CN202447583U

CN202447583U - Feeding manipulator

Info

Publication number: CN202447583U
Application number: CN2012200805219U
Authority: CN
Inventors: 高尔荣; 沈华强
Original assignee: Zhejiang Bolei Heavy Duty Machine Tool Manufacturing Co Ltd
Current assignee: Zhejiang Bolei Heavy Duty Machine Tool Manufacturing Co Ltd
Priority date: 2012-03-06
Filing date: 2012-03-06
Publication date: 2012-09-26
Anticipated expiration: 2022-03-06

Abstract

The utility model discloses a feeding manipulator, comprising a left rack, a right rack, and two clamp arms which straddle the left rack and the right rack and are used as a pair. A lower carriage is disposed on the right rack horizontally and slidably, and is driven to move left and right by a driving device A. An upper carriage is disposed on the lower carriage vertically and slidably, and is driven to move up and down by a driving device B. An auxiliary lower carriage is disposed on the left rack slidably in a left-and-right direction, and an auxiliary upper carriage is disposed on the auxiliary lower carriage vertically and slidably. The right ends of the two clamp arms are separately connected with the upper carriage slidably in a back-and-forth direction, and are driven to close or open by a driving device C which is disposed on the upper carrier. The left ends of the two clamp arms are separately connected with the auxiliary upper carriage slidably in a back-and-forth direction, and are relatively fixed in a vertical direction. A plurality pairs of clamping jaws, which are used for clamping blank materials, are oppositely arranged on the two clamp arms. The technical scheme provides a feeding manipulator which not only can realize automatic feeding among a plurality of working stations of a press bench, but also has the advantages of simple structure, reliable operation and high efficiency.

Description

A kind of feeding mechanical hand

Technical field

The utility model belongs to the machining equipment field, relates in particular to a kind of feeding mechanical hand.

Background technology

Forge hot is that forging stock is heated to the forging and molding operation of carrying out after the uniform temperature, comprises open die forging, loose tooling forging and die forging.Die forging is to utilize the hitting power of forging equipment (generally being forcing press) or pressure to make blank in the die cavity of forging mold, produce distortion, thereby obtains the forging method of forging, is to forge most important process in the processing; Forging precision is high; Production efficiency is high, is suitable in enormous quantities the forging and produces, and the die-forging forming quality is high; Can improve metal streamline and distribute, eliminate or improve banded microscopic structure, crystal grain thinning, the die-forging forming precision is high, production efficiency is high.

The forcing press that uses in the prior art is single station type; Need multistation continuously in the technology of processing being applied to forge especially forge hot etc.; A plurality of manufacturing procedures must be cooperated by a plurality of boards to be accomplished; There are shortcomings such as board quantity is many, use cost is high, take up room big, production efficiency is low, and also are unfavorable for using feeding mechanical hand to realize automated production.The inventor has designed a kind of forcing press and can realize the processing of unit platform multistation for this reason, and the utility model relates to the manipulator that is used with this forcing press.

Summary of the invention

In order to solve above-mentioned technical problem, the purpose of the utility model provides a kind of feeding mechanical hand, not only can realize the self-feeding between the pressure board multistation, and simple in structure, reliable, efficient is high.

In order to reach above-mentioned purpose, the technical scheme below the utility model has adopted:

A kind of feeding mechanical hand comprises left frame, right frame and is crossed on left frame, the right frame two jig arm that pairing is mutually used; Following planker horizontal slip is arranged on the right frame and by drive unit A and drives move left and right, and last planker vertically is slidingly arranged in down on the planker and by drive unit B driving and moves up and down; Auxiliary planker down horizontally slips and is arranged on the left frame, and the auxiliary planker of going up vertically is slidingly arranged on the auxiliary planker down; The right-hand member of described two jig arm is slidingly connected and drives to relatively move and close up or separate by being installed in drive unit C on the planker respectively with before and after the last planker, and the left end of described two jig arm is slidingly connected with auxiliary upward planker front and back respectively and in the vertical direction relative fixed; Be oppositely arranged on described two jig arm be provided with many to being used for the jaw of clamping blank.

As preferably, be provided with on described every pair of jaw and be used to realize the cooling duct that cools, the cooling duct on the jaw is connected with cooling water system through external pipe.

