CN113501438A - Material conveying system of full-automatic sleeve forging process robot - Google Patents
Material conveying system of full-automatic sleeve forging process robot Download PDFInfo
- Publication number
- CN113501438A CN113501438A CN202110629480.8A CN202110629480A CN113501438A CN 113501438 A CN113501438 A CN 113501438A CN 202110629480 A CN202110629480 A CN 202110629480A CN 113501438 A CN113501438 A CN 113501438A
- Authority
- CN
- China
- Prior art keywords
- station
- outer ring
- robot
- inner ring
- axis
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 239000000463 material Substances 0.000 title claims abstract description 110
- 238000005242 forging Methods 0.000 title claims abstract description 38
- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000008569 process Effects 0.000 title claims abstract description 22
- 238000012545 processing Methods 0.000 claims abstract description 15
- 238000005520 cutting process Methods 0.000 claims description 49
- 230000007246 mechanism Effects 0.000 claims description 13
- 238000007599 discharging Methods 0.000 claims description 9
- 238000004080 punching Methods 0.000 claims description 6
- 230000006698 induction Effects 0.000 claims description 4
- 238000003825 pressing Methods 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 24
- 230000001976 improved effect Effects 0.000 abstract description 7
- 230000000694 effects Effects 0.000 abstract description 3
- 230000001360 synchronised effect Effects 0.000 abstract 1
- 230000005540 biological transmission Effects 0.000 description 10
- 230000007306 turnover Effects 0.000 description 5
- 238000004513 sizing Methods 0.000 description 4
- 230000008093 supporting effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000010438 heat treatment Methods 0.000 description 2
- 230000001939 inductive effect Effects 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/16—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with jibs supported by columns, e.g. towers having their lower end mounted for slewing movements
- B66C23/166—Simple cranes with jibs which may be fixed or can slew or luff
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21K—MAKING FORGED OR PRESSED METAL PRODUCTS, e.g. HORSE-SHOES, RIVETS, BOLTS OR WHEELS
- B21K1/00—Making machine elements
- B21K1/04—Making machine elements ball-races or sliding bearing races
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/42—Gripping members engaging only the external or internal surfaces of the articles
- B66C1/425—Gripping members engaging only the external or internal surfaces of the articles motor actuated
- B66C1/427—Gripping members engaging only the external or internal surfaces of the articles motor actuated by hydraulic or pneumatic motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/64—Jibs
- B66C23/70—Jibs constructed of sections adapted to be assembled to form jibs or various lengths
- B66C23/701—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/84—Slewing gear
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Forging (AREA)
Abstract
The invention relates to a material conveying system of a full-automatic sleeve forging process robot, which has the effects of changing the traditional material conveying mode, improving the production efficiency, saving energy and material consumption and protecting products and equipment. According to the invention, multiple robots are adopted to automatically cooperate with synchronous material conveying, multiple materials are simultaneously fed and discharged to cooperate, double-line automatic processing is adopted, the traditional bearing material conveying mode in China is changed, the outer ring and the inner ring of the bearing are simultaneously forged, a forged piece can be timely fed into the next process after being processed, the production beat is fast, the production beat reaches 8 seconds per piece, and the production efficiency is obviously improved.
Description
Technical Field
The invention relates to the technical field of bearing forging processes, in particular to a material conveying system of a full-automatic sleeve forging process robot.
Background
The bearing is an important basic part in the automobile industry, and the tapered roller bearing which is one of the bearing types is widely applied domestically and abroad due to the characteristics that the inner sleeve and the outer sleeve can be separated, the tapered roller bearing is convenient to mount, can bear great radial and axial combined load, and has high load capacity and long service life. By analyzing the bearing structure, the key points of influencing the quality and the manufacturing cost of the tapered roller bearing product are the forging and pressing processing of the inner and outer ring blanks. Statistics shows that 40% of manufacturing cost is consumed in the forging and pressing process of the inner and outer rings of the bearing, whether the blank processing technology is advanced or not determines the manufacturing cost, and therefore market positioning of the products is directly influenced.
The traditional bearing material conveying adopts a single assembly line mode to feed, convey and discharge, each processing device needs to wait for the inflow of products at each station, the interval time of the forge piece between each station is long, the production beat is avoided, and the production efficiency is low;
due to the processing particularity of the bearing forging, a certain temperature is required to be kept in the forging process, namely 1050-1200 ℃, and the time of the forging staying on a single production line is too long, so that the forging is under-heated and the temperature requirement of the bearing forging is not met, and waste materials are easily produced and energy and materials are consumed;
in addition, the pneumatic clamp that is used for snatching the forging on the market does not have response alarm module, does not have the warning when the work piece is not snatched, can lead to the work piece to leave over last station, not only influences subsequent forging, still can lead to the processingequipment fastener to damage.
