CN211437979U - Automatic change material feeding unit - Google Patents

Abstract

The utility model relates to the technical field of forging equipment, in particular to an automatic feeding device, comprising a linear motion module fixed on a main frame and driven by a servo motor, one end is fixedly connected to the linear motion module, and the other end is fixedly connected to the main frame The main vertical motion cylinder module for clamping the pneumatic gripper, the auxiliary sliding table fixed on the auxiliary frame, one end is fixedly connected to the auxiliary sliding table, and the other end is fixedly connected to the auxiliary vertical motion of the auxiliary clamping pneumatic gripper Straight motion cylinder module, the two claws of the gripping pneumatic gripper are respectively connected to one end of the first gripping beam and the second gripping beam, and are arranged on the first gripping beam and the second gripping beam There are multiple station clamps. Beneficial effects: The utility model realizes the transfer of materials between different stations through the horizontal movement of the servo motor, the vertical movement of the cylinder module, and the cooperation with the clamping pneumatic gripper and the station clamp. The advantages of strong force and high precision.

Description

An automatic feeding device

technical field

The utility model relates to the technical field of forging equipment, in particular to an automatic feeding device.

Background technique

Forging equipment is a kind of mass production and processing equipment in the manufacturing process. Typical forging equipment such as presses can quickly realize the forming of more complex parts shapes through the use of molds. At the same time, the improvement of the microscopic grains of metal parts is also very obvious. main means. In order to further improve the production efficiency of the press, it is necessary to match the loading and unloading equipment, and this electromechanical coupled automatic equipment system has naturally become the focus and difficulty of the research and development of forging equipment.

At present, there are mainly two methods of manual feeding and robot feeding used in the feeding of the press. In the process of manual feeding, workers need to take out the workpiece on the mold and put it into the next station when the slider of the press is raised. The disadvantages of this approach are obvious. The work efficiency of workers is slow, the labor intensity is high, and there are many unsafe factors in the working environment of a heavy machinery such as a multi-station press. Another way is to use robots. The development of robotics is very mature today. At present, the robots used in presses mainly include swing bar manipulators, parallel four-link manipulators, and six-degree-of-freedom robots. Most of these robots have complex serial structures, which result in poor stiffness and complex motion control. The huge movement structure also makes it difficult to improve its working speed. For a movement process that requires only a few degrees of freedom such as multi-station feeding, the use of the above robots is not efficient. In view of the high maintenance cost of these kinds of robots, some more simplified equipment is needed to complete the feeding work.

Utility model content

The technical problems to be solved by the utility model are: in order to solve the problem of manual operation when the press is feeding, the work efficiency of workers is slow, the labor intensity is high, and there are hidden dangers in production safety; the robot operation method is used, and the investment and maintenance costs are high, and the robot The complex structure leads to the problem of excess resources. The utility model provides an automatic feeding device. The servo motor drives the linear motion module to move horizontally, the cylinder module moves vertically, and cooperates with clamping pneumatic grippers and station clamps to achieve different materials. For the transfer between stations, the device has the advantages of simple structure, fast movement speed, strong bearing capacity and high precision, overcomes the shortcomings of the existing technology, and effectively solves the problems of manual or robot feeding. Efficiency, cost and safety issues.

