bar 101, horizontally disposed line slideway 105, linear bearing 106, bushing 107, linear axis
Hold 108, casing 109, cylinder 110, air cylinder guide rod 111, guide rod fixing nut 112, clamping jaw positive stop strip 113, clamping jaw 114.Clamping jaw
114 are connected by nut 102, pad 103, bolt 104 with carrier bar 101, and carrier bar 101 passes through linear bearing 106 and line slideway
105 are connected, and carrier bar 101 is arranged symmetrically in the front and rear sides of casing 109；Line slideway 105 is connected by bushing 107 with casing 109；
Cylinder 110 is arranged symmetrically in the left and right sides of casing 109, and carrier bar 101 passes through air cylinder guide rod 111 and guide rod fixing nut 112 and gas
Cylinder 109 is connected, in 110 stretching motion of cylinder, and side chain plate 101 is synchronized with the movement before and after driving casing 109.
Wherein position of the clamping jaw on carrier bar can be adjusted within the specific limits；Clamping jaw positive stop strip 113 by some nuts,
If some pads and bolt stem are connected with clamping jaw, the one side of clamping jaw positive stop strip 113 is contacted with a survey face of clamping jaw.
The present invention first adjusts the relative position of clamping jaw 114 and mould 211 when gripping mould, make the line of symmetry of clamping jaw 114 with
The axis of mould 211 is overlapped, and presses main grip jettron 308, is arranged symmetrically cylinder 110 and is driven air cylinder guide rod 111 to do contraction fortune
It is dynamic, involve carrier bar 101 and do distance diminution between move toward one another, two connecting plates 101 along line slideway 105, so as to involve clamping jaw 114
Clamping mold 211.When unclamping mould, main grip jettron 308 is pressed, cylinder 110 is arranged symmetrically and drives air cylinder guide rod 111
Stretching routine is done, involves carrier bar 101 and does distance increase between counter motion, two connecting plates 101 along line slideway 105, so as to lead
Even clamping jaw 114 decontrols mould 211.
Described handgrip 200 include main handle 201, finger grip mounts 202, guide rail bearing 203, line slideway 204, secondary
Hand 205, bolt cylinder 206, cylinder nut 207, rotation clamping cylinder 208, journal bearing 209, arc guide rail disk 210, clamping jaw
212nd, clamping jaw mounting bracket 213, nut 214, bolt 215, spacing collar 216, L-type connecting plate 217, fixing nut 218, linear axis
Hold fixed seat 219.Main handle 201 is connected with finger grip mounts 202, and guide rail bearing 203 is symmetrically mounted on finger grip mounts 202
On, line slideway 204 is interference fitted with guide rail bearing 203, and L-type connecting plate 217 is led by Linear bearing fixing seat 219 in straight line
Rail 204 is slided, and secondary handle 205 is welded on L-type connecting plate 217, and rotation clamps cylinder mount frame 220 and welded with L-type connecting plate 217
Connect, the face of cylinder of the arc orbit and clamping jaw 212 of arc guide rail disk 210 is tangent, and clamping jaw mounting bracket 213 passes through spacing collar 216
It is connected with rotation clamping cylinder 208, clamping jaw 212 coordinates with the movement auxiliary air gap of clamping jaw mounting bracket 213.
Secondary handgrip is welded together by finger grip mounts with connection rotating shaft, and main handle is connected by bolt and finger grip mounts
Connect；Some line slideways are axially engaged with Linear bearing fixing seat；Linear bearing fixing seat passes through some with some L-type connecting plates
Fixing nut is connected, wherein some L-type connecting plates are arranged symmetrically in Linear bearing fixing seat both sides, some L-type connecting plates and rotation
Turn the welding of clamping cylinder mounting bracket；If rotation clamping cylinder clamps cylinder frame with rotation by some nuts and bolt stem and is connected；
Arc guide rail disk clamps cylinder frame by journal bearing and rotation and is connected, and is connected by shaft coupling with rotation clamping cylinder；Clamping jaw
If mounting bracket clamps cylinder frame by some nuts, bolt stem and some spacing collars and rotation and is connected, wherein spacing collar is justified
All equidistantly configurations；The shoulder plane of some clamping jaws coordinates with the rectilinear orbit gap on clamping jaw mounting bracket, between clamping jaw circumference etc.
Away from configuration.
Rotation clamps cylinder mount frame 220 and welded with L-type connecting plate 217, and rotation clamping cylinder 208 is arranged on rotation and clamped
On cylinder mount frame 220, arc guide rail disk 210 is connected by shaft coupling 221 with the rotation rotating shaft of clamping cylinder 208, arc guide rail
The root cylinder guide end phase inscribe of the arc orbit 2101 of disk 210 and clamping jaw 212, clamping jaw mounting bracket 213 passes through spacing collar
216 are connected with rotation clamping cylinder 208, and clamping jaw 212 coordinates with the movement auxiliary air gap of clamping jaw mounting bracket 213.The cylinder of clamping jaw 212
Guide end does the motion closer or far from rotation clamping cylinder 208 axle center in arc orbit 2101.
When gripping mould, after the clamping mold 211 of main grip 100, by traction time handle 205, clamping jaw 212 and mould
The relatively suitable clip position of 211 levels, by next handgrip jettron 309, rotation clamping cylinder 208 is rotated counterclockwise, and is led to
Crossing shaft coupling 221 drives arc guide rail disk 210 to do fixed-axis rotation, so as to drive clamping jaw 212 along the straight rail of clamping jaw mounting bracket 213
Concentric contraction motion is done, so that clamping mold.
When unclamping mould, main grip 100 is unclamped after mould 211, and by next handgrip jettron 309, rotating clamp unclamps
Cylinder 208 is rotated clockwise, and drives arc guide rail disk 210 to do fixed-axis rotation by shaft coupling 221, so as to drive the edge of clamping jaw 212
The straight rail of clamping jaw mounting bracket 213 and do outside extension movement, so as to unclamp mould, then grabbed by traction time handle 205 by secondary
Hand is drawn to level with respect to suitable distance.
The forearm 300 includes connecting rod 301, connection bearing pin 302, bearing pin nut 303, thrust bearing 304, forearm girder
306th, connection rotating shaft 312, bearing (ball) cover 313 and, rotating shaft fixing nut 314 and 315.The side of connecting rod 301 passes through some connections
Bearing pin 302, the lower end axle of connecting rod 301 passes through thrust bearing 304, thrust bearing, bearing (ball) cover, rotating shaft fixing nut 314, rotating shaft
Fixing nut 315, bearing pin nut 303 are connected with forearm girder 306, plane is all the time on forearm girder 306 during motion
Keep vertical with the coupking shaft axis of connecting rod 301, connection rotating shaft 312 passes through rotating shaft fixing nut 314, thrust bearing, bearing
End cap 313 and forearm girder 306 are connected；Due to plane on the axis of connection rotating shaft 312 all the time vertical forearm girder 306, so as to protect
Card mold axis is remained in the state of seizing on both sides by the arms remains parallel with plane on forearm girder 306, bearing (ball) cover 313 and bearing pin
Nut 303 is used cooperatively, and the difference in height of control mould and forearm girder 306 is always definite value.
During die space transfer is realized, motion is changed hands in traction under the traction of main handle 201, so that the company of traction
Switch through axle 312 to move in a circle, while drawing forearm girder does spatial movement.
Furtherly, forearm is connected in large arm by connecting rod, some connection bearing pins and some bearing pin nuts；Connecting rod
Opposite side is connected by some thrust bearings, bearing (ball) cover and rotating shaft fixing nut with forearm girder, and wherein thrust bearing is symmetrical
Arrange forearm girder fitted shaft both ends of the surface, realize forearm girder around connecting rod shaft end circumferential level move, bearing (ball) cover and
The vertical height with the use of restriction forearm girder with respect to connecting rod of rotating shaft fixing nut；The other end thrust axis of forearm girder
Hold, bearing (ball) cover and rotating shaft fixing nut are connected with connection rotating shaft, realize that connection rotating shaft is moved around the circumferential level of forearm girder,
The vertical height with the use of restriction connection rotating shaft with respect to forearm girder of bearing (ball) cover and rotating shaft fixing nut；Connection rotating shaft with
Finger grip mounts weld together.
The large arm 400 includes large arm long connecting rod 401, large arm short connecting rod 402, swivel link 403, limit spring 404, matched somebody with somebody
Electronic box 405, connection journal stirrup 406, middle connecting pole 407, head tree 408.
Large arm long connecting rod 401 is connected in parallel at swivel link 403 and connecting rod 301 with large arm short connecting rod 402, big realizing
The upper surface of swivel link 403 remains parallel with the upper surface of connecting rod 301 during arm swing.
The one end of large arm 400 connects forearm 300, and the other end connection time handgrip 200 of forearm 300, main grip is arranged on secondary grab
On hand mounting bracket.Same in motion process, by pressing, different jettrons supplies disconnection with realizing source of the gas, passes through main handle
Pulling motion realize manipulator big metric space motion, by the pulling motion of secondary handle realize mould load and pull-out type
Chamber.
Head tree 408 and Cold header bolt connection, head tree 408 and the coaxial wire bonding of middle connecting pole 407, swivel link
403 coaxial packages are on middle connecting pole 407, and large arm long connecting rod 401, large arm short connecting rod 402 are by connecting bearing pin 302, bearing pin
Nut 303 is connected with swivel link 403, the connection large arm of limit spring 404 long connecting rod 401 and swivel link 403.In forearm 300
Pulling motion effect under, large arm 400 do around the middle axis of connecting pole 407 circular motion and around connection the axis of bearing pin 302 pendulum
It is dynamic, the swing angle of large arm 400 is limited by limit spring 404.
Pneumatic impact spanner is connected by air inlet pipeline with pneumatic impact spanner gas source switch.Forearm girder is placed when pneumatic impact spanner is idle
One side laying rack on.
Pneumatic controller includes three hole button boxes, main grip jettron, secondary handgrip jettron, pneumatic impact spanner source of the gas and opened
Close and some other pneumatic elements.Main grip jettron passes through air inlet pipeline and main grip cylinders；Secondary handgrip is pneumatic to be opened
Close by air inlet pipeline and rotation clamping cylinders；Pneumatic impact spanner gas source switch is connected by air inlet pipeline with pneumatic impact spanner；
Three hole button boxes are connected with one end of forearm girder by bolt
Cold header changes the mold flow：In two steps, the first step is to remove the mould on Cold header to set aside, and second step is changed standby
Mould loads Cold header, and concrete operations flow is as follows：
The first step, removes mould from Cold header.Pneumatic impact spanner 305 is removed from the side of forearm girder 306, pneumatic impact spanner gas is pressed
Source switch 310, suitable stroke is unscrewed with pneumatic impact spanner 305 by the holding screw on Cold header mold cavity for fixing mould,
Mould limited block and limited block holding screw are unscrewed again and taken away, then pneumatic impact spanner 305 is placed on the side of forearm girder 306.It is logical
Cross and draw main handle 201 No. secondary handgrip 200 is drawn to correct position, pass through secondary handgrip 205 fine setting adjustment clamping jaw 212 and mould
211 suitable seizes distance on both sides by the arms, and by next handgrip jettron 309, rotation clamping cylinder 208 drives arc guide rail disk 210 to do inverse
Hour hands circular motion, involves clamping jaw 212 and does concentric contraction along the straight rail of clamping jaw mounting bracket 213 and move, so that clamping mold
211, traction time handgrip 205 is moved along a straight line, and mould is largely pulled out to Cold header die cavity, main grip jettron is pressed
308, it is arranged symmetrically cylinder 110 and drives air cylinder guide rod 111 to do contractile motion, involves carrier bar 101 and done in opposite directions along line slideway 105
Distance reduces between motion, two connecting plates 101, involves the clamping mold 211 of clamping jaw 114, mould is pulled out to Cold header die cavity completely
001, draw main handle 201 and mould is transferred to laying rack, press main grip jettron 308, be arranged symmetrically cylinder 110 and drive
Air cylinder guide rod 111 does stretching routine, involves carrier bar 101 and does distance between counter motion, two connecting plates 101 along line slideway 105
Increase, so that involving clamping jaw 114 decontrols mould 211.Main grip 100 is unclamped after mould 211, by next handgrip jettron 309,
Rotating clamp unclamps cylinder 208 and rotated clockwise, and drives arc guide rail disk 210 to do fixed-axis rotation by shaft coupling 221, so as to drive
Clamping jaw 212 does outside extension movement along the straight rail of clamping jaw mounting bracket 213, so as to unclamp mould, then passes through traction time handle
Secondary handgrip is drawn to level with respect to suitable distance by 205, and mask action is removed in completion.
Second step, is drawn to correct position by drawing main handle 201 by main grip 100, presses main grip jettron
308, involve the clamping mold 211 of clamping jaw 114, by secondary handgrip 205 finely tune adjustment clamping jaw 212 and mould 211 it is suitable seize on both sides by the arms away from
From by next handgrip jettron 309, so that clamping mold 211, draws main handle 201 and mould is transferred to apart from Cold header
Die cavity suitable distance, adjusts the locus of mould 211, its axis is overlapped with mold cavity axis, and slowly drawing main handle 201 will
Mould part loads Cold header die cavity, presses main grip jettron 308 and involves the relieving mould 211 of clamping jaw 114, traction time handgrip
205 are moved along a straight line, and mould is loaded into Cold header die cavity suitable distance, and mould 211 is unclamped by next handgrip jettron 309,
Then secondary handgrip is drawn to respect to suitable distance by level by traction time handle 205, removes pneumatic from the side of forearm girder 306
Spanner 305, presses pneumatic impact spanner gas source switch 310, and fixing mould will be used on Cold header mold cavity with pneumatic impact spanner 305
Holding screw tightens suitable stroke, then mould limited block and limited block holding screw are unscrewed into loading Cold header, then is pulled pneumatic
Hand 305 is placed on the side of forearm girder 306, completes mould assembling action.
Claims (7)
1. a kind of six moulds Cold header changes the mold aided arm prosthesis system, it is characterised in that：Large arm including being arranged on Cold header side
(400) forearm (300) of setting, is swung up and down in large arm (400) upper end and its cantilever end, is rotated and is arranged in horizontal plane
Main grip (100) below forearm (300) cantilever end and horizontal extension is set and for clamping mould in main grip (100)
Has the secondary handgrip (200) of (211)；Secondary handgrip (200) is located above Cold header die cavity (001).
2. six moulds Cold header according to claim 1 changes the mold aided arm prosthesis system, it is characterised in that:Large arm (400) is wrapped
Include head tree (408) on the Cold header, the middle connecting pole (407) being arranged on head tree (408), lower rotational or
Be fixedly installed on the swivel link (403) on middle connecting pole (407) top, two be set in parallel at the top of swivel link (403)
The first U-shaped seat in rotary shaft and be parallel to each other and root is sleeved on large arm long connecting rod in corresponding rotary shaft
(401) with large arm short connecting rod (402)；
Large arm long connecting rod (401) is located at the surface of large arm short connecting rod (402), and the root of large arm long connecting rod (401) is exposed to the
One U-shaped seat, connection journal stirrup is respectively arranged with the root lower end of large arm long connecting rod (401) and middle connecting pole (407)
(406), it is provided with limit spring (404) between two connection journal stirrups (406)；
Forearm (300) includes connecting rod (301), forearm girder (306), the Yi Jishe being horizontally set on below connecting rod (301)
Put the thrust bearing (304) between connecting rod (301) lower end axle and forearm girder (306)；
It is fitted with two parallel connection bearing pins (302) in the second U-shaped seat of connecting rod (301), connection bearing pin (302) and the
Two U-shaped seats are close to by bearing pin nut (303) back of the body and connect；The stem of large arm long connecting rod (401) and the head of large arm short connecting rod (402)
Portion is set on relative connection bearing pin (302)；
Large arm long connecting rod (401) and large arm short connecting rod (402) and two intersection points and large arm of described two connection bearing pins (302)
Long connecting rod (401) is being put down vertically with large arm short connecting rod (402) and two intersection points of described two rotary shafts, this four intersection point lines
Face forms parallelogram sturcutre；
Forearm girder (306) lower end is provided with connection rotating shaft (312), between connection rotating shaft (312) and forearm girder (306)
Thrust bearing is provided with, bearing (ball) cover (313) is provided with above thrust bearing, connection rotating shaft (312) upper end is provided with use
In the rotating shaft fixing nut (314) for carrying on the back thrust bearing below tight bearing (ball) cover (313), connecting rod (301) lower end axle is being arranged on
Lower section be provided with for carrying on the back the rotating shaft fixing nut (315) of tight thrust bearing (304)；
Connecting rod (301) is vertically positioned at the left and right ends of forearm girder (306), and connecting rod with connection rotating shaft (312) respectively
(301) it is located at the both sides up and down of forearm girder (306) respectively with connection rotating shaft (312).
3. six moulds Cold header according to claim 2 changes the mold aided arm prosthesis system, it is characterised in that:In large arm (400)
On be provided with distribution box (405)；Pneumatic impact spanner (305) is hung with forearm girder (306), is set on forearm girder (306)
It is equipped with the three hole button boxes (307) electrically connected with distribution box (405)；Main grip is respectively arranged with three hole button boxes (307)
Jettron (308), secondary handgrip jettron (309) and pneumatic impact spanner gas source switch (310).
4. six moulds Cold header according to claim 2 changes the mold aided arm prosthesis system, it is characterised in that:Secondary handgrip (200)
The finger grip mounts (202) being connected including top with connection rotating shaft (312)；Finger grip mounts (202) lower end is provided with two
Guide rail bearing (203), being horizontally disposed between two guide rail bearings (203) has line slideway (204), in line slideway (204)
Level is slided and is provided with Linear bearing fixing seat (219), and fixing nut (218) are passed through in Linear bearing fixing seat (219) both sides
L-type connecting plate (217) is connected with, rotation is provided with L-type connecting plate (217) lower end and clamps cylinder mount frame (220), in rotation
Clamping cylinder mounting bracket (220) side is provided with the rotation clamping cylinder (208) of horizontal positioned, and rotation clamping cylinder (208) leads to
Cross bolt cylinder (206) to be connected with cylinder nut (207) and rotation clamping cylinder mount frame (220), rotation clamping cylinder (208)
Piston rod be connected with shaft coupling (221), the opposite side that rotation clamps cylinder mount frame (220) is provided with and shaft coupling (221)
Two coaxial clamping jaw mounting brackets (213) of drive connection, set between being provided with two coaxial clamping jaw mounting brackets (213)
Spacing collar (216) is equipped with, spacing collar (216) is connected with clamping jaw mounting bracket (213) by nut (214) and bolt (215)
Connect；At least three clamping jaws (212) are distributed with circumference array on clamping jaw mounting bracket (213)；At least three clamping jaws (212) are used to press from both sides
Hold mould (211)；
Arc guide rail disk (210) is fixedly installed between clamping jaw mounting bracket (213) and clamping jaw mounting bracket (213), is led in circular arc
Journal bearing (209) is provided between the output shaft of rail disk (210) and shaft coupling (221), the circumference on arc guide rail disk (210)
Array distribution has at least three arc orbits (2101), and arc orbit (2101) is along its track length direction in arc guide rail disk
(210) along progressively arranged from the outer thoughtful axle center of circle on；The root of clamping jaw (212) is located at corresponding arc orbit (2101) respectively
In；
Main grip (100) includes being arranged on the casing (109) of finger grip mounts (202) side, at least two horizontal through casing
(109) line slideway (105) and it is arranged on the bushing (107) contacted in casing (109) and with line slideway (105)；
The both sides of casing (109) are symmetrically arranged with carrier bar (101), two guide grooves are vertically arranged with carrier bar (101), in each chain
The clamping jaw (114) of two V-types is provided with the inside of plate (101), clamping jaw (114) back side is connected with the spiral shell through correspondence guide groove
Bolt (104), is provided with the nut (102) and pad (103) being connected with bolt (104) on the outside of carrier bar (101)；In line slideway
(105) linear bearing (106) is provided between carrier bar (101), is provided with and is led with straight line between described two carrier bars (101)
The parallel cylinder axis of rail (105), is provided with the linear bearing (108) being sleeved on cylinder axis, in casing in casing (109)
(109) side is provided with the cylinder (110) parallel with line slideway (105) with air cylinder guide rod (111)；Described two cylinders
(110) oppositely arranged, the air cylinder guide rod (111) of each cylinder (110) passes through fixing nut with corresponding carrier bar (101) respectively
(112) connect；
The clamping jaw (114) of the V-type is used to clamp mould (211)；
Longitudinal center line where the clamping jaw (114) of the V-type and longitudinal center line where three clamping jaws (212) are coaxial.
5. six moulds Cold header according to claim 4 changes the mold aided arm prosthesis system, it is characterised in that:In clamping jaw (114)
Side be provided with clamping jaw positive stop strip (113).
6. six moulds Cold header according to claim 4 changes the mold aided arm prosthesis system, it is characterised in that:Installed in handgrip
Main handle (201) is provided with frame (202).
7. six moulds Cold header according to claim 6 changes the mold aided arm prosthesis system, it is characterised in that:Gas is clamped in rotation
Cylinder mounting bracket (220) side is provided with time handle (205).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710406203.4A CN107234207B (en) | 2017-06-02 | 2017-06-02 | Six mould cold mound machines retooling auxiliary machinery hand systems |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710406203.4A CN107234207B (en) | 2017-06-02 | 2017-06-02 | Six mould cold mound machines retooling auxiliary machinery hand systems |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107234207A true CN107234207A (en) | 2017-10-10 |
| CN107234207B CN107234207B (en) | 2020-01-14 |
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ID=59984647
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710406203.4A Active CN107234207B (en) | 2017-06-02 | 2017-06-02 | Six mould cold mound machines retooling auxiliary machinery hand systems |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107234207B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109732027A (en) * | 2019-02-27 | 2019-05-10 | 温州大学 | A kind of multistation Cold header automatic mould changing device |
| CN110154302A (en) * | 2018-04-12 | 2019-08-23 | 淮阴师范学院 | A kind of heat pressing forming machines automating replaceable mold |
| CN114888786A (en) * | 2022-07-13 | 2022-08-12 | 江苏派屹锋智能科技有限公司 | Mechanical positioning absolute coordinate axis industrial mechanical hand |
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| CN206779365U (en) * | 2017-06-02 | 2017-12-22 | 温州大学 | Six mould Cold headers change the mold aided arm prosthesis system |
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| JPH11886A (en) * | 1997-06-10 | 1999-01-06 | Mitsubishi Nagasaki Mach Co Ltd | Clamping device for forging manipulator |
| JP2001105118A (en) * | 1999-10-12 | 2001-04-17 | Toshiba Mach Co Ltd | Chucking structure of forged product |
| CN103402735A (en) * | 2011-03-08 | 2013-11-20 | 西德尔合作公司 | System for aiding in the replacement of a mould of a molding unit of a machine for manufacturing containers |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110154302A (en) * | 2018-04-12 | 2019-08-23 | 淮阴师范学院 | A kind of heat pressing forming machines automating replaceable mold |
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| CN114888786A (en) * | 2022-07-13 | 2022-08-12 | 江苏派屹锋智能科技有限公司 | Mechanical positioning absolute coordinate axis industrial mechanical hand |
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|---|---|
| CN107234207B (en) | 2020-01-14 |
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Application publication date: 20171010 Assignee: INSTITUTE OF LASER AND OPTOELECTRONICS INTELLIGENT MANUFACTURING, WENZHOU University Assignor: Wenzhou University Contract record no.: X2020330000103 Denomination of invention: Auxiliary manipulator system of six mold cold pier machine Granted publication date: 20200114 License type: Common License Record date: 20201125 |