Disclosure of Invention
According to the defects of the prior art, the invention aims to provide the full-automatic sleeve forging process robot material conveying system which has the effects of changing the traditional bearing material conveying mode, improving the production efficiency, saving energy and material consumption and protecting products and equipment.
The technical purpose of the invention is realized by the following technical scheme:
the full-automatic cover forging process robot material conveying system comprises an outer ring press, wherein the outer ring press is provided with an outer ring feeding station, an outer ring upsetting station, an outer ring cover cutting station, an outer ring forming station and an outer ring discharging station, and an outer ring upsetting die, an outer ring cover cutting die and an outer ring forming die are sequentially and fixedly arranged at the outer ring upsetting station, the outer ring cover cutting station and the outer ring forming station; the inner ring pressing machine is provided with an inner ring feeding station, an inner ring upsetting station, an inner ring forming station, an inner ring bottom cutting station and an inner ring discharging station, wherein an inner ring upsetting die, an inner ring forming die and an inner ring bottom cutting die are fixedly arranged at the inner ring upsetting station, the inner ring forming station and the inner ring bottom cutting station in sequence, and the inner ring bottom cutting die is used for stamping the material core to form a bearing inner ring; the double-station reeling machine is provided with an outer ring material receiving station and an inner ring material receiving station, and further comprises:
the three-shaft material conveying assembly comprises a three-shaft feeding robot, a three-shaft blanking robot I and a three-shaft blanking robot II, wherein the three-shaft feeding robot is used for grabbing a forged piece and sending the forged piece to an outer ring feeding station, an outer ring sleeve cutting mold is used for punching and separating the forged piece into a material column and a material core, an outer ring forming mold is used for punching the material column to form a bearing outer ring, the three-shaft blanking robot I is used for grabbing the bearing outer ring and horizontally and rotatably transmitting the bearing outer ring to an outer ring material receiving station, and the three-shaft blanking robot II is used for grabbing the bearing inner ring and horizontally and rotatably transmitting the bearing inner ring to an inner ring material receiving station;
the step material conveying assembly comprises a first step beam robot and a second step beam robot, wherein the first step beam robot is used for conveying the forge piece from an outer ring feeding station step by step to an outer ring upsetting station, an outer ring sleeving and cutting station and an outer ring forming station for upsetting, sleeving and cutting and forming treatment in sequence and then conveying the forge piece to an outer ring blanking station, and the second step beam robot is used for conveying the material core from an inner ring feeding station step by step to an inner ring upsetting station, an inner ring forming station and an inner ring bottom cutting station for upsetting, forming and bottom cutting treatment in sequence and then conveying the material core to an inner ring blanking station;
and the material core overturning robot is used for receiving the material core at the outer ring sleeving and cutting station and overturning the material core for 180 degrees and sending the material core to the inner ring feeding station of the inner ring press.
Through adopting above-mentioned technical scheme, changed domestic traditional bearing and passed the material mode, forged bearing inner race and inner circle simultaneously, the forging receives can in time send into next process after the processing, has improved production efficiency.
The present invention in a preferred example may be further configured to: the three-shaft loading robot comprises a three-shaft base and a rotary seat rotatably mounted at the top of the three-shaft base, and the rotary seat can horizontally rotate relative to the three-shaft base;
the swing arm is fixedly installed on the rotary seat through bolts, a telescopic arm is assembled at the end part of the swing arm in a sliding mode, and a first pneumatic clamp is installed on the bottom side, close to the end part, of the telescopic arm.
By adopting the technical scheme, the forge piece can be automatically and stably sent into the outer ring press machine.
The present invention in a preferred example may be further configured to: the structure of the three-axis feeding robot, the structure of the three-axis blanking robot I and the structure of the three-axis blanking robot II are the same.
By adopting the technical scheme, the material receiving and discharging of the inner ring press and the outer ring press are automatic, and the material transmission accuracy and stability are improved.
The present invention in a preferred example may be further configured to: the walking beam robot comprises a walking base, wherein the top of the walking base is provided with a Y-axis sliding seat in a sliding manner along the Y-axis direction, one side of the Y-axis sliding seat is provided with a Z-axis lifting seat in a sliding manner along the Z-axis direction, the Z-axis lifting seat is provided with an X-axis walking beam in a sliding manner along the X-axis direction, and the X-axis walking beam is fixedly provided with four second pneumatic clamps which are distributed in an array and at equal intervals through bolts;
the first walking beam robot and the second walking beam robot are identical in structure.
Through adopting above-mentioned technical scheme, realized passing the material to outer lane forged stability, adopted a robot work multistation transmission, reduced manufacturing cost.