The technical scheme adopted by the utility model to solve the technical problem is: an automatic feeding device, comprising a main frame, an auxiliary frame, a linear motion module, a servo motor, an auxiliary sliding table, a main vertical motion cylinder module, and a secondary vertical motion module. Cylinder module, main gripping pneumatic gripper, secondary gripping pneumatic gripper, first gripping beam, second gripping beam, station 1 master clamp, station 1 pair clamp, station 2 master clamp, station 2 Auxiliary clamp, the main frame is provided with the linear motion module, the servo motor drives the linear motion module, one end of the main vertical motion cylinder module is fixedly connected to the linear motion module, and the other end is fixedly connected to the linear motion module To the main clamping pneumatic gripper, the two claws of the main gripping pneumatic gripper are respectively connected to one end of the first clamping beam and the second clamping beam, and a tool is provided on the first clamping beam. The first main clamp and the second main clamp are arranged on the second clamping beam, and the first auxiliary clamp and the second auxiliary clamp are arranged on the second clamping beam; One end of the auxiliary vertical motion cylinder module is fixedly connected to the auxiliary sliding table, and the other end is fixedly connected to the auxiliary clamping pneumatic gripper, and the two claws of the auxiliary clamping pneumatic gripper are respectively connected to the first clamping beam and the other end of the second clamping beam. This design uses the servo motor to drive the horizontal movement of the linear motion module, the vertical movement cylinder module to control the vertical movement, and cooperate with the clamping pneumatic gripper and the station clamp to realize the transfer of materials between different stations. It has a simple structure and high movement speed. The advantages of fast, strong bearing capacity and high precision. The horizontal motion adopts the servo motor to drive the linear motion module. Inside the linear motion module is a lead screw, which converts the rotary motion of the servo motor into a horizontal linear motion, so the movement position control in the horizontal direction is actually the rotation number and position of the servo motor. Control, the encoder of the servo motor and the screw drive link of the equipment can ensure the movement accuracy of the system in the horizontal direction. In actual use, firstly, the slide table is initialized and moved to the maximum limit, and the motor position is cleared at this time. Then, the servo motor is driven by manually sending commands to make the slide table move to three working positions respectively, and the control system records the three positions respectively. In the subsequent work, it is only necessary to control the servo motor to move to the recorded motor position to ensure the horizontal movement accuracy. The vertical movement is realized by a cylinder module structure, and the cylinder module includes a cylinder and a limit block. Because there are only two height positioning requirements in the vertical direction, during the initialization adjustment process, the two working positions can be determined by adjusting the upper and lower limit blocks of the cylinder, and the movement accuracy is ensured by the mechanical limit method.

Specifically, it also includes a first fixing seat fixedly connected with the motion slide table of the linear motion module, a second fixing seat connected with the auxiliary sliding table, and the first fixing seat is fixedly connected with the first transverse structure rod, The second fixing base is fixedly connected to the second transverse structure rod, and the two ends of the first transverse structure rod and the second transverse structure rod are respectively fixedly connected to the first longitudinal structure rod and the two ends of the second longitudinal structure rod to form one Rectangular frame. Such a design enables the automatic feeding device of the present invention to have higher reliability, ensures the movement accuracy in the horizontal direction, and at the same time facilitates maintenance, and the installation and movement of the equipment are also more flexible and convenient. The power of the horizontal motion of the automatic feeding device of the utility model is a linear motion module driven by a servo motor, and the rectangular frame transmits the active motion to the translational support auxiliary slide. The translational support auxiliary sliding table plays the role of a vertical support, and at the same time plays a guiding role in the horizontal direction. The rectangular frame is used as the connection structure of the linear motion module of the two horizontal motion parts and the auxiliary sliding table of the translation support, so that there is a large enough space in the middle part of the equipment for the production and processing equipment to work, avoiding interference, and at the same time, the direct connection can also ensure that the two Accuracy of horizontal motion synchronization of the support structure.

Specifically, the first fixed seat and the main vertical motion cylinder module are fixedly connected through a main vertical connecting plate, and the second fixed seat and the secondary vertical motion cylinder module are fixedly connected through a secondary vertical connecting plate . Such a design makes the connection between the vertical motion cylinder module and the motion module more reliable and firm, and the fixed connection methods include but are not limited to screw fastening, welding, riveting, and the like.

Specifically, the main vertical movement cylinder module is fixedly connected to the main clamping pneumatic gripper through the main transition plate, and the secondary vertical movement cylinder module is fixedly connected to the auxiliary clamping pneumatic gripper through the auxiliary transition plate. Such a design makes the connection between the vertical motion cylinder module and the clamping pneumatic gripper more reliable and firm, and the fixed connection methods include but are not limited to screw fastening, welding, riveting and the like.

Specifically, the linear motion module and the sliding structure of the auxiliary sliding table include but are not limited to the structure of a lead screw and a slider, and a structure of a guide rail and a slider. Such a design reduces the resistance of horizontal movement and improves the distance control precision and movement speed of the present invention.

Specifically, the first clamping beam and the second clamping beam can be provided with a plurality of station clamps to adapt to the material flow between multiple stations. Such a design can realize the increase of stations through simple adjustment, has strong scalability, and can realize long-distance multi-station synchronous feeding.

