CN204842844U - Pneumatic marching type manipulator of three -dimensional - Google Patents
Pneumatic marching type manipulator of three -dimensional Download PDFInfo
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- CN204842844U CN204842844U CN201420689424.9U CN201420689424U CN204842844U CN 204842844 U CN204842844 U CN 204842844U CN 201420689424 U CN201420689424 U CN 201420689424U CN 204842844 U CN204842844 U CN 204842844U
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Abstract
The utility model provides a pneumatic marching type manipulator of three -dimensional, is the integration of electromechanical gas -liquid, the instruction of being amenable to process is accomplished the step -by -step recycling formula and is removed the automatic feeder equipment that send the action. Atmospheric pressure and hydraulic cushion system - device are adopted to it, governing valve and mechanical synchronization mechanism, and the PLC controller carries out motion control. It is by the box of two separations, three degree of freedom frames in the box and constituteing with walking beam that the frame is connected, and the jack catch of each station of correspondence is installed on walking beam. Through walking beam's three -dimensional moving, realize the transfer of material between each station of press. Its operating space is little, and the action beat is fast, adapts to the shaping short flow of multistation, efficient demand very much for multistation forging and pressing production line is automized, continuous, high -speed pay -off.
Description
Technical field
The utility model relates to manipulator field, particularly relates to the pneumatic step mechanical gearing mechanism hand of a kind of three-dimensional, a kind of automatic feeder equipment, is particularly suitable for the special manipulator carrying out feeding between each station of a multiple position press.
Background technology
International forging and stamping field presents precise treatment in recent years, the development trend of high efficiency and automation; The domestic energy, raw material, labour and Environmental costs significantly rise; Domestic forging industry, is badly in need of the renewal carrying out technology and device.Realize low consumption, short route, high efficiency and automated production, except developing forcing press and the forming technology of high efficiency, it is another key factor that non-cutting time is produced in shortening.Its principal mode is the production unit of " advanced forming technology+novel device+automated system ", and one of its typical combination is: multiple position press+step mechanical gearing mechanism hand.
Multistation is shaped, and in the one stroke on same equipment, (each station) completes different forming processes simultaneously, and repeatedly stroke completes every part from connecing blank to whole operations of discharging workpiece.Equipment, a material loading complete whole operation, and different operation is synchronously carried out.Feeding in continuous material, goes out part continuously, and productive temp is fast, and inter process is apart from short---and flow process is extremely short, ultrahigh in efficiency.
Step mechanical gearing mechanism hand, according to the step pitch coordinated mutually with die of press and beat, according to three axle rectangular coordinate systems, performs stepped motion circulation, completes the order transmission of material between an each station of forcing press.Manipulator often performs a step cycle, and material completes by the once transfer of a die cavity to another die cavity; Each step cycle generally includes claw and clamps, rises, sends to, declines, discharges and return six actions, movement locus (see Fig. 7).Its operating space is little, and action beat is fast, adapts to multistation shaping short route, high efficiency demand, becomes the standard configuration of multistation forging and stamping transfer matic.
Current China about has the forging and stamping line of 90% to adopt artificial loading and unloading, needs several operator, and personal safety and workpiece quality are difficult to ensure.And the automatic forging line of multiple computer desk is made up of several forcing presses, productive temp is up to 6-9 beat/min, and maintenance of equipment workpiece amount is large.Product cost than external high 2-3 doubly, is one of key factor of the Technologies in Domestic Press Forging enterprise famine market competitiveness.
Step mechanical gearing mechanism hand mainly contains several like this version: cam-type, multi link formula, frame-type etc.Type of drive mainly contains Mechanical Driven, air pressure driving, hydraulic-driven and electric drive.From automatic control technology aspect, the controllability of several mode strengthens successively; From Flexible Manufacturing Technology (FMT) aspect, the flexibility of several mode strengthens successively; More common with servo-electric of developed country.
Articulated robot also can perform multistation feeding.Articulated robot has following characteristics: have the very high free degree, is suitable for the work of almost any track or angle; Price is high, and cost is high.Articulated robot is large owing to taking operating space, must to be placed in before forcing press or, to form certain interference to die change below.