The present invention in a preferred example may be further configured to: the second pneumatic clamp comprises a pneumatic clamp mounting seat fixedly connected with the X-axis walking beam, a sensing switch is fixedly mounted on one side of the pneumatic clamp mounting seat, a symmetrically-arranged supporting plate is fixed on the other side of the pneumatic clamp mounting seat through bolts, a chuck is fixed on the supporting plate through bolts, a pressure sensor is fixedly mounted on the inner side of the chuck, and the pressure sensor is electrically connected with the sensing switch.
By adopting the technical scheme, the leakage can be prompted to personnel, the consumption of materials and energy is avoided, and products and equipment are effectively protected.
The present invention in a preferred example may be further configured to: the core overturning robot comprises an overturning base, an overturning arm is rotatably arranged on one side of the overturning base, and a third pneumatic clamp is fixedly arranged at the end part of the overturning arm;
a support is fixedly arranged on one side of the overturning machine base, a sliding block is assembled at the top of the support in a sliding manner, a bracket is fixedly connected to one side of the sliding block, and a positioning mechanism is arranged at the end part of the bracket;
the centers of the bracket and the outer ring sleeve cutting station are on the same axis;
when the overturning arm rotates towards the inner ring press, the sliding block slides towards the outer ring press to drive the positioning mechanism at the end part of the bracket to reach the outer ring sleeve cutting station to receive the material taking core;
when the turnover arm rotates towards the outer ring press, the sliding block slides towards the inner ring press, and the positioning mechanism at the end part of the bracket is driven to convey the material core to the position under the third pneumatic clamp.
Through adopting above-mentioned technical scheme, can fix a position and connect and get the material core, realize the stable material of passing between outer lane press and the inner circle press.
The present invention in a preferred example may be further configured to: the positioning mechanism comprises a positioning seat fixed on the end part of the bracket, and the top of the positioning seat is provided with a circular positioning hole.
By adopting the technical scheme, the structure of the positioning mechanism is simplified, and the design is reasonable and compact.
The present invention in a preferred example may be further configured to: the first pneumatic clamp, the second pneumatic clamp and the third pneumatic clamp are identical in structure.
By adopting the technical scheme, intelligent monitoring can be carried out on the forge pieces at each station, and the safety and the stability of a processing line are improved.
In summary, the invention includes at least one of the following beneficial technical effects:
1. the automatic material conveying and feeding device has the advantages that multiple robots are adopted to automatically cooperate with each other to synchronously convey materials, multiple materials are simultaneously matched with each other in an in-and-out mode, double-line automatic machining is adopted, the traditional bearing material conveying mode in China is changed, the outer ring and the inner ring of a bearing are forged at the same time, a forged piece can be timely fed into the next process after being machined, the production beat is fast, the production beat reaches 8 seconds per piece, and the production efficiency is remarkably improved;
2. the material transmission gap between the forgings is short, the forgings can be guaranteed to continuously keep the temperature qualified in the forging process, the production of unqualified products is avoided, and materials and energy are saved.
3. The fixture with the induction module is adopted, so that the product on the fixture can be induced, the forge piece at each station is monitored in real time, the condition of part leakage is avoided, the product and equipment are effectively protected, and the safety and the stability of bearing forging are improved.
Drawings
Fig. 1 is an overall plan view of the present embodiment;
fig. 2 is a schematic structural diagram of a three-axis loading robot in the embodiment;
FIG. 3 is a schematic structural diagram of a first walking beam robot in the present embodiment;
FIG. 4 is a schematic structural view of a second pneumatic jig in the present embodiment;
fig. 5 is a schematic structural diagram of the core overturning robot in the embodiment.