Specifically, the main vertical movement cylinder module and the auxiliary vertical movement cylinder module each include a cylinder and upper and lower limit blocks for determining the movement positions of both ends of the cylinder. The cylinder provides power, and the limit block determines the movement position of both ends of the cylinder.

The beneficial effects of the utility model are as follows: the utility model provides an automatic feeding device, which comprises a linear motion module fixed on the main frame and driven by a servo motor, one end is fixedly connected to the linear motion module, and the other end is fixedly connected to the linear motion module. The main vertical movement cylinder module of the main clamping pneumatic gripper; the auxiliary sliding table fixed on the auxiliary frame, and one end is fixedly connected to the auxiliary sliding table, and the other end is fixedly connected to the auxiliary clamping pneumatic hand The auxiliary vertical movement cylinder module of the claw, the two claws of the clamping pneumatic gripper are respectively connected to one end of the first clamping beam and the second clamping beam, and the first clamping beam and the second clamping beam are A plurality of station clamps are arranged on the holding beam. The technical solution of the utility model solves the problems of efficiency, cost and safety existing in the manual or robotic feeding of the press, and achieves both cost and efficiency, simple structure, fast movement speed, strong bearing capacity and precision. Compared with the prior art, the utility model also has the following advantages: simple structure and modular design, ensuring convenient equipment maintenance and reliable operation; synchronous feeding of long-distance multi-stations can be realized; Adjustment to realize the increase of workstations has strong expansibility.

Description of drawings

The present utility model will be further described below in conjunction with the accompanying drawings and embodiments.

Figure 1 is a schematic diagram of the overall structure of the present invention.

Fig. 2 is the connection structure near the first fixing seat of the present invention.

In the figure: 1-1. Main frame, 1-2. Auxiliary frame, 2. Linear motion module, 3. Servo motor, 4-1. The first fixing seat, 4-2. The second fixing seat, 5-1 .First transverse structural rod, 5-2. Second transverse structural rod, 6-1. First connecting longitudinal structural rod, 6-2. Second longitudinal structural rod, 7-1. Main vertical connecting plate, 7- 2. Auxiliary vertical connecting plate, 8-1. Main vertical movement cylinder module, 8-2. Auxiliary vertical movement cylinder module, 9-1. Main transition plate, 9-2. Auxiliary transition plate, 10-1. Main clamping pneumatic gripper, 10-2. Secondary gripping pneumatic gripper, 11-1. First gripping beam, 11-2. Second gripping beam, 12-1. Station one main gripper, 12- 2. A pair of clamps for the station, 13-1. The second main clamp for the station, 13-2. The second pair of clamps for the station, 14, the auxiliary sliding table.

Detailed ways

The present utility model will now be described in further detail in conjunction with the accompanying drawings. These drawings are all simplified schematic diagrams, and only illustrate the basic structure of the present invention in a schematic manner, so they only show the structures related to the present invention.

Example 1:

As shown in Figure 1, an automatic feeding device includes a main frame 1-1, an auxiliary frame 1-2, a linear motion module 2, a servo motor 3, an auxiliary sliding table 14, a main vertical motion cylinder module 8-1, Auxiliary vertical motion cylinder module 8-2, main gripping pneumatic gripper 10-1, secondary gripping pneumatic gripper 10-2, first gripping beam 11-1, second gripping beam 11-2, workstation A main clamp 12-1, a secondary clamp 12-2 at a station, a second main clamp 13-1 at a station, and a second auxiliary clamp 13-2 at the station; the main frame 1-1 is provided with the linear motion module 2 , the servo motor 3 drives the linear motion module 2, one end of the main vertical motion cylinder module 8-1 is fixedly connected to the linear motion module 2, and the other end is fixedly connected to the main clamping pneumatic gripper 10-1, the two claws of the main gripping pneumatic gripper 10-1 are respectively connected to one end of the first gripping beam 11-1 and the second gripping beam 11-2. -1 is provided with the first station main clamp 12-1 and the second station main clamp 13-1, and the second clamping beam 11-2 is provided with the first station clamp 12-2 and the second station clamp Clamp 13-2; the auxiliary frame 1-2 is provided with the auxiliary sliding table 14, one end of the auxiliary vertical motion cylinder module 8-2 is fixedly connected to the auxiliary sliding table 14, and the other end is fixedly connected to the auxiliary sliding table 14 To the secondary clamping pneumatic gripper 10-2, the two claws of the secondary gripping pneumatic gripper 10-2 are respectively connected to the other ends of the first clamping beam 11-1 and the second clamping beam 11-2 . The structures of the linear motion module 2 and the auxiliary slide table 14 include a structure of a lead screw and a slider, and a structure of a guide rail and a slider. The first clamping beam 11-1 and the second clamping beam 11-2 can be provided with a plurality of station clamps to adapt to the material flow between multiple stations.