By comparison, the cabinet of step mechanical gearing mechanism hand only need be arranged on forcing press side, and the step rate be connected with cabinet, through forcing press side window, only takies the small part space between upper and lower mould, and step rate is detachable, is convenient to quick die change.Step mechanical gearing mechanism hand is particularly suitable for the job requirement of feeding between multiple position press each station, and simple structure, easily safeguard.
Bibliography
Li second place etc., technological equipment updates---the effective way of automobile forging enterprise Promote Competitive, intermetallic composite coating (hot-working), 21 phases in 2008
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The purpose of this utility model is: provide the manipulator carrying out self-feeding between a kind of each station for multiple position press, and it adapts to multistation shaping short route, high efficiency demand, and simple structure, easily safeguard.
To achieve these goals, the technical solution of the utility model is: the pneumatic step mechanical gearing mechanism hand of three-dimensional, comprises control system; Actuating device of atmospheric pressure; Gas buffer system; Gas buffer unit and hydraulic bjuffer; Pneumatic speed regulating valve and synchronous mechanism; And the executing agency to be made up of Three Degree Of Freedom frame, step rate and claw; Described control system is made up of PLC, solenoid directional control valve, position sensor; Described actuating device of atmospheric pressure is the driving cylinder driving three-dimensional direction to move respectively, comprises material folding cylinder, feeding cylinder, lift cylinder; Described actuating device of atmospheric pressure, gas buffer system, gas buffer unit and hydraulic bjuffer, Pneumatic speed regulating valve and synchronous mechanism, Three Degree Of Freedom frame are all placed in cabinet, and two cabinets of same structure are symmetrically arranged in forcing press both sides; Described step rate is two, and front and back are arranged in parallel the suitable plane place near forcing press upper and lower mould; Each root step rate two ends is each passed through forcing press side window, is connected with the Three Degree Of Freedom frame in the cabinet of both sides.Controlled Systematical control, actuating device of atmospheric pressure drives Three Degree Of Freedom frame to perform the rectilinear motion in X/Y/Z tri-direction.The system theory of constitution (see Fig. 9) of the pneumatic step mechanical gearing mechanism hand of described three-dimensional.Because the utility model have employed as above technical scheme, the self-feeding between each station that can not only realize multiple position press, and also efficiency is high, safeguards simple.
(1) the pneumatic step mechanical gearing mechanism hand of described three-dimensional, material folding and feed section adopt gas buffer unit and hydraulic bjuffer.Described gas buffer unit is that cylinder is built-in; Described hydraulic bjuffer cushions with oil pressure, is monomer closed structure, is made up of outer cylinder body, inner cylinder body, piston, back-moving spring, throttle orifice, accumulator, check valve, hydraulic oil; Do not need oil pump and pipeline, safeguard simple; The little damping of its volume is strong, can according to shock loading and impact velocity damping adjusting power size.The piston rod of described hydraulic bjuffer is arranged with the piston rod vis-a-vis being buffered cylinder, starts contact both arriving near end of travel at cylinder piston rod.When being subject to cylinder piston rod pushing tow, when moving in buffering piston, closed check valve, hydraulic oil flows out to the accumulation of energy chamber between interior outer cylinder body by the many rows slight restriction hole on inner cylinder body, compression accumulator, and inner casing oil pressure raises and produces damping force; Damping force is delivered to cylinder piston by piston rod, forms buffering to cylinder.The one-way valve opens when buffering piston resets overhanging, hydraulic oil to be refluxed inner casing by check valve.
The pneumatic step mechanical gearing mechanism hand of described three-dimensional, puies forward the gas buffer system that material part adopts and connects by single large discharge overflow pressure-reducing valve the loop that vertically arranged balance cylinder cavity of resorption forms; Described balance cylinder epicoele is communicated with air through silencer; Described balance cylinder is vertically mounted on bottom cabinet, and its piston rod is upwards connected with frame; During described balance cylinder descent of piston, lower chamber of air cylinder is produced piston thrust upwards by overflow pressure at expulsion, thus the impact that supporting device gravity damping mechanism descending motion produce.According to mechanism's gravity and elliptical gear size manual adjustments overflow pressure-reducing valve pressure at expulsion, thus balance cylinder thrust just balanced controls gravity can be made, and the normal downstream rate of mechanism can not be hindered.