In the figure, 1 three-axis material conveying assembly, 11 three-axis material loading robot, 12 three-axis material unloading robot I, 13 three-axis material unloading robot II, 1111 three-axis machine base, 1112 swivel base, 1113 swing arm, 1114 telescopic arm, 1115 first pneumatic clamp, 2 stepping material conveying assembly, 21 walking beam robot I, 22 walking beam robot II, 201 walking machine base, 202Y-axis sliding base, 203Z-axis lifting base, 204X-axis walking beam, 205 second pneumatic clamp, 2051 pneumatic clamp mounting base, 2052 induction switch, 2053 supporting plate, 2054 chuck, 3 core overturning robot, 31 overturning machine base, 32 supporting base, 33 overturning arm, 34 third pneumatic clamp, 35 sliding block, 36 bracket, 37 positioning base, 4 outer ring press, 5 inner ring press and 6 double-station diameter finishing machine.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Example (b):
referring to fig. 1, the full-automatic cover forging process robot material conveying system disclosed by the invention comprises an outer ring press 4, wherein the outer ring press 4 is provided with an outer ring feeding station, an outer ring upsetting station, an outer ring cover cutting station, an outer ring forming station and an outer ring blanking station, and an outer ring upsetting die, an outer ring cover cutting die and an outer ring forming die are fixedly arranged at the outer ring upsetting station, the outer ring cover cutting station and the outer ring forming station in sequence; the inner ring press machine 5 is provided with an inner ring feeding station, an inner ring upsetting station, an inner ring forming station, an inner ring bottom cutting station and an inner ring discharging station, wherein an inner ring upsetting die, an inner ring forming die and an inner ring bottom cutting die are fixedly arranged at the inner ring upsetting station, the inner ring forming station and the inner ring bottom cutting station in sequence, and the inner ring bottom cutting die is used for stamping the material core to form a bearing inner ring; wherein the matched mould is matched with the specification of the bearing ring, the size of the bearing ring is phi 150 and 250, and the weight of the bearing ring is less than 5 kg; the double-station reeling machine 6 is provided with an outer ring material receiving station and an inner ring material receiving station, is the last step of the whole production line, and flows out after the diameter of the bearing ring is reeled, and further comprises: the three-axis material conveying assembly 1 consists of a three-axis feeding robot 11, a three-axis blanking robot I12 and a three-axis blanking robot II 13, wherein the three-axis feeding robot 11 is located at the foremost end of the whole processing line and is used for receiving a forged piece flowing in a heating process, and the three-axis blanking robot I12 and the three-axis blanking robot II 13 are arranged among an outer ring press, an inner ring press and a double-station diameter-finishing machine and are used for receiving and taking a processed bearing outer ring and a processed bearing inner ring; the three-axis feeding robot 11 is used for grabbing forged pieces and sending the forged pieces to an outer ring feeding station, the outer ring sleeving and cutting mold is used for punching and separating the forged pieces into a material column and a material core, the outer ring forming mold is used for punching the material column to form a bearing outer ring, the three-axis blanking robot I12 is used for grabbing the bearing outer ring and horizontally and rotatably sending the bearing outer ring to the outer ring receiving station, and the three-axis blanking robot II 13 is used for grabbing the bearing inner ring and horizontally and rotatably sending the bearing inner ring to the inner ring receiving station; the step-by-step material conveying assembly 2 comprises a first step-by-step beam robot 21 and a second step-by-step beam robot 22, wherein the first step-by-step beam robot 21 and the second step-by-step beam robot 22 both adopt a step-by-step feeding mode to continuously take and feed materials in the processes of outer ring (upsetting, sleeve cutting and forming) and inner ring (upsetting, forming and bottom cutting), the first step-by-step beam robot 21 is used for conveying forgings from an outer ring feeding station to an outer ring blanking station after upsetting, sleeve cutting and forming treatment of the forgings sequentially through an outer ring upsetting station, an outer ring sleeve cutting station and an outer ring forming station, and the second step-by-step beam robot 22 is used for conveying cores from the inner ring feeding station to an inner ring blanking station after upsetting, forming and bottom cutting treatment of the materials sequentially through an inner ring upsetting station, an inner ring forming station and an inner ring bottom cutting station; the core overturning robot 3 is used for receiving and taking the core at the outer ring sleeving and cutting station and overturning the core by 180 degrees and sending the core to an inner ring upsetting station of the inner ring press 5; the core overturning robot 3 comprises two action parts, namely an overturning arm for conveying the core and a horizontal sliding part for receiving and pushing the core; the material transmission gap between the forgings is short, so that the forgings can be ensured to continuously keep the temperature qualified in the forging process, the production of unqualified products is avoided, and materials and energy are saved; a plurality of robots automatically cooperate and pass the material in step, and a plurality of materials pass in and out the cooperation simultaneously, adopt double-circuit automatic processing, have changed internal traditional bearing and have passed the material mode, forge bearing inner race and inner circle simultaneously, and the forging can in time be sent into next process after receiving the processing, and the production beat is fast, and the production beat reaches every in 8 seconds, and production efficiency is showing and is promoting.
Referring to fig. 2, the three-axis loading robot 11 includes a three-axis base 1111 and a swivel mount 1112 rotatably mounted on the top of the three-axis base 1111, and the swivel mount 1112 is horizontally rotatable with respect to the three-axis base 1111; the rotary seat 1112 is driven by a servo and is arranged inside the three-axis machine base 1111; swing arm 1113 is fixedly installed on swivel base 1112 through the bolt, and the tip of swing arm 1113 slides and is equipped with telescopic arm 1114, and telescopic arm 1114 is close to the bottom side of tip and installs first pneumatic fixture 1115, and swing arm 1113 directly links with swivel base 1112, and telescopic arm 1114 adopts pneumatic drive.