Preferably, it also includes a first fixing base 4-1 fixedly connected with the motion slide of the linear motion module 2, and a second fixing base 4-2 connected with the auxiliary slide 14. The first fixing base 4-1 is fixedly connected to the first transverse structure rod 5-1, the second fixed seat 4-2 is fixedly connected to the second transverse structure rod 5-2, the first transverse structure rod 5-1, the second transverse structure rod The two ends of 5-2 are respectively fixedly connected to the two ends of the first connecting longitudinal structural rod 6-1 and the two ends of the second longitudinal structural rod 6-2 to form a rectangular frame.

Preferably, as shown in FIG. 2 , the first fixing base 4-1 and the main vertical motion cylinder module 8-1 are fixedly connected through a main vertical connecting plate 7-1, and the second fixing base 4- 2 and the auxiliary vertical motion cylinder module 8-2 are fixedly connected through the auxiliary vertical connecting plate 7-2.

Preferably, as shown in FIG. 2 , the main vertical movement cylinder module 8-1 is fixedly connected to the main clamping pneumatic gripper 10-1 through the main transition plate 9-1, and the auxiliary vertical movement cylinder module 8 -2 is fixedly connected to the secondary clamping pneumatic gripper 10-2 through the secondary transition plate 9-2, the main vertical motion cylinder module 8-1 and the secondary vertical motion cylinder module 8-2 both include cylinders and Determine the upper and lower limit blocks of the movement position of both ends of the cylinder.

The working principle of the present utility model:

The automatic feeding device of the utility model is installed in the middle of the working table of the press and the sliding block, and the specific work flow is as follows:

a. In the initial state, the main gripping pneumatic gripper 10-1 and the secondary gripping pneumatic gripper 10-2 are in an open state (180 degrees), so that the first gripping beam 11-1 and the second gripping beam 11 -2 It can avoid the movement space of the mold on the press and avoid interference. At this time, the main vertical movement cylinder module 8-1 and the auxiliary vertical movement cylinder module 8-2 are in the extended state;

b. After the press completes a stamping work, the press slide moves up to free up the working space, and the processed parts are also pushed onto the mold, and at the same time, the new parts to be processed are transported by the external conveyor belt of the parts to be processed. It is transported to a lower position between the first clamping beam 11-1 and the second clamping beam 11-2. At this time, the servo motor 3 works to drive the first fixed seat 4-1 and the upper overall structure connected to it to move in the horizontal direction until the first station main clamp 12-1 and the second station clamp 12-2 are located above the finished mold parts. At the same time, the main clamp 13-1 of the second station and the secondary clamp 13-2 of the second station are located above the parts to be processed.

c. After the positioning is completed, the main vertical movement cylinder module 8-1 and the auxiliary vertical movement cylinder module 8-2 are shrunk, and the station-main clamp 12-1 and the station-auxiliary clamp 12-2 are moved to the completion of processing On both sides of the part, the second main clamp 13-1 of the station and the second auxiliary clamp 13-2 of the station are located on both sides of the part to be processed.

d. Then the main gripping pneumatic gripper 10-1 and the secondary gripping pneumatic gripper 10-2 shrink, and both the processed part and the part to be processed are clamped.

e. The main vertical movement cylinder module 8-1 and the auxiliary vertical movement cylinder module 8-2 are extended, and the two parts are lifted up.

f. The servo motor 3 moves to drive the entire structure to move horizontally until the workpiece to be processed is located directly above the mold, the main vertical motion cylinder module 8-1 and the auxiliary vertical motion cylinder module 8-2 are retracted, and the to-be-processed part is placed on the mold , the machined parts are placed on the discharge conveyor. The main gripping pneumatic gripper 10-1 and the secondary gripping pneumatic gripper 10-2 are opened to release the parts.

g. The main vertical movement cylinder module 8-1 and the auxiliary vertical movement cylinder module 8-2 extend out, lift the structure, and the servo motor 3 drives the upper structure back to the neutral position to wait for the press to work and the next working cycle.