(2) the pneumatic step mechanical gearing mechanism hand of described three-dimensional, adopts Pneumatic speed regulating valve and synchronous mechanism to carry out Synchronization Control simultaneously.By being connected to the Pneumatic speed regulating valve adjust flux of each cylinder exhaust port, make the piston movement phase mutually synchronization of association cylinder.Described synchronous mechanism, material folding part adopt rack-and-pinion to clamp mechanism (see Fig. 4 .1, Fig. 4 .2).Material folding cylinder piston rod in both sides connects tooth bar through material folding connector and engages with two outboard gears respectively, and idler gear engages with outboard gears simultaneously, and three gear synchronous rotate, and control both sides rack synchronous displacement.Material folding connector is connected step rate through feeding guide with orthogonal plate; Both sides tooth bar controls the two-arm of material folding cylinder and step rate in material folding direction synchronous shift.Described synchronous mechanism, adopts guide shaft guide sleeve mechanism (see Fig. 5 .1 to 5.3) at feed section.Guide shaft and the mutual fit of guide pin bushing are connected with step rate two-arm more respectively; Guide shaft only retains coaxial rectilinear movement to guide pin bushing, and other frees degree are locked; When two-arm clamps/unclamp action, guide shaft guide pin bushing thereupon folding moves; Guide shaft and guide pin bushing control step beam two-arm are in feed direction synchronous shift.
(3) the Three Degree Of Freedom frame of the pneumatic step mechanical gearing mechanism hand of described three-dimensional is three layers of truss structure, is connected, supports and guiding between two-layer by rolling guide; Drive by drive unit, the rectilinear motion in X/Y/Z tri-direction can be performed; (see Fig. 2 .2 to 2.4, Fig. 3).Bottom frame is connected with cabinet through riser guide, and middle level supporting plate is connected with bottom frame through support rails; Between the orthogonal plate of top layer and middle level supporting plate, material folding guide rail and feeding guide are that plane orthogonal direction is arranged and is connected with it below orthogonal plate.Its slide block of material folding guide rail is connected with orthogonal plate upward (Fig. 2 .3 hatching represents), and its guide rail is pulled through middle level holder down and is connected with feeding cylinder piston rod; Its guide rail of feeding guide is connected with orthogonal plate upward (Fig. 2 .3 hatching represents), and its slide block is connected with material folding cylinder piston rod through material folding connector down; Orthogonal plate in two cabinets in left and right is connected with step rate two-arm two ends respectively.Lift cylinder drives bottom frame to perform (lifting/lowering) motion.
(4) described control system is made up of PLC, solenoid directional control valve, position sensor.Position sensor has been installed near the extreme position of step rate three-dimensional stroke.PLC combines solenoid directional control valve and position sensor etc., can carry out point position control to mechanism kinematic.The stroke range of manipulator three-dimensional and the number of strokes need to determine according to the technological requirement of product, the running parameter etc. of supporting forcing press.Opening/clamp, sending to/return of claw has certain conspiracy relation between the moving both vertically of forcing press master slider.Manipulator has independently kinetic control system, and the movement relation between it and forcing press is interlocked by electric signal, and both actions spatially can not have interference, and the time can intermesh, and to save activity time, improves productive temp.