As preferably, said going up on the planker is equipped with hopper, and hopper is between two jig arm, and said right frame is put on the shelf and is provided with material returned baffle plate, and material returned baffle plate right-hand member can insert the hopper bottom and be provided with the groove of placing blank at its right-hand member.Further preferred, described many spacing between adjacent equates to jaw and hopper.

As preferably, the said drive unit A of planker down is the servomotor A that is installed on the right frame, and servomotor A is in transmission connection through screw mandrel with following planker.

As preferably, the said drive unit B that goes up planker is the adjustable cylinder of stroke.

As preferably, the drive unit C of said jig arm is a servo motor B, and servo motor B drives a screw mandrel and rotates, and this screw mandrel is threaded with a jig arm through left hand thread, is threaded with another jig arm through right-handed thread.

The utility model not only can be realized the self-feeding between the pressure board multistation owing to adopted above technical scheme, and simple in structure, reliable, efficient is high.

Description of drawings

Fig. 1 is the structural representation of forge hot production line;

Fig. 2 is the structural representation (positive side) of forcing press;

Fig. 3 is the structural representation (dorsal surface) of forcing press;

Fig. 4 is the structural representation (front) of forcing press;

Fig. 5 is the structural representation (positive side) of feeding mechanical hand;

Fig. 6 is the structural representation (dorsal surface) of feeding mechanical hand;

Fig. 7 is the structural representation (front) of feeding mechanical hand;

Fig. 8 is the structural representation (overlooking) of feeding mechanical hand.

The specific embodiment

Below in conjunction with accompanying drawing the specific embodiment of the utility model is done a detailed explanation.

Embodiment 1:

A kind of forge hot production line as shown in Figure 1 comprises forcing press 1 and the feeding mechanical hand 2 that cooperates with it.

Implement the forcing press 1 of forge hot like Fig. 2, Fig. 3, shown in Figure 4 being used to; Comprise frame 101; Frame 101 is provided with motor 107, flywheel 105, clutch-brake 104, power transmission shaft 111, bent axle 112, slide block A102, slide block B 103, slide block C110; Wherein, Power transmission shaft 111 rotates on the both sides wallboard that is arranged on frame 1 respectively with bent axle 112; Power transmission shaft 111 1 ends are installed flywheel 105 and clutch-brake 104, and flywheel 105 is in transmission connection with motor 107, and power transmission shaft 111 other ends are in transmission connection through pinion 109 and the gear wheel 108 that is installed in bent axle 112 1 ends; Said slide block A102 vertically is slidingly arranged between the both sides wallboard of frame 101 and through connecting rod A, eccentric wheel A and bent axle 112 and is in transmission connection; Said slide block B 103 vertically is slidingly arranged in the wallboard outside, left side of frame 101 and is in transmission connection with bent axle 112 through connecting rod B, eccentric wheel B 106, and said slide block C110 vertically is slidingly arranged in the wallboard outside, right side of frame 101 and is in transmission connection through connecting rod C, eccentric wheel C113 and bent axle 112, and said frame 101 is provided with and said slide block A102, slide block B 103, the corresponding work top of slide block C110.Said eccentric wheel A, eccentric wheel B 106 and the eccentric wheel C113 angle that staggers each other is arranged on the said bent axle 112 (in the present embodiment, be benchmark with the eccentric wheel A, 15 ° in advance of eccentric wheel B 106, eccentric wheel C113 falls behind 15 °).Like this, bent axle 112 can drive three slide blocks and move up and down, and slide block A102 is a master slider; Slide block B 103, slide block C110 are secondary slide block; Realize that through three eccentric deflection angles are different the working time of three slide blocks staggers (in the present embodiment, slide block B 103, slide block A102, slide block C110 successively arrive lower dead center successively), guaranteed that fully the maximization of stability, reliability and the lathe energy of lathe rationally utilizes; The secondary slide block in both sides can when punching press, do upset flat, cut operation such as the end; Both reduce equipment cost (will realize originally that three process processing needed three forcing presses, forcing press of present embodiment can be realized the multiple operation pipelining now), dwindled the distance between equipment occupation space and the adjacent processing apparatus again; Thereby shortened feed distance, helped to enhance productivity.