Referring to fig. 1 and 2, in order to enable the material receiving and discharging of the inner ring press and the outer ring press to be more automatic, the material transmission accuracy is high, the material transmission is stable, and the structural design of the three-axis feeding robot 11, the three-axis discharging robot one 12 and the three-axis discharging robot two 13 is the same.
Referring to fig. 3, in addition, the first walking beam robot 21 includes a walking beam base 201, a Y-axis sliding base 202 is slidably assembled on the top of the walking beam base 201 along the Y-axis direction, a Z-axis lifting base 203 is slidably assembled on one side of the Y-axis sliding base 202 along the Z-axis direction, an X-axis walking beam 204 is slidably assembled on the Z-axis lifting base 203 along the X-axis direction, and four second pneumatic clamps 205 distributed in an array and at equal intervals are fixedly installed on the X-axis walking beam 204 through bolts; the Y-axis sliding seat 202, the Z-axis lifting seat 203 and the X-axis walking beam 204 are matched in workpiece taking and delivering, the position of a workpiece is automatically adjusted, and the workpiece can respectively axially slide along the direction of the Y, Z, X axis; the first walking beam robot 21 and the second walking beam robot 22 are identical in structure, stable material transmission for outer ring forging is achieved, multi-station transmission is achieved by one robot, and manufacturing cost is reduced.
Referring to fig. 4, the second pneumatic clamp 205 includes a pneumatic clamp mounting seat 2051 fixedly connected to the X-axis walking beam 204, an inductive switch 2052 is fixedly mounted on one side of the pneumatic clamp mounting seat 2051, support plates 2053 symmetrically arranged on the other side of the pneumatic clamp mounting seat 2051 are fixed by bolts, chucks 2054 are fixed on the support plates 2053 by bolts, pressure sensors are fixedly mounted on the inner sides of the chucks 2054, and the pressure sensors are electrically connected to the inductive switch 2052. This response module is connected with the control module communication at backstage, and personnel can be in the master control room directly to whole processing line real-time supervision, ensure whole safety and the stability of producing the line, have adopted the anchor clamps that have the response module, can respond to the product on the anchor clamps, to the forging real-time supervision of each station, avoid appearing the condition of lou, have protected product and equipment effectively, have improved forged security and stability of bearing.
Referring to fig. 5, the core overturning robot 3 comprises an overturning base 31, an overturning arm 33 is rotatably mounted on one side of the overturning base 31, and a third pneumatic clamp 34 is fixedly mounted at the end of the overturning arm 33; a support 32 is fixedly arranged on one side of the overturning machine base 31, a sliding block 35 is assembled at the top of the support 32 in a sliding manner, a bracket 36 is fixedly connected to one side of the sliding block 35, and a positioning mechanism is arranged at the end part of the bracket 36; the bracket 36 and the center of the outer ring sleeve cutting station are on the same axis; when the overturning arm 33 rotates towards the inner ring press 5, the sliding block 35 slides towards the outer ring press 4 to drive the positioning mechanism at the end part of the bracket 36 to receive the material core at the outer ring sleeve cutting station; when the turnover arm 33 rotates towards the outer ring press 4, the sliding block 35 slides towards the inner ring press 5, the positioning mechanism at the end part of the bracket 36 is driven to send the core to the position under the third pneumatic clamp 34, and in the action process of the core turnover robot 3, the turnover arm 33 and the sliding block 35 partially cooperate to act, so that the material transmission is stable and efficient.
Referring to fig. 5, the positioning mechanism includes a positioning seat 37 fixed at the end of the bracket 36, and a circular positioning hole is formed at the top of the positioning seat 37, and the circular positioning hole is customized according to the size of the core, so that the core can be accurately received and taken, and the core is ensured not to fall off in the transmission process.
Referring to fig. 2 to 5, in order to monitor forgings at each station and improve the intellectualization and automation of the whole production line, the first pneumatic clamp 1115, the second pneumatic clamp 205 and the third pneumatic clamp 34 are designed to be the same.
