CN211071663U

CN211071663U - Single-arm forging manipulator

Info

Publication number: CN211071663U
Application number: CN201921892855.4U
Authority: CN
Inventors: 马亚温; 龙小军
Original assignee: Qingdao Jiale Intelligent Automation Technology Co ltd
Current assignee: Qingdao Jiale Intelligent Automation Technology Co ltd
Priority date: 2019-11-05
Filing date: 2019-11-05
Publication date: 2020-07-24
Anticipated expiration: 2029-11-05

Abstract

The utility model belongs to the technical field of the forging and pressing, a single armed forging and pressing manipulator is disclosed, include control box, drive assembly and the manipulator subassembly by supreme installation in proper order down, wherein install in the control box based on the integrated control system of P L C programming controller, drive assembly includes X axle drive assembly, Z axle drive assembly and the Y axle drive assembly that connects gradually from supreme down to this realizes the removal of manipulator subassembly multi freedom in the space, Z axle drive assembly, Y axle drive assembly and manipulator subassembly combination form a monoblock, the monoblock is equipped with one at least, and every monoblock individual drive, to sum up, based on the utility model provides a single armed forging and pressing manipulator, can automatic complete forging and pressing material get in succession, getting repeatedly in process of production, realizes the continuous forging and pressing of forging and pressing from this, improves production efficiency and replaces artifically in order to reduce artifical intensity of labour based on machinery.

Description

Single-arm forging manipulator

Technical Field

The utility model belongs to the technical field of the forging and pressing, concretely relates to single armed forging and pressing manipulator.

Background

Traditional forging and pressing manual work includes: the production steps of blanking of a forging stock, heating of the forging stock, rolling and forging of the forging stock, die forging and forming, punching, trimming and the like are carried out, and in the steps, manual feeding and blanking are required, so that the labor intensity is high, and the labor cost of production is high; and the production processes are connected by manpower alone, so that the method not only wastes time, but also has the problem of low efficiency.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a single armed forging and pressing manipulator to solve continuous material loading, unloading formation intensity of labour in the traditional manual forging and pressing operation production process, production efficiency low problem.

In order to achieve the aim, the utility model provides a single-arm forging press manipulator, which comprises a control box, a driving component and a manipulator component which are sequentially installed from bottom to top, wherein a control system based on P L C programming controller integration is installed in the control box, and the driving component and the manipulator component are both controlled and driven based on the control system;

the driving assembly comprises an X-axis driving assembly, a Z-axis driving assembly and a Y-axis driving assembly which are sequentially connected from bottom to top, so that the movement of the manipulator assembly in multiple degrees of freedom in space is realized;

the Z-axis driving assembly, the Y-axis driving assembly and the manipulator assembly are combined to form an integral component, at least one integral component is arranged, and each integral component is driven independently.

Preferably, the X-axis driving assembly and the Y-axis driving assembly each include a mounting frame, a driving motor, a synchronous belt, and a synchronous wheel; the Z-axis driving assembly comprises a lifting driving cylinder.

Preferably, the manipulator subassembly includes mechanical arm roof beam and mechanical tong, wherein the mechanical arm roof beam is fixed in Y axle drive assembly top, and the one end of mechanical arm roof beam extends to outside the Y axle drive assembly, mechanical tong is installed in mechanical arm roof beam top to be close to the one end that the mechanical arm roof beam extends.

Preferably, the mechanical gripper comprises a clamping driving cylinder and a gripper body, and the gripper body extends out of the mechanical arm beam.

Preferably, the movement stroke of the X axis of each manipulator assembly is 650mm, the movement stroke of the Y axis is 600mm, and the movement stroke of the Z axis is 75 mm.

Compared with the prior art, the utility model, following beneficial effect has:

the single-arm forging press manipulator provided by the utility model can automatically and completely forge and press materials continuously and repeatedly during the production process, thereby realizing the continuous forging and pressing of the forging press, improving the production efficiency and replacing the labor force based on the machinery so as to reduce the labor intensity;

in addition, the whole manipulator carries out the drive of X axle and Y axle direction based on driving motor, hold-in range and synchronizing wheel, carries out the drive of Z axle and mechanical tong itself based on driving actuating cylinder, has simple structure, with low costs, the operation is stable, the precision is high, fast advantage.

Drawings

Fig. 1 is a schematic structural view of the present invention;

FIG. 2 is an enlarged view taken at A in FIG. 1;

in the figure: the device comprises a control box 1, a 2-Y axis driving assembly, a 3-Z axis driving assembly, a 4-mechanical arm beam, a 5-mechanical gripper and a 6-X axis driving assembly.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Example 1

Referring to fig. 1, the utility model provides a single-arm forging press manipulator, which comprises a control box 1, a driving component and a manipulator component which are sequentially installed from bottom to top, wherein a control system based on P L C programming controller integration is installed in the control box 1, and the driving component and the manipulator component are controlled and driven based on the control system;

the driving assembly comprises an X-axis driving assembly 6, a Z-axis driving assembly 3 and a Y-axis driving assembly 2 which are sequentially connected from bottom to top, so that the movement of the manipulator assembly with multiple degrees of freedom in space is realized.

In this embodiment, preferably, the X-axis driving assembly and the Y-axis driving assembly each include a mounting frame, a driving motor, a timing belt, and a timing wheel; the driving motor is fixed at one end of the mounting frame and drives the synchronous belt and the synchronous wheel to transmit through the driving shaft, so that the effect of driving the corresponding structure to move is achieved; taking the X-axis driving assembly as an example: the Z-axis driving component 3 is fixed on a synchronous belt of the X-axis driving component through a substrate, and when a driving motor is started, the synchronous belt is driven to convey along the X axis, so that the substrate is driven to synchronously move, and the reciprocating movement of the Z-axis driving component 3 on the X axis is realized;

the Z-axis driving assembly comprises a lifting driving cylinder; and the lift drives actuating cylinder and is equipped with two altogether to this guarantees overall structure's stability, and the bottom that the lift drove actuating cylinder is fixed with the base plate on the X axle drive assembly, and the top is fixed with Y axle drive assembly's installation frame, realizes being connected of X axle drive assembly and Y axle drive assembly on the one hand, and on the other hand then drives actuating cylinder's flexible realization Y axle drive assembly at Z epaxial reciprocating motion through the lift.

In this embodiment, preferably, the manipulator assembly includes a mechanical arm beam 4 and a mechanical gripper 5, wherein the mechanical arm beam 4 is fixed on the top of the Y-axis driving assembly 2, one end of the mechanical arm beam 4 extends out of the Y-axis driving assembly 2, and the mechanical gripper 5 is mounted on the top of the mechanical arm beam 4 and is close to the end of the mechanical arm beam 4 extending; mechanical tong 5 is including pressing from both sides tight drive cylinder and tong body, and outside the tong body extended to mechanical arm roof beam 4, makes whole manipulator subassembly form the installation of down-stepping type from this, guarantees can not receive the interference of other structures at in-process in actual use, causes collision or friction between other parts when also avoiding pressing from both sides to get forging and pressing material or work piece.

In this embodiment, it is preferable that the movement stroke of the X-axis driving unit 6 is 650mm, the movement stroke of the Y-axis driving unit 2 is 600mm, and the movement stroke of the Z-axis driving unit 3 is 75 mm.

In this embodiment, taking two forging presses as an example, the mechanical gripper 5 clamps the heated raw material under the driving of the clamping driving cylinder, and the movement of the mechanical gripper 5 and the raw material is realized by the driving of the driving assembly, so that the heated raw material can be accurately delivered to the die of the forging press, then the mechanical gripper 5 is released, so that the raw material falls into the die to complete the blank manufacturing, and the mechanical gripper 5 at this time retracts to the starting point of the Y-axis movement in cooperation with the Y-axis driving assembly 2, so as to ensure the safety of the whole manipulator during forging presses, after forging presses, the mechanical gripper 5 extends out along the Y-axis, and the mechanical gripper 5 descends along the Z-axis, so that the mechanical gripper 5 can clamp the forged blank, then the mechanical gripper 5 and the blank move up along the Z-axis, move along the X-axis, and deliver the blank to the forming die of the forging press for secondary forging presses, thereby forming a finished product, and finally, taking out the finished product from the forming die, and conveying the finished product to the finished product material frame to finish the completion and transportation of the manipulator.

In addition, in this embodiment, an alarm system is further integrated in the control system, and the alarm system is formed based on the relay protector, the alarm and the alarm lamp, and when the driving assembly is abnormal, an alarm is timely formed based on the alarm and the alarm lamp, and shutdown protection is formed based on the relay protector.

Example 2

The Z-axis driving assembly 3, the Y-axis driving assembly 2 and the manipulator assembly are combined to form an integral component, at least one integral component is arranged, and each integral component is driven independently, so that the working efficiency of the integral manipulator can be further improved.

In this embodiment, the moving stroke of the robot assembly is the same as that in embodiment 1.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The single-arm forging manipulator is characterized by comprising a control box (1), a driving assembly and a manipulator assembly which are sequentially installed from bottom to top, wherein a control system based on P L C programming controller integration is installed in the control box (1), and the driving assembly and the manipulator assembly are controlled and driven based on the control system;

the driving assembly comprises an X-axis driving assembly (6), a Z-axis driving assembly (3) and a Y-axis driving assembly (2) which are sequentially connected from bottom to top, so that the movement of the manipulator assembly with multiple degrees of freedom in space is realized;

the Z-axis driving assembly (3), the Y-axis driving assembly (2) and the manipulator assembly are combined to form an integral component, at least one integral component is arranged, and each integral component is driven independently.

2. The single-arm forging manipulator of claim 1, wherein the X-axis drive assembly (6) and the Y-axis drive assembly (2) each comprise a mounting frame, a drive motor, a timing belt, and a timing wheel; the Z-axis driving assembly (3) comprises a lifting driving cylinder.

3. The single arm forging manipulator according to claim 1, wherein the manipulator assembly comprises a manipulator beam (4) and a gripper (5), wherein the manipulator beam (4) is fixed on top of the Y-axis drive assembly (2), one end of the manipulator beam (4) extends out of the Y-axis drive assembly (2), and the gripper (5) is mounted on top of the manipulator beam (4) and close to the end of the manipulator beam (4) extending.

4. The single arm forging manipulator of claim 3, wherein: the mechanical clamping hand (5) comprises a clamping driving cylinder and a clamping hand body, and the clamping hand body extends out of the mechanical arm beam (4).

5. The single arm forging manipulator of claim 1, wherein: the X-axis moving stroke of each manipulator assembly is 650mm, the Y-axis moving stroke of each manipulator assembly is 600mm, and the Z-axis moving stroke of each manipulator assembly is 75 mm.