CN114632883B

CN114632883B - Mechanical arm for thermal forming

Info

Publication number: CN114632883B
Application number: CN202210536208.XA
Authority: CN
Inventors: 严建文; 王磊; 李贵闪; 张海杰; 胡彬彬; 印志峰; 方昆; 刘琼
Original assignee: Hefei Metalforming Intelligent Manufacturing Co ltd
Current assignee: Hefei Metalforming Intelligent Manufacturing Co ltd
Priority date: 2022-05-18
Filing date: 2022-05-18
Publication date: 2022-08-26
Anticipated expiration: 2042-05-18
Also published as: CN114632883A

Abstract

The invention discloses a mechanical arm for thermal forming, and belongs to the technical field of part processing. The utility model provides an arm for thermoforming, includes bottom control device, bottom control device is located between heating furnace and the stamping device, bottom control device's internally mounted has arresting gear, bottom control device's top is connected with top control device, top control device's end-to-end connection has leveling device, leveling device's bottom is connected with clamping device. The invention solves the problems that the traditional mechanical arm is easy to shake and the precision is poor when a workpiece is placed into a die.

Description

Mechanical arm for thermal forming

Technical Field

The invention relates to the technical field of part processing, in particular to a mechanical arm for thermal forming.

Background

Hot stamping forming is a part processing mode, the current hot forming mode can be divided into direct hot forming and indirect hot forming according to a heating mode, and the indirect hot forming has many advantages as a new processing mode: the method has no limitation on the size and the shape of the part, can produce parts with any shape and any deep drawing depth, and can produce all parts produced by using a common cold stamping process and a direct hot forming process by using an indirect hot forming process; in the core quenching link, the workpiece has no deformation process, the stress distribution of the die is uniform, and the workpiece and the surface of the die hardly move relatively, so that the loss of the die is very small, and the surface of the workpiece is hardly damaged; blanking process and laser cutting process are once accomplished by cold stamping line at the preforming process, have improved production efficiency, have reduced production line construction input, cancel welding process, and great part is if: the middle channel, the front wall, the door sill and the like can be integrally processed and formed at one time; the indirect hot forming process includes the steps of cold stamping and forming a steel plate, heating the steel plate, putting the steel plate into a water-cooled mold, quenching the steel plate under the pressing of a high-speed special hydraulic press to obtain a martensite ultrahigh-strength hot formed part, putting the hot part into the cold mold to be hardened and determining the final geometric shape, wherein the existing mechanical arm for hot forming has the following defects:

1. when the joint stops moving, the traditional mechanical arm is easy to slightly shake because the motor rotor is not completely fixed, and the workpiece placing position is easy to deviate in the workpiece carrying process.

2. The traditional mechanical arm is not provided with a fixing device, and the workpiece is easy to deflect, or the workpiece is easy to damage due to the fact that the pressure of the fixing device is too high.

Disclosure of Invention

1. Technical problem to be solved

The present invention is directed to a thermal forming robot arm, which solves the problems of the background art:

the problem that the precision is lacked when traditional arm rocks easily and puts into the mould with the work piece.

2. Technical scheme

The utility model provides a mechanical arm for thermoforming, includes bottom control device, its characterized in that: the bottom control device is positioned between the heating furnace and the stamping device, a braking device is arranged inside the bottom control device, the top of the bottom control device is connected with a top control device, the tail end of the top control device is connected with a leveling device, and the bottom of the leveling device is connected with a clamping device.

Preferably, the bottom control device includes the bottom motor, the output fixedly connected with carousel of bottom motor, the top welding of carousel has the fixed plate, the internal connection of fixed plate has the bearing, the front end of bearing is connected with the bottom connecting piece, the front end of bottom connecting piece is equipped with the movable plate, movable plate and fixed plate threaded connection, the front end threaded connection of movable plate has servo motor A, servo motor A's output is connected with the pivot, the pivot runs through arresting gear and inserts the inside and its fixed connection of bottom connecting piece, the big arm of top fixedly connected with of bottom connecting piece.

Preferably, arresting gear includes the shell, the shell is located the inside of movable plate, the inside welding of shell has the inner circle, the outside of inner circle is encircleed there is the wire, the inside symmetrical welding of inner circle has four inserted bars, the outside cover of inserted bar is equipped with connecting spring, the end through connection of inserted bar has the arc, connecting spring connects the outside of arc and the inner wall of inner circle, the arc is located the outside of pivot.