The beneficial effects of the utility model are: utilize it to carry out material transfer, change and use a large amount of artificial loading and unloading and manual inefficient mode in the past.It can form production line with separate unit multiple position press and realize automatic continuous production, and its production efficiency is high.For three station shaping forge hots, forge manual operation every station generally to be coordinated by 4 operative employees, per minutely can forge 4 ~ 6, and automatic assembly line forging 8 ~ 12 of producing per minute, whole transfer press machine production line only needs 1 ~ 2 people to monitor, and efficiency per hour is 4 ~ 5 times of manual feed stream waterline per capita.Its pushing precision is high, is conducive to the uniformity and the parts quality that ensure product.It reduces number of workers, reduces labor strength, and improve yield rate, product integrated cost greatly reduces.Good exemplary role will be played to improving the production efficiency of Technologies in Domestic Press Forging enterprise and automatization level and the market competitiveness.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the utility model is further illustrated
Fig. 1 is the profile stereogram of manipulator
Fig. 2 .1 is the general structure stereogram of manipulator
Fig. 2 .2 is the general structure plane (containing L portion partial enlarged drawing) of manipulator
Fig. 2 .3 is the C direction view of Fig. 2 .2
Fig. 2 .4 is the B direction view of Fig. 2 .2
Fig. 3 is Three Degree Of Freedom frame stereogram
Fig. 4 .1 is material folding part lazy-tongs stereograms
Fig. 4 .2 is material folding part lazy-tongs three-view diagrams
Fig. 5 .1 is feed section lazy-tongs stereograms
Fig. 5 .2 is feed section lazy-tongs planes
Fig. 5 .3 is the left view of Fig. 5 .2
Fig. 6 .1 is hydraulic bjuffer and cylinder arrangement figure
Fig. 6 .2 is the pneumatic schematic diagram putting forward material part gas buffer system
Fig. 7 is stepwise operation trajectory diagram
Fig. 8 is damping force characteristic curve map
Fig. 9 is arm-and-hand system schematic diagram
In Fig. 1 to Fig. 6:
1. left cabinet, 2. right cabinet, 3. step rate, 4. claw, 5. riser guide, 6. material folding guide rail, 7. feeding guide, 8. support rails, 9. hydraulic bjuffer, 10. balance cylinder, 11. lift cylinders, 12. guide shafts, 13. guide pin bushings, 14. gears, 15. tooth bars, 16. material folding cylinders, 17. feeding cylinders, 18. orthogonal plates, 19. material folding connectors, 20. holders are pulled, 21. frames, 22. large discharge overflow pressure-reducing valves, 23. solenoid directional control valves
Detailed description of the invention
The steering maneuver of the pneumatic step mechanical gearing mechanism hand of described three-dimensional is compressed air, the motion in its three-dimensional direction is driven by material folding cylinder (16), feeding cylinder (17), lift cylinder (11) respectively, then auxiliary balance cylinder (10) supporting device gravity.Described actuating device of atmospheric pressure, gas buffer system, gas buffer unit and hydraulic bjuffer, Pneumatic speed regulating valve and synchronous mechanism, Three Degree Of Freedom frame are all placed in cabinet, and two cabinets (1) of same structure and (2) are symmetrically arranged in forcing press both sides; Described step rate (3) is two, and front and back are arranged in parallel the suitable plane place near forcing press upper and lower mould; Each root step rate two ends is each passed through forcing press side window, is connected with the Three Degree Of Freedom frame in the cabinet of both sides; The claw (4) of corresponding each station is arranged on step rate (3) upper (see Fig. 1, Fig. 2 .3).The control system of described manipulator is made up of PLC, solenoid directional control valve (23), position sensor.Controlled Systematical control, actuating device of atmospheric pressure drives Three Degree Of Freedom frame to perform the rectilinear motion in X/Y/Z tri-direction.
The Three Degree Of Freedom frame of the pneumatic step mechanical gearing mechanism hand of three-dimensional described in ■ is three layers of truss structure, is connected, supports and guiding between two-layer by rolling guide; Drive by drive unit, the rectilinear motion in X/Y/Z tri-direction can be performed.(see Fig. 2 .2 to 2.4, Fig. 3).
Bottom frame (21) is connected with cabinet through riser guide (5), and middle level supporting plate (20) is connected with bottom frame (21) through support rails (8).
Between the orthogonal plate of top layer (18) and middle level supporting plate (20), material folding guide rail (6) and feeding guide (7) are arranged in plane orthogonal direction and are connected with it in orthogonal plate (18) below.Material folding guide rail (6) its slide block is connected with orthogonal plate upward (Fig. 2 .3 hatching represents), and its guide rail is pulled (20) through middle level holder down and is connected with feeding cylinder (17) piston rod; Feeding guide (7) its guide rail is connected with orthogonal plate upward (Fig. 2 .3 hatching represents), and its slide block is connected with material folding cylinder (16) piston rod through material folding connector (19) down; Orthogonal plate (18) in two cabinets in left and right is connected with step rate (3) two-arm two ends respectively.Described lift cylinder (11) is vertically mounted on bottom cabinet, and its piston rod is upwards connected with frame (21); Described feeding cylinder (17) and material folding cylinder (16) are arranged in frame (21); Lift cylinder (11) drives bottom frame (21) to perform (lifting/lowering) motion.Drive step rate to perform the motion of three-dimensional by Three Degree Of Freedom frame, complete the transmission of workpiece.
Being shaped for multistation, is generally that N number of operation position needs N+1 to jaw, because will add material level claw on a pair.The step rate of this example is equipped with 4 pairs of jaws, can operates the product of 3 stations.When blank needs turning operation, claw can additional rotational motion, and now executing agency's entirety can reach 4 frees degree.
■ has compressibility, the less stable of operating rate due to gas, impacts large.In order to enhance productivity, require in the middle of movement travel at a high speed, require low speed close to end of travel; The enormous impact and vibrations that bring otherwise cylinder piston moves, can shorten service life of equipment, produces noise, increases potential safety hazard.The pneumatic step mechanical gearing mechanism hand of described three-dimensional, material folding and feed section adopt gas buffer unit and hydraulic bjuffer (see Fig. 2 .3, Fig. 6 .1).Described gas buffer unit is that cylinder is built-in; Described hydraulic bjuffer (9), with oil pressure buffering, is monomer closed structure, has damping force manual adjustments knob.The piston rod of described hydraulic bjuffer (9) is arranged with the piston rod vis-a-vis being buffered cylinder, starts contact both arriving near end of travel at cylinder piston rod.When being subject to cylinder piston rod pushing tow, when moving in buffering piston, inner casing oil pressure raises and produces damping force, forms buffering to cylinder.Hydraulic bjuffer compared with prior art has the following advantages: can set up rapidly initial damping force, and damping force basic maintenance in whole impulse stroke is constant, its characteristic curve horizontal (see Fig. 8); The kinetic energy that stable damping force absorbs object constantly can be produced, stable movement is stopped.And the elastic force pressure of rubber blanket or metal spring is uneven, and increase gradually with compression travel; Its reaction force even can be formed object and recoil, and is difficult to the impact energy effectively absorbing object.
The pneumatic step mechanical gearing mechanism hand of described three-dimensional, puies forward the gas buffer system that material part adopts and connects by single large discharge overflow pressure-reducing valve (22) loop that vertically arranged balance cylinder (10) cavity of resorption forms; Described balance cylinder (10) epicoele is communicated with air through silencer; Described balance cylinder (10) is vertically mounted on bottom cabinet, and its piston rod is upwards connected with frame (21); During described balance cylinder piston stroking upward, lower chamber of air cylinder is produced piston thrust upwards by admission pressure, thus supporting device gravity; During described balance cylinder descent of piston, lower chamber of air cylinder is produced piston thrust upwards by overflow pressure at expulsion, thus the impact that supporting device gravity damping mechanism descending motion produce.(see Fig. 2 .2, Fig. 6 .2).
■ has compressibility due to gas equally, the less stable of operating rate, even if same source of the gas, two same cylinders, realize movement at the uniform velocity or synchronous shift also more difficult.Each root arm of step rate is promoted by 2 material folding cylinders and 2 feeding cylinders; Step rate two-arm totally 8 cylinders must keep synchronous.If synchronism can not be guaranteed, not only claw material folding is inaccurate, and the serious mechanical component that also can cause damages.The pneumatic step mechanical gearing mechanism hand of described three-dimensional, adopts Pneumatic speed regulating valve and synchronous mechanism to carry out Synchronization Control simultaneously.By Pneumatic speed regulating valve adjust flux, make the piston movement phase mutually synchronization of association cylinder.Described synchronous mechanism, material folding part adopt rack-and-pinion to clamp mechanism (see Fig. 4 .1, Fig. 4 .2).Both sides material folding cylinder (16) piston rod connects tooth bar (15) through material folding connector (19) and engages with two outboard gears (14) respectively, and idler gear engages with outboard gears simultaneously, three gear (14) synchronous rotaries, control both sides tooth bar (15) synchronous shift.During both sides material folding cylinder (16) piston rod retraction (unclamping action), two outboard gears turn clockwise, both sides tooth bar (15) synchronous backward displacement; When both sides material folding cylinder (16) piston rod stretches out (pinching action), two outboard gears turn counterclockwise, and both sides tooth bar (15) locking phase is to displacement.Material folding connector (19) is connected step rate (3) through feeding guide (7) with orthogonal plate (18); Both sides tooth bar (15) controls the two-arm of material folding cylinder (16) and step rate (3) in material folding direction synchronous shift.
Described synchronous mechanism, adopts guide shaft guide sleeve mechanism (see Fig. 5 .1 to 5.3) at feed section.Guide shaft (12) and guide pin bushing (13) mutually fit are connected with step rate (3) two-arm more respectively; Guide shaft only retains coaxial rectilinear movement to guide pin bushing, and other frees degree are locked; When two-arm clamps/unclamp action, guide shaft guide pin bushing thereupon folding moves; Guide shaft (12) and guide pin bushing (13) control step beam (3) two-arm are in feed direction synchronous shift.
This manipulator and feed well, the composition such as separator automatic feeding system.
Claims (6)
1. the pneumatic step mechanical gearing mechanism hand of three-dimensional, carries out self-feeding between each station for multiple position press, it is characterized in that: the pneumatic step mechanical gearing mechanism hand of described three-dimensional comprises control system; Actuating device of atmospheric pressure; Gas buffer system; Gas buffer unit and hydraulic bjuffer; Pneumatic speed regulating valve and synchronous mechanism; And the executing agency to be made up of Three Degree Of Freedom frame, step rate (3) and claw (4); Described control system is made up of PLC, solenoid directional control valve (23), position sensor; Described actuating device of atmospheric pressure is the driving cylinder driving three-dimensional direction to move respectively, comprises material folding cylinder (16), feeding cylinder (17), lift cylinder (11); Described actuating device of atmospheric pressure, gas buffer system, gas buffer unit and hydraulic bjuffer, Pneumatic speed regulating valve and synchronous mechanism, Three Degree Of Freedom frame are all placed in cabinet, and two cabinets of same structure are symmetrically arranged in forcing press both sides; Described step rate (3) is two, and front and back are arranged in parallel the suitable plane place near forcing press upper and lower mould; Each root step rate two ends is each passed through forcing press side window, is connected with the Three Degree Of Freedom frame in the cabinet of both sides; Controlled Systematical control, actuating device of atmospheric pressure drives Three Degree Of Freedom frame to perform the rectilinear motion in X/Y/Z tri-direction.
2. the pneumatic step mechanical gearing mechanism hand of three-dimensional as claimed in claim 1, material folding and feed section adopt gas buffer unit and hydraulic bjuffer, it is characterized in that: described hydraulic bjuffer (9) cushions with oil pressure, for monomer closed structure, be made up of interior outer cylinder body, piston, back-moving spring, throttle orifice, accumulator, check valve, hydraulic oil; Described hydraulic bjuffer (9) piston rod is arranged with the piston rod vis-a-vis being buffered cylinder.
3. the pneumatic step mechanical gearing mechanism hand of three-dimensional as claimed in claim 1 or 2, put forward material part and adopt gas buffer system, it is characterized in that: described gas buffer system connects by single large discharge overflow pressure-reducing valve (22) loop that vertically arranged balance cylinder (10) cavity of resorption forms.
4. the pneumatic step mechanical gearing mechanism hand of three-dimensional as claimed in claim 1, material folding part adopts Pneumatic speed regulating valve and synchronous mechanism, it is characterized in that: described synchronous mechanism be rack-and-pinion to clamp mechanism, control material folding cylinder (16) and step rate (3) two-arm in material folding direction synchronous shift; Both sides material folding cylinder (16) piston rod connects tooth bar (15) through material folding connector (19) and engages with two outboard gears (14) respectively, and idler gear engages with outboard gears simultaneously; Three gear (14) synchronous rotaries, control both sides tooth bar (15) synchronous shift; Material folding connector (19) is connected step rate (3) two-arm through feeding guide (7) with orthogonal plate (18) again.
5. the pneumatic step mechanical gearing mechanism hand of the three-dimensional as described in claim 1 or 4, feed section adopts Pneumatic speed regulating valve and synchronous mechanism, it is characterized in that: described synchronous mechanism is guide shaft guide sleeve mechanism, control step beam (3) two-arm is in feed direction synchronous shift; Guide shaft (12) and guide pin bushing (13) mutually fit are connected with step rate (3) two-arm more respectively.
6. the pneumatic step mechanical gearing mechanism hand of three-dimensional as claimed in claim 1, executing agency is made up of Three Degree Of Freedom frame, step rate (3) and claw (4), it is characterized in that: described Three Degree Of Freedom frame is three layers of truss structure, connected by rolling guide between two-layer, support and guiding; Described Three Degree Of Freedom frame drives by drive unit, can perform the rectilinear motion in X/Y/Z tri-direction; Bottom frame (21) is connected with cabinet through riser guide (5), and middle level supporting plate (20) is connected with bottom frame (21) through support rails (8); Between the orthogonal plate of top layer (18) and middle level supporting plate (20), material folding guide rail (6) and feeding guide (7) are arranged in plane orthogonal direction and are connected with it in orthogonal plate (18) below; Material folding guide rail (6) its slide block is connected with orthogonal plate upward, and its guide rail is pulled (20) through middle level holder down and is connected with feeding cylinder (17) piston rod; Feeding guide (7) its guide rail is connected with orthogonal plate upward, and its slide block is connected with material folding cylinder (16) piston rod through material folding connector (19) down; Orthogonal plate (18) in two cabinets in left and right connects step rate (3) two-arm two ends respectively; Lift cylinder (11) drives bottom frame (21) to perform (lifting/lowering) motion.
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| CN108942668A (en) * | 2018-06-29 | 2018-12-07 | 平湖市钱江机械制造有限公司 | A kind of clamp moving mechanism of bar |
| CN108994235A (en) * | 2018-06-29 | 2018-12-14 | 平湖市钱江机械制造有限公司 | A kind of clamping device of bar |
| CN109676078A (en) * | 2019-01-07 | 2019-04-26 | 浙江威思智能装备有限公司 | The automatic overturning mechanism and its installation method of multi-station servo hot-forging forming machine |
| CN109676078B (en) * | 2019-01-07 | 2023-08-08 | 浙江威思智能装备有限公司 | Automatic material turning mechanism of multi-station servo hot forging forming machine and mounting method thereof |
| WO2022057014A1 (en) * | 2020-09-15 | 2022-03-24 | 南京力泰智能科技有限公司 | Walking beam moving mechanism for use in forging process production |
| CN113926975A (en) * | 2021-11-05 | 2022-01-14 | 连云港杰瑞自动化有限公司 | Ten-degree-of-freedom stepping type automatic carrying device |
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Address after: 100083 No. 18 clear road, Haidian District, Beijing Co-patentee after: CHINA ACADEMY OF MACHINERY SCIENCE & TECHNOLOGY (JIANGLE) SEMI SOLID TECHNOLOGY INSTITUTE CO., LTD. Patentee after: Beijing Research Institute of Electrical Technology Limited Address before: 100083 No. 18 clear road, Haidian District, Beijing Co-patentee before: CHINA ACADEMY OF MACHINERY SCIENCE & TECHNOLOGY (JIANGLE) SEMI SOLID TECHNOLOGY INSTITUTE CO., LTD. Patentee before: Beijing Research Institute of Electrical Technology |