Like Fig. 5, Fig. 6, Fig. 7, shown in Figure 8 be used for the feeding mechanical hand that self-feeding is implemented in forge hot, comprise left frame 202, the right frame 201 that is arranged in forcing press 1 and arranged on left and right sides and pass the left and right sides wallboard of forcing press and be crossed on left frame 202, the right frame 201 two jig arm 209 that pairing is mutually used; Following planker 203 is arranged on the right frame 201 and by the servomotor A205 that is installed on the right frame 201 through the guide rail horizontal slip and drives move left and right through the screw mandrel transmission, and last planker 204 vertically is slidingly arranged in down on the planker 203 and by cylinder (not shown on the figure) driving through guide pillar and moves up and down; Auxiliary planker 212 down horizontally slips through guide rail and is arranged on the left frame 202, and the auxiliary planker 211 of going up vertically is slidingly arranged on the auxiliary planker 212 down through guide pillar; The right-hand member of described two jig arm 209 is slidingly connected with last planker 204 front and back respectively (go up planker 204 be provided with guide rail) and relatively moves and close up or separate (in the present embodiment by being installed in servo motor B 207 drivings on the planker 204; Servo motor B 207 drives a screw mandrel and rotates; This screw mandrel is threaded with a jig arm through left hand thread; Be threaded with another jig arm through right-handed thread; Can relatively move synchronously like this and realize clamping or unclamp), the left end of described two jig arm 209 goes up that planker 211 front and back are slidingly connected and vertical direction relative fixed (auxiliary going up on the planker 211 is provided with guide rail) with auxiliary respectively; Be oppositely arranged on described two jig arm 209 and be provided with 4 pairs of jaws 210 that are used for the clamping blank, be provided with the cooling duct on every pair of jaw 210 and be used for realizing cooling, the cooling duct on the jaw is connected with pump with water tank on the frame through external pipe; Said going up on the planker 204 is equipped with hopper 206, and hopper 206 is between two jig arm 209, and the adjacent spacing of the 4 pairs of jaws 210 and hopper 204 equates; Said right frame 201 is put on the shelf and is provided with material returned baffle plate 208; Material returned baffle plate 208 right-hand members can insert hopper 206 bottoms (when hopper moves to left end) and from hopper 206, carry out a blank through the groove on it; Hopper 206 bottoms are for pulling and pushing plate structure, i.e. the backgauge plate is plugged in and stops blank to fall in the drawer of hopper bottom during not blanking, when material returned baffle plate inserts drawer, releases the backgauge plate; Blank falls in the groove on the material returned baffle plate; When material returned baffle plate withdrawed from hopper bottom drawer, blank was taken out of, and the backgauge plate resets under elastic component drives and stops next blank to fall.

Present embodiment has blanking station, first processing stations (it is flat to upset), second processing stations (hot-forging forming), the 3rd processing stations (cutting the end), five stations of blanking station when forge hot is used; The blank that first pair of jaw (rightmost) on manipulator 2 jig arm 209 is used to be implemented between blanking station and first processing stations (it is flat to upset) transports; The blank that the second pair of jaw is used to be implemented between first processing stations (it is flat to upset) and second processing stations (hot-forging forming) transports; The blank that the 3rd pair of jaw is used to be implemented between second processing stations (hot-forging forming) and the 3rd processing stations (cutting the end) transports, and the blank that the 4th pair of jaw is used to be implemented between the 3rd processing stations (cutting the end) and the blanking station transports.Workflow is following:

1) jig arm 209 with manipulator 2 is an original state at low order end, and the jig arm 209 of manipulator 2, last planker 204 and the auxiliary planker 211 of going up move up to top dead centre earlier, and two jig arm 209 of servo motor B 207 drivings are closed up into the material folding state again; This moment is at the blanking station, the blank on the first pair of jaw clamping material returned baffle plate 208; This moment is first processing stations (it is flat to upset), the blank below the secondary slide block C110 on second pair of jaw clamp pressure machine 1 right side; This moment is at second processing stations (hot-forging forming), the blank of the 3rd couple of jaw clamp pressure machine 1 master slider A102 below; This moment the 3rd processing stations (cutting the end), the blank of secondary slide block B 103 belows in the 4th pair of jaw clamp pressure machine 1 left side.