Preferably, the top controlling means includes the top connecting piece, the top connecting piece welding is at the top of big arm, the front end threaded connection of top connecting piece has servo motor B, servo motor B's output is connected with the disc, the disc is located the rear of top connecting piece, the top welding of disc has the forearm, the one end that the forearm is close to the disc is connected with the gyroscope inductor, the one end that the disc was kept away from to the forearm is connected with levelling device.

Preferably, the leveling device includes the leveling motor, the bottom and the forearm threaded connection of leveling motor, the output of leveling motor is connected with the spliced pole, the bottom central point of spliced pole puts and is connected with the movable rod, the bottom swing joint of movable rod has the connecting plate, the bottom of spliced pole is connected with electric putter, electric putter is provided with two, and two electric putter is located the both sides of movable rod, electric putter's bottom and the top swing joint of connecting plate.

Preferably, clamping device includes the magnetism suction disc, the top of magnetism suction disc and the bottom threaded connection of connecting plate, the inside of magnetism suction disc is provided with a plurality of isolation rooms, every the inside of isolation room is provided with a plurality of electro-magnets, the front and back end of magnetism suction disc is inserted and is equipped with the water pipe, the right side welding of magnetism suction disc has iron plate, the bottom of magnetism suction disc is connected with the spring beam, the bottom of spring beam is connected with splint.

3. Advantageous effects

Compared with the prior art, the invention has the advantages that:

1. the braking devices are connected between the large arm and the turntable and between the large arm and the small arm, the mechanical arm joint can be fixed by the braking devices when the two servo motors stop running, the mechanical arm joint is prevented from shaking, an internal circuit of the braking device is connected to a circuit where the servo motors are located, the large arm and the small arm are kept in series connection, when the servo motors run, current flows through the inner wire, the inner ring is made of iron and generates magnetism, the inner ring attracts an arc-shaped plate of an iron product at the moment, the arc-shaped plate is separated from the rotating shaft, the mechanical arm can move freely, when the servo motors are powered off, the magnetism of the inner ring disappears, the arc-shaped plate is in friction contact with the rotating shaft, and as the contact surface between the arc-shaped plate and the rotating shaft is very rough and the damping is very large, the mechanical arm cannot rotate in the process of extruding with the rotating shaft, and the stability of the mechanical arm joint is ensured.

2. The leveling device can keep the workpiece horizontal in the process of carrying the mechanical arm and ensure the accuracy of the workpiece when the workpiece is placed in the die, the leveling device needs to be matched with a gyroscope sensor for use, when the gyroscope sensor senses that the position of the small arm deviates, the gyroscope sensor can send signals to control the leveling motor and the electric push rod to operate, the leveling motor can control the x-axis direction of the connecting plate to be horizontal, the electric push rod can control the y-axis direction to be horizontal, the electric push rod and the connecting plate are matched to quickly adjust the connecting plate to be horizontal, and the connecting plate is connected with the clamping device in parallel, so that the clamping device keeps horizontal when the connecting plate is horizontal, the workpiece can be ensured to be horizontal, and the accuracy of the workpiece when the workpiece is placed in the die can be improved.

3. The clamping device provided by the invention adopts a magnetic suction mode for clamping, can suck a workpiece, and cannot cause deformation of the workpiece due to overlarge pressure, and specifically comprises the following components: the clamping device comprises a magnetic suction plate, the top of the magnetic suction plate is in threaded connection with the bottom of a connecting plate, a plurality of isolation chambers are arranged inside the magnetic suction plate, a plurality of electromagnets are arranged inside each isolation chamber, water pipes are inserted into the front end and the rear end of the magnetic suction plate, an iron plate is welded on the right side of the magnetic suction plate, a spring rod is connected to the bottom of the magnetic suction plate, and a clamping plate is connected to the bottom of the spring rod. The service life of the equipment is ensured.

Drawings

FIG. 1 is a schematic overall view of the present invention;

FIG. 2 is a schematic view of a robotic arm of the present invention;

FIG. 3 is an expanded view of the bottom control apparatus of the present invention;

FIG. 4 is a schematic view of a top control device and leveling device of the present invention;

FIG. 5 is an internal view of the leveling device of the present invention;

fig. 6 is an internal view of the braking apparatus of the present invention.