The implementation principle of the above embodiment is as follows: a forged piece flows in from a front heating process, a first pneumatic clamp 1115 of a three-axis feeding robot 11 clamps the forged piece, a rotary seat 1112 drives a rotary arm to rotate, a telescopic arm 1114 extends out to drive the forged piece to fall on an outer ring feeding station, a walking beam robot 21 clamps the forged piece and matches the clamped forged piece with a Y-axis sliding seat 202, a Z-axis lifting seat 203 and an X-axis walking beam 204, the three parts match and move a second clamp to clamp and place the forged piece in sequence, the forged piece is sequentially sent to an outer ring forging station, an outer ring sleeving station and an outer ring forming station from the outer ring feeding station to be subjected to upsetting, sleeving and forming treatment through a mold to obtain a bearing outer ring, then sent to an outer ring blanking station, the produced bearing outer ring is grabbed through a three-axis blanking robot 12, and horizontally rotated and sent to an outer ring receiving station of a double-station diameter sizing machine 6 for sizing treatment;
in the forging process, the forge piece is separated into two parts of a material column and a material core at the outer ring cutting position, the material column is left in the outer ring press machine 4 for continuous forging, the material core falls into the lower part, the lower part is taken by a positioning seat 37 at the end part of a bracket 36, the material core directly falls into a circular positioning hole, after the material is taken by the positioning seat 37, the turnover arm 33 is turned towards the outer ring press machine 4, meanwhile, the slide block 35 acts to drive the bracket 36 to move out of the outer ring press 4, the third clamp clamps the core and then turns towards the inner ring press 5, meanwhile, the slide block 35 is reset, the material core is sent to an inner ring upsetting station of the inner ring press 5, the material core is grabbed and placed by the walking beam robot II 22, a bearing inner ring is formed after mould upsetting, forming and bottom cutting in sequence, and the bearing inner ring is grabbed by the three-shaft blanking robot II 13 to rotate and sent to an inner ring material receiving station of the double-station sizing machine 6 for sizing;
it should be noted that, in the whole forging process, the three-axis feeding robot 11, the three-axis blanking robot one 12, the three-axis blanking robot two 13, the walking beam robot one 21, the walking beam robot, the core overturning robot 3 and several processing devices are operated synchronously, a forging piece with a corresponding shape is arranged at each station, a plurality of materials can be matched to enter and exit simultaneously, the working principle of the three-axis blanking robot one 12, the three-axis blanking robot two 13 is the same as that of the three-axis feeding robot 11, and the working principle of the two walking beam robots is the same;
when the pressure sensors on the inner sides of the clamps arranged on the robots sense that no workpiece exists, the workpiece grabbing failure is indicated, signals can be transmitted to the sensing switch 2052, and the sensing switch 2052 transmits the signals to the background control system, so that the fault of personnel can be warned, and the forging processing can be stopped in time.
The embodiments of the present invention are preferred embodiments of the present invention, and the scope of the present invention is not limited by these embodiments, so: all equivalent changes made according to the structure, shape and principle of the invention are covered by the protection scope of the invention.
Claims (8)
1. The full-automatic cover forging process robot material conveying system comprises an outer ring press (4) which is provided with an outer ring material feeding station, an outer ring upsetting station, an outer ring cover cutting station, an outer ring forming station and an outer ring material discharging station, wherein an outer ring upsetting die, an outer ring cover cutting die and an outer ring forming die are sequentially and fixedly arranged at the outer ring upsetting station, the outer ring cover cutting station and the outer ring forming station; the inner ring pressing machine (5) is provided with an inner ring feeding station, an inner ring upsetting station, an inner ring forming station, an inner ring bottom cutting station and an inner ring discharging station, wherein an inner ring upsetting die, an inner ring forming die and an inner ring bottom cutting die are fixedly arranged at the inner ring upsetting station, the inner ring forming station and the inner ring bottom cutting station in sequence, and the inner ring bottom cutting die is used for stamping the material core to form a bearing inner ring; duplex position reeling machine (6), it has the outer lane and connects material station and inner circle to connect material station, its characterized in that still includes:
the three-shaft material conveying assembly (1) comprises a three-shaft feeding robot (11), a three-shaft blanking robot I (12) and a three-shaft blanking robot II (13), wherein the three-shaft feeding robot (11) is used for grabbing a forged piece and conveying the forged piece to an outer ring feeding station, an outer ring sleeve cutting die is used for punching and separating the forged piece into a material column and a material core, an outer ring forming die is used for punching the material column to form a bearing outer ring, the three-shaft blanking robot I (12) is used for grabbing the bearing outer ring and horizontally and rotatably conveying the bearing outer ring to an outer ring material receiving station, and the three-shaft blanking robot II (13) is used for grabbing the bearing inner ring and horizontally and rotatably conveying the bearing inner ring to an inner ring material receiving station;
the step-by-step material conveying assembly (2) comprises a step-by-step beam robot I (21) and a step-by-step beam robot II (22), wherein the step-by-step beam robot I (21) is used for conveying the forged piece from an outer ring feeding station to an outer ring blanking station after upsetting, sleeve cutting and forming processing are carried out on the forged piece sequentially through an outer ring upsetting station, an outer ring sleeve cutting station and an outer ring forming station, and the step-by-step beam robot II (22) is used for conveying the material core from an inner ring feeding station to an inner ring upsetting station, an inner ring forming station and an inner ring bottom cutting station to carry out upsetting, forming and bottom cutting processing and then conveying the material core to the inner ring blanking station;
and the material core overturning robot (3) is used for taking the material core at the outer ring sleeving and cutting station and overturning the material core for 180 degrees and sending the material core to the inner ring feeding station of the inner ring press (5).