2) jig arm 209 of manipulator 2, last planker 204 and the auxiliary planker 211 of going up are moved to the left a station distance, and jig arm was opened and is the blowing state in 209 minutes; This moment, material returned baffle plate 208 carried out a blank from hopper 206 at the blanking station; This moment, first pair of jaw was placed on blank the secondary slide block C110 below on forcing press 1 right side first processing stations (it is flat to upset); This moment, second pair of jaw was placed on forcing press 1 master slider A102 below with blank at second processing stations (hot-forging forming); This moment, the 3rd pair of jaw was placed on blank secondary slide block B 103 belows in forcing press 1 left side the 3rd processing stations (cutting the end); This moment, the 4th pair of blank that jaw will machine dropped into the interior cooling of water tank (also can devices such as conveyer belt or slideway be set below the blanking station sees the blank that machines off) of left frame 202 at the blanking station.

3) jig arm 209 of manipulator 2, go up planker 204 and auxiliary and go up planker 211 and move right a station distance and descend again and reset, wait for that three stations on the forcing press 1 are accomplished processing after, implement next feeding flow process again.

The forcing press 1 of above-mentioned three stations is not limited to the hot-forging forming that is used in the foregoing description; Go for other multiple site punching processing technology (for example cold forging punching press) equally; Above-mentioned feeding mechanical hand 2 also is not limited to the five station feedings that are used in the foregoing description, can be used for other more multistation or less station feeding equally.The foregoing description only is one of preferred embodiments of the utility model, and the protection domain of the utility model is not limited to the foregoing description.

Claims

1. a feeding mechanical hand is characterized in that, comprises left frame (202), right frame (201) and is crossed on left frame (202), the right frame (201) two jig arm (209) that pairing is mutually used; Following planker (203) horizontal slip is arranged on right frame (201) and upward and by drive unit A drives move left and right, and last planker (204) vertically is slidingly arranged in down planker (203) and upward and by drive unit B driving moves up and down; Auxiliary planker (212) down horizontally slips and is arranged on the left frame (202), and the auxiliary planker (211) of going up vertically is slidingly arranged on the auxiliary planker (212) down; The right-hand member of described two jig arm (209) is slidingly connected and drives to relatively move and close up or separate by being installed in drive unit C on the planker (204) respectively with before and after the last planker (204), and the left end of described two jig arm (209) is slidingly connected with auxiliary upward planker (211) front and back respectively and in the vertical direction relative fixed; Be oppositely arranged on described two jig arm (209) and be provided with many jaws (210) being used for the clamping blank.

2. a kind of feeding mechanical hand according to claim 1 is characterized in that, is provided with on described every pair of jaw (210) to be used to realize the cooling duct that cools, and the cooling duct on the jaw is connected with cooling water system through external pipe.

3. a kind of feeding mechanical hand according to claim 1; It is characterized in that; Said going up on the planker (204) is equipped with hopper (206); Hopper (206) is positioned between two jig arm (209), and said right frame (201) is put on the shelf and is provided with material returned baffle plate (208), and material returned baffle plate (208) right-hand member can insert hopper (206) bottom and be provided with the groove of placing blank at its right-hand member.

4. a kind of feeding mechanical hand according to claim 3 is characterized in that, described many spacing between adjacent equates to jaw (210) and hopper (204).

5. a kind of feeding mechanical hand according to claim 1 is characterized in that, the drive unit A of said planker (203) down is for being installed in the servomotor A (205) on the right frame (201), and servomotor A (205) is in transmission connection through screw mandrel with following planker (203).

6. a kind of feeding mechanical hand according to claim 1 is characterized in that, the said drive unit B that goes up planker (204) is the adjustable cylinder of stroke.

7. a kind of feeding mechanical hand according to claim 1; It is characterized in that; The drive unit C of said jig arm (209) is servo motor B (207); Servo motor B (207) drives a screw mandrel and rotates, and this screw mandrel is threaded with a jig arm through left hand thread, is threaded with another jig arm through right-handed thread.