The numbering in the figures illustrates: 1. heating furnace; 2. a stamping device; 3. a bottom control device; 301. a bottom motor; 302. a turntable; 303. moving the plate; 304. a fixing plate; 305. a bearing; 306. a bottom connector; 307. a servo motor A; 308. a rotating shaft; 309. a large arm; 4. a braking device; 401. a housing; 402. an inner ring; 403. a wire; 404. inserting a rod; 405. a connecting spring; 406. an arc-shaped plate; 5. a top control device; 501. a top connector; 502. a disc; 503. a servo motor B; 504. a small arm; 505. a gyroscope sensor; 6. a leveling device; 601. a leveling motor; 602. connecting columns; 603. a movable rod; 604. an electric push rod; 605. a connecting plate; 7. a clamping device; 701. a magnetic attraction plate; 702. an isolation chamber; 703. an electromagnet; 704. a water pipe; 705. an iron plate; 706. a spring lever; 707. and (4) clamping the plate.

Detailed Description

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the equipment or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.

In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example 1:

referring to fig. 1-3 and 6, a thermal forming robot includes a bottom control device 3, and is characterized in that: the bottom control device 3 is positioned between the heating furnace 1 and the stamping device 2, the braking device 4 is arranged inside the bottom control device 3, the top of the bottom control device 3 is connected with the top control device 5, the tail end of the top control device 5 is connected with the leveling device 6, and the bottom of the leveling device 6 is connected with the clamping device 7.

Bottom controlling means 3 includes bottom motor 301, bottom motor 301's output fixedly connected with carousel 302, the top welding of carousel 302 has fixed plate 304, the internal connection of fixed plate 304 has bearing 305, the front end of bearing 305 is connected with bottom connecting piece 306, the front end of bottom connecting piece 306 is equipped with movable plate 303, movable plate 303 and fixed plate 304 threaded connection, the front end threaded connection of movable plate 303 has servo motor A307, servo motor A307's output is connected with pivot 308, pivot 308 runs through arresting gear 4 and inserts bottom connecting piece 306's inside and its fixed connection, the big arm 309 of top fixedly connected with of bottom connecting piece 306.

The braking device 4 comprises a shell 401, the shell 401 is located inside the moving plate 303, an inner ring 402 is welded inside the shell 401, a conducting wire 403 is arranged around the outer side of the inner ring 402, four inserting rods 404 are symmetrically welded inside the inner ring 402, connecting springs 405 are sleeved outside the inserting rods 404, the tail ends of the inserting rods 404 are connected with an arc plate 406 in a penetrating mode, the connecting springs 405 are connected with the outer side of the arc plate 406 and the inner wall of the inner ring 402, and the arc plate 406 is located outside the rotating shaft 308.

The top control device 5 comprises a top connecting piece 501, the top connecting piece 501 is welded to the top of the large arm 309, the front end of the top connecting piece 501 is connected with a servo motor B503 through threads, the output end of the servo motor B503 is connected with a disc 502, the disc 502 is located behind the top connecting piece 501, a small arm 504 is welded to the top of the disc 502, one end, close to the disc 502, of the small arm 504 is connected with a gyroscope inductor 505, and one end, far away from the disc 502, of the small arm 504 is connected with a leveling device 6.

The braking devices 4 are connected between the large arm 309 and the turntable 302 and between the large arm 309 and the small arm 504, and the braking devices 4 can fix the joints of the mechanical arms when the two servo motors stop running to prevent the joints from shaking, and specifically comprise: the braking device 4 comprises a shell 401, the shell 401 is positioned inside the moving plate 303, an inner ring 402 is welded inside the shell 401, a lead 403 is wound outside the inner ring 402, four inserting rods 404 are symmetrically welded inside the inner ring 402, a connecting spring 405 is sleeved outside the inserting rods 404, an arc plate 406 is connected at the tail end of each inserting rod 404 in a penetrating manner, the connecting spring 405 is connected with the outer side of the arc plate 406 and the inner wall of the inner ring 402, the arc plates 406 are positioned outside the rotating shaft 308, an internal circuit of the braking device 4 is connected to a circuit where a servo motor is positioned and is connected in series, when the servo motor operates, current flows inside the lead 403, the inner ring 402 is made of iron, the inner ring 402 generates magnetism, at the moment, the inner ring 402 can attract the arc plate 406 of an iron product, so that the arc plate 406 is separated from the rotating shaft 308, the mechanical arm can move freely, and when the servo motor is powered off, the magnetism of the inner ring 402 disappears, the arc plate 406 is in friction contact with the rotating shaft 308, and because the contact surface between the arc plate 406 and the rotating shaft 308 is very rough and has large damping, the arc plate 406 cannot rotate in the process of extruding with the rotating shaft 308, and the stability of the mechanical arm joint is ensured.

Example 2:

referring to fig. 4, the difference between the embodiment 1 and the above description is that the leveling device 6 includes a leveling motor 601, the bottom end of the leveling motor 601 is connected to the small arm 504 through a screw thread, the output end of the leveling motor 601 is connected to a connection column 602, the center of the bottom of the connection column 602 is connected to a movable rod 603, the bottom of the movable rod 603 is movably connected to a connection plate 605, the bottom of the connection column 602 is connected to two electric push rods 604, the two electric push rods 604 are located on two sides of the movable rod 603, and the bottom of the electric push rods 604 is movably connected to the top of the connection plate 605.

The leveling device 6 can keep the workpiece horizontal in the process of carrying the mechanical arm and ensure the accuracy of the workpiece when the workpiece is placed in the die, and the leveling device specifically comprises the following components: the leveling device 6 comprises a leveling motor 601, the bottom end of the leveling motor 601 is in threaded connection with the small arm 504, the output end of the leveling motor 601 is connected with a connecting column 602, the center of the bottom of the connecting column 602 is connected with a movable rod 603, the bottom of the movable rod 603 is movably connected with a connecting plate 605, the bottom of the connecting column 602 is connected with two electric push rods 604, the two electric push rods 604 are arranged on two sides of the movable rod 603, the bottom of the electric push rod 604 is movably connected with the top of the connecting plate 605, the leveling device 6 needs to be used in cooperation with a gyroscope sensor 505, when the gyroscope sensor 505 senses the position deviation of the small arm 504, the gyroscope sensor sends signals to control the leveling motor 601 and the electric push rods 604 to operate, the leveling motor 601 can control the horizontal level of the connecting plate 605 in the x-axis direction, the electric push rods 604 can control the horizontal in the y-axis direction, and the two cooperate to quickly adjust the horizontal of the connecting plate 605, since the connecting plate 605 is connected in parallel with the holding jig 7, when the connecting plate 605 is horizontal, the holding jig 7 is kept horizontal, whereby the workpiece can be kept horizontal, which can improve the accuracy of placing the workpiece into the mold.

Example 3:

referring to fig. 5, the difference between the

embodiments

1 and 2 is that the clamping device 7 includes a magnetic attraction plate 701, the top of the magnetic attraction plate 701 is in threaded connection with the bottom of the connection plate 605, a plurality of isolation chambers 702 are disposed inside the magnetic attraction plate 701, a plurality of electromagnets 703 are disposed inside each isolation chamber 702, water pipes 704 are inserted into the front and rear ends of the magnetic attraction plate 701, an iron plate 705 is welded to the right side of the magnetic attraction plate 701, a spring rod 706 is connected to the bottom of the magnetic attraction plate 701, and a clamping plate 707 is connected to the bottom of the spring rod 706.

The clamping device 7 adopts a magnetic suction mode for clamping, can suck a workpiece, and cannot cause deformation of the workpiece due to overlarge pressure, and specifically comprises the following components: the clamping device 7 comprises a magnetic attraction plate 701, the top of the magnetic attraction plate 701 is in threaded connection with the bottom of the connecting plate 605, a plurality of isolation chambers 702 are arranged inside the magnetic attraction plate 701, a plurality of electromagnets 703 are arranged inside each isolation chamber 702, water pipes 704 are inserted into the front end and the rear end of the magnetic attraction plate 701, an iron plate 705 is welded on the right side of the magnetic attraction plate 701, a spring rod 706 is connected to the bottom of the magnetic attraction plate 701, a clamping plate 707 is connected to the bottom of the spring rod 706, when the electromagnets 703 are energized to generate magnetism, the magnetic attraction plate 701 generates magnetism integrally, the iron plate 705 has good magnetic conductivity, the iron plate 705 is provided with magnetism, a workpiece can be attracted and conveyed, the clamping plate 707 can move upwards and downwards under the attraction of the magnetic attraction plate 701, so that a citizen can be clamped, the workpiece is prevented from being deviated, and the temperature of the workpiece coming out of the heating furnace 1 is high, so that the temperature of the magnetic attraction plate 701 gradually increases in the use process, at this time, water can be injected into the magnetic attraction plate 701 through the water pipe 704 to cool the magnetic attraction plate, so that the service life of the equipment is ensured.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the preferred embodiments of the present invention are described in the above embodiments and the description, and are not intended to limit the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. A mechanical arm for thermoforming comprises a bottom control device (3) and is characterized in that: the bottom control device (3) is positioned between the heating furnace (1) and the stamping device (2), a braking device (4) is installed inside the bottom control device (3), the top of the bottom control device (3) is connected with a top control device (5), the tail end of the top control device (5) is connected with a leveling device (6), and the bottom of the leveling device (6) is connected with a clamping device (7);

the bottom control device (3) comprises a bottom motor (301), the output end of the bottom motor (301) is fixedly connected with a turntable (302), the top of the turntable (302) is welded with a fixed plate (304), the inside of the fixed plate (304) is connected with a bearing (305), the front end of the bearing (305) is connected with a bottom connecting piece (306), the front end of the bottom connecting piece (306) is provided with a moving plate (303), the moving plate (303) is in threaded connection with the fixed plate (304), the front end of the moving plate (303) is in threaded connection with a servo motor A (307), the output end of the servo motor A (307) is connected with a rotating shaft (308), the rotating shaft (308) penetrates through the braking device (4) and is inserted into the bottom connecting piece (306) to be fixedly connected with the bottom connecting piece (306), the top of the bottom connecting piece (306) is fixedly connected with a large arm (309);

the braking device (4) comprises a shell (401), the shell (401) is located inside the moving plate (303), an inner ring (402) is welded inside the shell (401), a lead (403) surrounds the outer side of the inner ring (402), four inserting rods (404) are symmetrically welded inside the inner ring (402), a connecting spring (405) is sleeved outside the inserting rods (404), an arc-shaped plate (406) penetrates through the tail end of the inserting rods (404), the connecting spring (405) is connected with the outer side of the arc-shaped plate (406) and the inner wall of the inner ring (402), the arc-shaped plate (406) is located outside the rotating shaft (308), and when current passes through the inner part of the lead (403), the arc-shaped plate (406) is separated from the rotating shaft (308);

the top control device (5) comprises a top connecting piece (501), the top connecting piece (501) is welded to the top of the large arm (309), the front end of the top connecting piece (501) is in threaded connection with a servo motor B (503), the output end of the servo motor B (503) is connected with a disc (502), the disc (502) is located behind the top connecting piece (501), the top of the disc (502) is welded with a small arm (504), one end, close to the disc (502), of the small arm (504) is connected with a gyroscope inductor (505), and one end, far away from the disc (502), of the small arm (504) is connected with a leveling device (6);

leveling device (6) are including leveling motor (601), the bottom and forearm (504) threaded connection of leveling motor (601), the output of leveling motor (601) is connected with spliced pole (602), the bottom central point of spliced pole (602) puts and is connected with movable rod (603), the bottom swing joint of movable rod (603) has connecting plate (605), the bottom of spliced pole (602) is connected with electric putter (604), electric putter (604) are provided with two, and two electric putter (604) are located the both sides of movable rod (603), the bottom of electric putter (604) and the top swing joint of connecting plate (605), connecting plate (605) and clamping device (7) parallel connection.

2. The robot arm for thermoforming as recited in claim 1, wherein: clamping device (7) are including magnetism suction disc (701), the top of magnetism suction disc (701) and the bottom threaded connection of connecting plate (605), the inside of magnetism suction disc (701) is provided with a plurality of isolation rooms (702), every the inside of isolation room (702) is provided with a plurality of electro-magnets (703), water pipe (704) are inserted to the front and back end of magnetism suction disc (701), the right side welding of magnetism suction disc (701) has iron plate (705), the bottom of magnetism suction disc (701) is connected with spring beam (706), the bottom of spring beam (706) is connected with splint (707).