2. The full-automatic swaging machine robot material conveying system of claim 1, wherein: the three-axis loading robot (11) comprises a three-axis base (1111) and a rotary seat (1112) rotatably mounted at the top of the three-axis base (1111), and the rotary seat (1112) can horizontally rotate relative to the three-axis base (1111);
swing arm (1113) is fixedly installed on swivel mount (1112) through the bolt, the tip of swing arm (1113) slides and is equipped with telescopic arm (1114), first pneumatic clamp (1115) are installed to telescopic arm (1114) near the bottom side of tip.
3. The full-automatic swaging machine robot material conveying system of claim 2, wherein: the structure of the three-axis feeding robot (11), the structure of the three-axis blanking robot I (12) and the structure of the three-axis blanking robot II (13) are the same.
4. The full-automatic swaging machine robot material conveying system of claim 1, wherein: the first walking beam robot (21) comprises a walking beam base (201), the top of the walking beam base (201) is assembled with a Y-axis sliding seat (202) in a sliding mode along the Y-axis direction, one side of the Y-axis sliding seat (202) is assembled with a Z-axis lifting seat (203) in a sliding mode along the Z-axis direction, an X-axis walking beam (204) is assembled on the Z-axis lifting seat (203) in a sliding mode along the X-axis direction, and four second pneumatic clamps (205) which are distributed in an array and at equal intervals are fixedly installed on the X-axis walking beam (204) through bolts;
the first walking beam robot (21) and the second walking beam robot (22) are identical in structure.
5. The full-automatic swaging machine robot material conveying system of claim 4, wherein: the second pneumatic clamp (205) comprises a pneumatic clamp mounting seat (2051) fixedly connected with the X-axis stepping beam (204), an induction switch (2052) is fixedly mounted on one side of the pneumatic clamp mounting seat (2051), a support plate (2053) symmetrically arranged on the other side of the pneumatic clamp mounting seat (2051) is fixed through bolts, a chuck (2054) is fixed on the support plate (2053) through bolts, a pressure sensor is fixedly mounted on the inner side of the chuck (2054), and the pressure sensor is electrically connected with the induction switch (2052).
6. The full-automatic swaging machine robot material conveying system of claim 1, wherein: the core overturning robot (3) comprises an overturning base (31), an overturning arm (33) is rotatably arranged on one side of the overturning base (31), and a third pneumatic clamp (34) is fixedly arranged at the end part of the overturning arm (33);
a support (32) is fixedly arranged on one side of the overturning machine base (31), a sliding block (35) is assembled at the top of the support (32) in a sliding manner, a bracket (36) is fixedly connected to one side of the sliding block (35), and a positioning mechanism is arranged at the end part of the bracket (36);
the bracket (36) and the center of the outer ring sleeve cutting station are on the same axis;
when the overturning arm (33) rotates towards the inner ring press (5), the sliding block (35) slides towards the outer ring press (4) to drive the positioning mechanism at the end part of the bracket (36) to the outer ring sleeve cutting station to receive the material taking core;
when the overturning arm (33) rotates towards the outer ring press (4), the sliding block (35) slides towards the inner ring press (5), and the positioning mechanism at the end part of the bracket (36) is driven to convey the core to the position right below the third pneumatic clamp (34).
7. The full-automatic swaging machine robot material conveying system of claim 6, wherein: the positioning mechanism comprises a positioning seat (37) fixed at the end part of the bracket (36), and a circular positioning hole is formed in the top of the positioning seat (37).