Taking the above ideal embodiment according to the present invention as inspiration, through the above description, relevant staff can make various changes and modifications without departing from the technical idea of the present invention. The technical scope of the present utility model is not limited to the content in the description, and its technical scope must be determined according to the scope of the claims.

Claims (8)

1. The utility model provides an automatic change material feeding unit, contains main frame (1-1), auxiliary frame (1-2), linear motion module (2), servo motor (3), supplementary slip table (14), main vertical motion cylinder module (8-1), vice vertical motion cylinder module (8-2), main pneumatic gripper (10-1), vice pneumatic gripper (10-2), first centre gripping roof beam (11-1), second centre gripping roof beam (11-2), station one owner presss from both sides (12-1), station one vice clamp (12-2), station two owner presss from both sides (13-1), station two vice clamps (13-2), its characterized in that:

the linear motion module (2) is arranged on the main frame (1-1), the servo motor (3) drives the linear motion module (2), one end of the main vertical movement air cylinder module (8-1) is fixedly connected to the linear movement module (2), the other end is fixedly connected to the main clamping pneumatic paw (10-1), two claws of the main clamping pneumatic paw (10-1) are respectively connected with one end of a first clamping beam (11-1) and one end of a second clamping beam (11-2), a first station main clamp (12-1) and a second station main clamp (13-1) are arranged on the first clamping beam (11-1), a first auxiliary clamp (12-2) and a second auxiliary clamp (13-2) are arranged on the second clamping beam (11-2);

the auxiliary frame (1-2) is provided with the auxiliary sliding table (14), one end of the auxiliary vertical movement cylinder module (8-2) is fixedly connected to the auxiliary sliding table (14), the other end of the auxiliary vertical movement cylinder module is fixedly connected to the auxiliary clamping pneumatic paw (10-2), and two paws of the auxiliary clamping pneumatic paw (10-2) are respectively connected with the other ends of the first clamping beam (11-1) and the second clamping beam (11-2).

2. The automated feeding device of claim 1, wherein: still include with the first fixing base of the motion slip table fixed connection of linear motion module (2) (4-1), with second fixing base (4-2) that supplementary slip table (14) is connected, first fixing base (4-1) first horizontal structural rod of fixed connection (5-1), second fixing base (4-2) horizontal structural rod of fixed connection second (5-2), the both ends of first horizontal structural rod (5-1), second horizontal structural rod (5-2) are the both ends of first vertical structural rod of fixed connection (6-1) and the vertical structural rod of second (6-2) respectively and constitute a rectangular frame.

3. An automated feeding device according to claim 2, wherein: the first fixing seat (4-1) is fixedly connected with the main vertical movement cylinder module (8-1) through a main vertical connecting plate (7-1), and the second fixing seat (4-2) is fixedly connected with the auxiliary vertical movement cylinder module (8-2) through an auxiliary vertical connecting plate (7-2).

4. The automated feeding device of claim 1, wherein: the main vertical movement cylinder module (8-1) is fixedly connected to the main clamping pneumatic paw (10-1) through a main transition plate (9-1), and the auxiliary vertical movement cylinder module (8-2) is fixedly connected to the auxiliary clamping pneumatic paw (10-2) through an auxiliary transition plate (9-2).

5. The automated feeding device of claim 1, wherein: the linear motion module (2) is structurally characterized in that a screw rod and a sliding block are arranged.

6. The automated feeding device of claim 1, wherein: the structure of the auxiliary sliding table (14) is a structure of a guide rail and a sliding block.

7. The automated feeding device of claim 1, wherein: the first clamping beam (11-1) and the second clamping beam (11-2) can be provided with a plurality of station clamps to adapt to material circulation among multiple stations.

8. The automated feeding device of claim 1, wherein: the main vertical movement cylinder module (8-1) and the auxiliary vertical movement cylinder module (8-2) respectively comprise a cylinder and an upper limiting block and a lower limiting block which are used for determining the movement positions of two ends of the cylinder.

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