8. The full-automatic swaging process robot material conveying system of claims 2, 4 and 6, wherein: the first pneumatic clamp (1115), the second pneumatic clamp (205) and the third pneumatic clamp (34) are identical in structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110629480.8A CN113501438B (en) | 2021-06-07 | 2021-06-07 | Full-automatic overlap forging process robot material conveying system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110629480.8A CN113501438B (en) | 2021-06-07 | 2021-06-07 | Full-automatic overlap forging process robot material conveying system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113501438A true CN113501438A (en) | 2021-10-15 |
| CN113501438B CN113501438B (en) | 2024-02-13 |
Family
ID=78008866
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110629480.8A Active CN113501438B (en) | 2021-06-07 | 2021-06-07 | Full-automatic overlap forging process robot material conveying system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113501438B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114455452A (en) * | 2022-01-06 | 2022-05-10 | 浙江恒成硬质合金有限公司 | Roll collar stone tongs |
| CN116159960A (en) * | 2023-04-25 | 2023-05-26 | 江苏威鹰机械有限公司 | Gear forging device for gearbox with automatic material changing function |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002273539A (en) * | 2001-03-16 | 2002-09-25 | Seiken Graphics Kk | Upsetting forging press |
| CN102335714A (en) * | 2011-10-09 | 2012-02-01 | 北京机电研究所 | Multi-joint robot-based multi-station stepped feeding method for forging industry |
| CN106041483A (en) * | 2016-07-12 | 2016-10-26 | 南京航空航天大学 | Automatic assembly device and assembly method of cross shaft assembly bearing |
| CN108326567A (en) * | 2018-03-02 | 2018-07-27 | 江苏保捷精锻有限公司 | A kind of bearing race production line and its working method with Full-automatic forging structure |
| CN108672626A (en) * | 2018-07-18 | 2018-10-19 | 东莞辉科机器人自动化股份有限公司 | A kind of full automatic bearing ring forging machining production line |
| CN112338116A (en) * | 2020-11-29 | 2021-02-09 | 河南智圆轴承科技有限公司 | Automatic forming device for bearing ring blank |
| CN112475866A (en) * | 2021-01-14 | 2021-03-12 | 东莞市海科智能科技有限公司 | Automatic carbon brush installing equipment for multi-station motor |
-
2021
- 2021-06-07 CN CN202110629480.8A patent/CN113501438B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002273539A (en) * | 2001-03-16 | 2002-09-25 | Seiken Graphics Kk | Upsetting forging press |
| CN102335714A (en) * | 2011-10-09 | 2012-02-01 | 北京机电研究所 | Multi-joint robot-based multi-station stepped feeding method for forging industry |
| CN106041483A (en) * | 2016-07-12 | 2016-10-26 | 南京航空航天大学 | Automatic assembly device and assembly method of cross shaft assembly bearing |
| CN108326567A (en) * | 2018-03-02 | 2018-07-27 | 江苏保捷精锻有限公司 | A kind of bearing race production line and its working method with Full-automatic forging structure |
| CN108672626A (en) * | 2018-07-18 | 2018-10-19 | 东莞辉科机器人自动化股份有限公司 | A kind of full automatic bearing ring forging machining production line |
| CN112338116A (en) * | 2020-11-29 | 2021-02-09 | 河南智圆轴承科技有限公司 | Automatic forming device for bearing ring blank |
| CN112475866A (en) * | 2021-01-14 | 2021-03-12 | 东莞市海科智能科技有限公司 | Automatic carbon brush installing equipment for multi-station motor |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114455452A (en) * | 2022-01-06 | 2022-05-10 | 浙江恒成硬质合金有限公司 | Roll collar stone tongs |
| CN116159960A (en) * | 2023-04-25 | 2023-05-26 | 江苏威鹰机械有限公司 | Gear forging device for gearbox with automatic material changing function |
| CN116159960B (en) * | 2023-04-25 | 2023-07-07 | 江苏威鹰机械有限公司 | Gear forging device for gearbox with automatic material changing function |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113501438B (en) | 2024-02-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113501438A (en) | Material conveying system of full-automatic sleeve forging process robot | |
| CN102921968B (en) | Automatic device for machining two ends of shaft parts | |
| CN105537626A (en) | Automatic tensile test bar producing system and method | |
| CN107552701A (en) | A kind of rollforming equipment of powered plastic device | |
| CN114043298A (en) | Robot carrying brake disc workstation and machining method thereof | |
| CN103350174A (en) | Hot forging forming method for parent material of female die of die | |
| CN217394289U (en) | Mining drilling rod automated production system of robot multistation operation | |
| CN208913399U (en) | A kind of large cylinder mixing machine shell ring site welding technology device | |
| CN103753112A (en) | Automated machining method for suspension balance beam shaft | |
| CN217317124U (en) | Automatic processing production line for cake wheel parts | |
| CN112917105B (en) | Processing method and production line of photovoltaic frame | |
| CN212652997U (en) | Automatic assembling machine for steel wire rope buckles | |
| SU1292660A3 (en) | Set for manufacturing seamless rings | |
| CN202622457U (en) | Automatic feeding and discharging device shared by numerical-control machine tool and screw rolling machine | |
| CN210115371U (en) | Automobile workpiece punching device | |
| CN108436332B (en) | Lamination machine and upper and lower half wheel lamination method for wheel hub | |
| CN113523314B (en) | Processing technology and processing system for triple gear | |
| CN117020091B (en) | Multi-station vertical rotary forging machine | |
| CN218015577U (en) | Super-large heavy-load high-temperature arc-shaped feeding forging device | |
| CN118635417A (en) | Forging and grinding production line | |
| CN212264584U (en) | Drilling point riveting automatic machine | |
| CN220612979U (en) | Automatic production line for machining | |
| CN211643791U (en) | Compact assembly line finishing device | |
| CN111438314B (en) | Multi-station bearing ring grinding device | |
| CN118753789A (en) | Hub production line |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |