CN215144371U - Forging stock clamping and releasing manipulator structure for steel ball forming - Google Patents

Abstract

A forging stock clamping and releasing manipulator structure for forming steel balls comprises a forging stock clamping and placing manipulator opening and closing driving mechanism, a forging stock clamping and placing mechanism support and a forging stock clamping and placing mechanism, wherein the forging stock clamping and placing manipulator opening and closing driving mechanism comprises a forging stock clamping and placing manipulator driving action cylinder, an action cylinder limiting plate supporting seat and a pair of action cylinder limiting plates, the forging stock clamping and placing mechanism comprises a forging stock clamping and placing manipulator opening and closing traction rod, the left end of the opening and closing traction rod of the forging billet clamping and placing mechanical arm is connected with a cylinder column for driving the forging billet clamping and placing mechanical arm, the middle part of the opening and closing traction rod of the forging billet clamping and placing mechanical arm is matched with the guide sliding seat of the traction rod, the guide sliding seat of the traction rod is fixed on a guide sliding seat fixing plate, the right end of the opening and closing traction rod of the forging billet clamping and placing mechanical arm extends to the right side of the guide sliding seat of the traction rod, and the forging billet clamping and placing mechanical arm is pivoted on a right fixing plate of a forging billet clamping and placing mechanism support. The structure is simplified, and the high-speed punch forming requirement of the steel ball punch forming machine is met; the motion space and the motion amplitude are reduced.

Description

Forging stock clamping and releasing manipulator structure for steel ball forming

Technical Field

The utility model belongs to the technical field of the auxiliary facilities of steel ball stamping forming equipment, concretely relates to release manipulator structure is got to forging stock clamp that steel ball shaping was used.

Background

The aforementioned forged billet is also referred to as a bar stock or a bar segment (the same applies hereinafter). The process of steel ball forming is roughly as follows: the steel round bar as raw material is firstly introduced into a heating furnace for heating, then the heated steel round bar is cut into forging stock according to the volume of the steel ball to be formed, and the forging stock is conveyed to a steel ball stamping forming machine by a forging stock conveying device to be stamped and formed into the steel ball.

From the above description and in conjunction with the expert knowledge, it can be ascertained without doubt: the forging stock conveying device and the forging stock clamping and releasing manipulator arranged on the forging stock conveying device are positioned at a forging stock forming station, a forging stock introducing station and a steel ball stamping forming station in a use state, namely, the forging stock conveying device and the forging stock clamping and releasing manipulator alternately move between the forging stock forming station, the forging stock introducing station and the steel ball stamping forming station according to the rhythm of process requirements.

The prior forging stock conveying device for stamping steel balls is characterized in that a screw (namely a lead screw) is driven by a servo motor and a sliding table is driven by the screw to move between the two stations, and the speed of the movement mode is relatively slow, so that the device cannot adapt to a high-speed steel ball stamping forming machine, and a servo motor control system is complex, high in cost and high in daily inspection and maintenance cost. The "apparatus for transporting a workpiece by a forging press" proposed in CN203109155U and the "feeding robot for a hot forging line" provided in CN102581197A have technical effects described in the technical effect column of the specification, but they have the drawbacks described above because they both use the servo motor.

The "forged steel ball conveying device for stamping steel balls" introduced in CN108326225A, because of eliminating the servo motor, makes up the aforementioned disadvantages of CN203109155U and CN102581197A and can objectively reconcile the four advantages summarized in the technical effect column of the specification, but still has the following disadvantages: the design of the whole structure system of the forging material clamping and placing mechanism is unreasonable, so that the structure is complex on one hand; on the other hand, the speed from clamping to releasing the forging stock is slow; on the other hand, the ram is driven to correspondingly lift by the lifting of the ram guide post, the ram respectively drives the front and rear push rods, the front and rear push rods drive the front and rear clamping arms, and the front and rear clamping arms drive the front and rear clamping plates to move so as to complete clamping and releasing of the forging stock, so that the motion space or motion amplitude of the forging stock clamping and releasing mechanism is larger in the process of clamping and releasing the forging stock, and harsh factors are added to the steel ball stamping forming machine to a certain extent. There is therefore still a need for improvement, in which context the solutions to be described below are produced.

SUMMERY OF THE UTILITY MODEL

The task of the utility model is to provide a help showing simplify the structure, be favorable to showing that to improve to the clamp of forging stock get with release rate and be favorable to showing to reduce to the forging stock press from both sides get with the motion space of release and the forging stock clamp that the steel ball shaping of motion range was used gets release manipulator structure.

The task of the utility model is accomplished like this, a forging stock clamp that steel ball shaping was used gets release manipulator structure, including a forging stock clamp put manipulator actuating mechanism that opens and shuts, a forging stock clamp put mechanism support and a forging stock clamp put mechanism, forging stock clamp put manipulator drive mechanism that opens and shuts including forging stock clamp put manipulator drive action jar, action jar limiting plate bearing and a pair of action jar limiting plate, forging stock clamp put manipulator drive action jar pass through cylinder body fixing screw to be fixed between the upper portion of a pair of action jar limiting plate, and the lower part of a pair of action jar limiting plate respectively through limiting plate fixing screw with act on one side of jar limiting plate bearing orientation fixed, action jar limiting plate bearing is fixed the left end of forging stock clamp put mechanism support, the forging stock clamp put the forging stock clamp of manipulator drive action jar and put manipulator drive action cylinder post towards the right side, the right-hand member of forging stock clamp mechanism support constitutes for horizontal cantilever end and is fixed with a forging stock clamp put mechanism support right side fixed plate The forging stock clamping and placing mechanism comprises a forging stock clamping and placing mechanical arm opening and closing traction rod, a traction rod guiding sliding seat and a forging stock clamping and placing mechanical arm, the left end of the forging stock clamping and placing mechanical arm opening and closing traction rod is connected with a forging stock clamping and placing mechanical arm driving action cylinder column of the forging stock clamping and placing mechanical arm driving action cylinder through a connecting threaded sleeve, the middle part of the forging stock clamping and placing mechanical arm opening and closing traction rod is in sliding fit with the traction rod guiding sliding seat, and the traction rod guiding sliding seat is fixed on a guiding sliding seat fixing plate, this direction sliding seat fixed plate with the length direction's of forging stock clamping and placing mechanism support middle part is fixed, and the right-hand member that the mechanical arm of forging stock clamping and placing opened and shut the traction lever extends to the right side of traction lever direction sliding seat, and the mechanical arm pivot of forging stock clamping and placing is put on the mechanical support right side fixed plate of forging stock clamping and placing and with the right-hand member that the mechanical arm of forging stock clamping and placing opened and shut the traction lever is connected.

In a specific embodiment of the present invention, the billet clamping and placing manipulator comprises an articulated arm connecting seat, a first connecting rod i, a second connecting rod ii, a first joint i, a second joint ii, a first billet clamping jaw i and a second billet clamping jaw ii, the left end of the articulated arm connecting seat is connected with the right end of the opening and closing draw bar of the billet clamping and placing manipulator, a connecting rod pivoting connecting cavity is formed at the right end of the articulated arm connecting seat, one end of the first connecting rod i is inserted into the rear side of the connecting rod pivoting connecting cavity and is hinged with the articulated arm connecting seat through a first connecting rod pin shaft i, the other end of the first connecting rod i is hinged with one end of the first joint i through a first joint hinge pin shaft i, one end of the second connecting rod ii is inserted into the front side of the connecting rod pivoting connecting cavity and is hinged with the articulated arm connecting seat through a second connecting rod pin shaft ii, and the other end of the second connecting rod ii is hinged with one end of the second joint ii through a second joint hinge pin shaft ii, a first joint pivot hole I is formed in the middle of the first joint I and is in pivot fit with the first joint pivot shaft I, a first blank clamping claw connecting plate I is formed at the other end of the first joint I, a second joint pivot hole II is formed in the middle of the second joint II, the second joint pivot hole II is in pivot fit with the second joint pivot shaft II, the other end of the second joint II forms a second blank clamping claw connecting plate II, the first joint pivot shaft I and the second joint pivot shaft II are fixed on a right fixing plate of the forging blank clamping and placing mechanism support, one end of a first blank clamping claw I is fixed with the rear side face of the first blank clamping claw connecting plate I, the other end of the first blank clamping claw I extends out of the first blank clamping claw connecting plate I, one end of a second blank clamping claw II is fixed with the front side face of the second blank clamping claw connecting plate II, and the other end of the second blank clamping claw II extends out of the second blank clamping claw connecting plate II.

In another specific embodiment of the present invention, the first blank clamping claw i protrudes from the front side of one end of the first blank clamping claw connecting plate i to form a first blank clamping claw cavity i, the second blank clamping claw ii protrudes from the rear side of one end of the second blank clamping claw connecting plate ii to form a second blank clamping claw cavity ii, and after the first blank clamping claw i and the second blank clamping claw ii are closed, the first blank clamping claw cavity i and the second blank clamping claw cavity ii cooperate with each other to form a complete forging blank clamping cavity.

In another specific embodiment of the present invention, the first connecting rod i and the second connecting rod ii have the same shape; the first joint I and the second joint II are mutually identical in shape; the first blank clamping claw I and the second blank clamping claw II are identical in shape.

The technical scheme provided by the utility model the technical effect lie in: the forging stock clamping and placing mechanical hand opening and closing traction rod of the forging stock clamping and placing mechanism is directly driven to move by the forging stock clamping and placing mechanical hand opening and closing driving mechanism arranged on the forging stock clamping and placing mechanism support, so that the forging stock clamping and placing mechanical hand is driven to clamp and release a forging stock by the movement of the forging stock clamping and placing mechanical hand opening and closing traction rod, the structure is obviously simplified compared with the prior art, the clamping and releasing speed of the forging stock is favorably and obviously improved, and the high-speed punch forming requirement of a steel ball punch forming machine is met; because the opening and closing of the forging stock clamping and placing mechanical arms are completed on the same horizontal plane, the motion space and the motion amplitude are obviously reduced, the harsh requirements on the stamping forming machine are avoided, and the interference influence on the action of the stamping forming machine is avoided.

Drawings

Fig. 1 is a structural diagram of an embodiment of the present invention.

Fig. 2 is a detailed structural view of the billet clamping and placing robot shown in fig. 1.

Fig. 3 is a schematic diagram illustrating an application of the structure of fig. 1 according to the present invention.

Fig. 4 is a schematic view of the open and closed states of the billet clamping and placing robot shown in fig. 2.

FIG. 5 is a schematic view of the structure shown in FIG. 3 arranged at a forging stock introduction station and a steel ball punch forming station.

Detailed Description

In order to make the technical essence and advantages of the present invention more clear, the applicant below describes in detail the embodiments, but the description of the embodiments is not a limitation of the present invention, and any equivalent changes made according to the inventive concept, which are only formal and not essential, should be considered as the technical scope of the present invention.

In the following description, any concept that may relate to the directions or orientations of up, down, left, right, front and rear is based on the position of fig. 1 and 3, and thus should not be construed as particularly limiting the technical solution provided by the present invention.

For the convenience of reading the present invention, the applicant will take fig. 3 as a priority to describe the present invention in detail below.

Referring to fig. 3, there is shown a frame 1, wherein the frame 1 is a hollow frame-shaped structure; showing a forging stock clamping and placing mechanism bearing table 2, a bearing table lifting driving mechanism 3 and a bearing table front and back displacement driving mechanism 4; the forging stock clamping and placing mechanism bearing platform 2 is connected with the bearing platform lifting driving mechanism 3 at a position corresponding to the upper part of the bearing platform lifting driving mechanism 3, the bearing platform lifting driving mechanism 3 is connected with the bearing platform front and rear displacement driving mechanism 4, and the bearing platform front and rear displacement driving mechanism 4 is arranged at the upper part of the frame 1; a billet clamping and placing manipulator left and right displacement action mechanism 5 is shown, which billet clamping and placing manipulator left and right displacement action mechanism 5 is arranged on the aforesaid billet clamping and placing mechanism bearing table 2.

With reference to fig. 1 and with continuing reference to fig. 3, there is shown a blank clamping and placing manipulator opening and closing drive mechanism 6, a blank clamping and placing mechanism support 7 and a blank clamping and placing mechanism 8, the blank clamping and placing manipulator opening and closing drive mechanism 6 together with the left end of the blank clamping and placing mechanism support 7 being fixed to the aforesaid left and right displacement action mechanism 5 of the blank clamping and placing manipulator, that is to say the blank clamping and placing manipulator opening and closing drive mechanism 6 is arranged at the left end of the blank clamping and placing mechanism support 7 and is fixed therewith with the left end of the blank clamping and placing mechanism support 7 and the left end of the blank clamping and placing mechanism support 7 being fixed to the left and right displacement action mechanism 5 of the blank clamping and placing manipulator, and the right end of the blank clamping and placing mechanism support 7 being configured as a horizontal cantilever end (also referred to as "cantilever end") and being spaced from the upper surface of the aforesaid left and right displacement action mechanism 5 of the blank clamping and placing manipulator, that the blank clamping and placing mechanism 8 is arranged at the side of the right end of the blank clamping and placing mechanism support 7 facing upwards and being spaced from the aforesaid blank clamping and placing mechanism 8 The manipulator opening and closing driving mechanism 6 is connected.

A frame support 11 is fixed on the upper part of the frame 1, and a frame horizontal adjusting support leg 12 can be arranged at the bottom of a frame support leg of the frame 1 as a preferable scheme; the bearing platform front and back displacement driving mechanism 4 is arranged on the frame support 11; the bearing platform lifting driving mechanism 3 is hinged with the bearing platform front and back displacement driving mechanism 4, and the forging blank clamping and placing mechanism bearing platform 2 is connected with the bearing platform lifting driving mechanism 3 at the positions of four corners; the middle part of the forging stock clamping and placing manipulator left and right displacement action mechanism 5 is arranged, namely is stationarily fixed on one side of the forging stock clamping and placing mechanism bearing platform 2 facing upwards, and the left end and the right end respectively extend out of the forging stock clamping and placing mechanism bearing platform 2; the left end of the forging stock clamping and placing mechanism support 7 is fixed on a forging stock clamping and placing mechanism support left fixing plate 71, the right end of the forging stock clamping and placing mechanism support right fixing plate 72 is fixed, the forging stock clamping and placing mechanical arm opening and closing driving mechanism 6 is supported on the forging stock clamping and placing mechanism support left fixing plate 71, and the forging stock clamping and placing mechanism 8 is arranged on the forging stock clamping and placing mechanism support right fixing plate 72.

Continuing to refer to fig. 3, the aforementioned plummer front-rear displacement driving mechanism 4 comprises a support fixing frame 41, a lifting soleplate front-rear displacement driving acting cylinder 42, a lifting soleplate front-rear displacement driving acting cylinder supporting base 43, a lifting soleplate displacement left guide rod 44 and a lifting soleplate displacement right guide rod 45, the support fixing frame 41 is preferably fixed on the upper portion of the aforementioned frame support 11 in a welding manner, a support fixing frame rear cross beam 411 is fixed on the rear end of the support fixing frame 41, a support fixing frame front cross beam 412 is fixed on the front end, the lifting soleplate front-rear displacement driving acting cylinder supporting base 43 is preferably fixed with the aforementioned frame support 11 in a welding manner at a position corresponding to the front of the support fixing frame front cross beam 412, a cylinder base hinge frame 422 is hinged on the front end of the cylinder body of the lifting soleplate front-rear displacement driving acting cylinder 42, the cylinder base hinge frame 422 is fixedly connected with the upper portion of the aforementioned lifting soleplate front-rear-displacement driving acting cylinder supporting base 43 through a cylinder base hinge frame screw 4221, the front-rear displacement driving cylinder column 421 of the front-rear displacement driving cylinder 42 of the lifter base plate faces backward, the left lifter base plate displacement guide rod 44 is positioned on the left side of the front-rear displacement driving cylinder 42 of the lifter base plate, and the front end of the left lifter base plate displacement guide rod 44 is fixed to the upper left end of the front beam 412 of the holder fixing frame through the front left guide rod bearing seat 441, while the rear end of the left lifter base plate displacement guide rod 44 is fixed to the upper left end of the rear beam 411 of the holder fixing frame through the rear left guide rod bearing seat 442, the right lifter base plate displacement guide rod 45 is positioned on the right side of the front-rear displacement driving cylinder 42 of the lifter base plate, and the front end of the right lifter base plate displacement guide rod 45 is fixed to the upper right end of the front beam 412 of the holder fixing frame through the front right guide rod bearing seat 451, while the rear end of the right lifter base plate displacement guide rod 45 is fixed to the upper right end of the rear beam 411 of the holder fixing frame through the rear right guide rod bearing seat (not shown), the left front guide bar support 441 and the left rear guide bar support 442 correspond to each other in the front-rear direction, the right front guide bar support 451 and the right rear guide bar support correspond to each other in the front-rear direction, a lifting base plate displacement left guide bar slider 443 is slidably disposed in the middle of the lifting base plate displacement left guide bar 44, and a lifting base plate displacement right guide bar slider 452 is slidably disposed in the middle of the lifting base plate displacement right guide bar 45; the platform elevation driving mechanism 3 is connected to the elevation base plate forward/backward displacement driving cylinder 421, and is also connected to the elevation base plate displacement left guide 443 and the elevation base plate displacement right guide 452.

From the above description and with reference to the schematic of fig. 1: the lifting base plate displacement left guide bar 44 and the lifting base plate displacement right guide bar 45 are substantially cylindrical linear guide rails, and the lifting base plate displacement left guide bar slider 443 and the lifting base plate displacement right guide bar slider 452 constitute a guide rail pair with the guide rails, respectively.

As shown in fig. 3, a lifting floor forward/backward displacement driving cylinder column coupling 4211 is provided at the end of the lifting floor forward/backward displacement driving cylinder column 421; the above-mentioned plummer lifting driving mechanism 3 comprises a front and rear displacement bottom plate 31 and a set of plummer clamping mechanism plummer driving action cylinders 32, the front and rear displacement bottom plate 31 is fixed with the above-mentioned left lifting bottom plate displacement guide rod slider 443 and right lifting bottom plate displacement guide rod slider 452 through front and rear displacement bottom plate fixing screws 312, a front and rear displacement bottom plate hinge ear 311 is fixed on the downward side of the front and rear displacement bottom plate 31 and at the position corresponding to the above-mentioned front and rear lifting bottom plate front and rear displacement driving action cylinder connector 4211, the number of the set of plummer clamping mechanism plummer driving action cylinders 32 is four and fixed with the front and rear displacement bottom plate 31 in a suspension state through screws at the positions of four corners distributed on the downward side of the front and rear displacement bottom plate 31, the billet clamping and placing mechanism bearing table driving action cylinder column 321 of the group of billet clamping and placing mechanism bearing table driving action cylinders 32 faces upward and extends above the front and rear displacement bottom plate 31; the billet holding/releasing mechanism carrier 2 is connected to the upper end of the billet holding/releasing mechanism carrier drive cylinder 321.

When the lifting bottom plate front and back displacement driving action cylinder 42 works, for example, the lifting bottom plate front and back displacement driving action cylinder column 421 extends out of the cylinder body backwards, the lifting bottom plate front and back displacement driving action cylinder column connector 4211 pushes the front and back displacement bottom plate 31 under the guidance of the lifting bottom plate displacement left and right guide rod sliding blocks 443, 452 through the front and back displacement bottom plate hinge lug 311, so as to displace backwards, and drive the forging blank clamping and placing mechanism bearing table 2 and the forging blank clamping and placing mechanism bearing table 2 as a carrier, and the forging blank clamping and placing manipulator left and right displacement action mechanism 5 which will be described in detail below also displace backwards correspondingly, and vice versa.

When the driving cylinder 32 of the forging stock clamping and placing mechanism bearing platform works simultaneously, for example, the driving cylinder column 321 of the forging stock clamping and placing mechanism bearing platform rises upwards, namely extends outwards from the cylinder body, the forging stock clamping and placing mechanism bearing platform 2 together with the left-right displacement action mechanism 5 of the forging stock clamping and placing mechanical arm arranged by taking the forging stock clamping and placing mechanism bearing platform as a carrier is pushed to rise, and vice versa.

In this embodiment, the aforesaid lifting bottom plate front and back displacement driving acting cylinder 42 and a set of forging stock clamping mechanism plummer plate driving acting cylinder 32 are cylinders, but if replace the cylinder with the hydro-cylinder, should belong to equivalent technical means then and still belong to the utility model discloses a technical connotation scope.

Continuing to refer to fig. 3, the aforesaid left and right displacement mechanism 5 of the billet clamping and placing manipulator comprises a bearing platform fixing frame 51, a left and right reciprocating frame 52, a left and right reciprocating frame left slide guide rod fixing seat 53, a left and right reciprocating frame right slide guide rod fixing seat 54, a left and right reciprocating frame slide guide rod 55 and a left and right reciprocating frame driving action cylinder 56, the middle part of the bearing platform fixing frame 51 is arranged at the upward side of the aforesaid billet clamping and placing mechanism bearing platform 2 and is fixed with the billet clamping and placing mechanism bearing platform 2 preferably in a welding manner, the left end of the bearing platform fixing frame 51 is extended out of the left end surface of the billet clamping and placing mechanism bearing platform 2 in a horizontal cantilever state, the right end surface is extended out of the right end surface of the billet clamping and placing mechanism bearing platform 2 in a horizontal cantilever state, a pair of left and right reciprocating frame left slide blocks 521 is fixed at the bottom of the left end of the left and right reciprocating frame 52, a pair of left and right reciprocating frame right slide blocks 522 is fixed at the bottom of the right end of the left and right reciprocating frame 52, a pair of left and right traverse frame left slider guide rod holders 53 fixed to the left slider guide rod holder base plate 531 in a state of being parallel to each other back and forth, the left slider guide rod holder base plate 531 being fixed to the left end of the aforementioned stage holder 51, a pair of left and right traverse frame right slider guide rod holders 54 fixed to the right slider guide rod holder base plate 541 in a state of being parallel to each other back and forth, the right slider guide rod holder base plate 541 being fixed to the right end of the aforementioned stage holder 51, a pair of left and right traverse frame slider guide rods 55 being parallel to each other back and forth, and the left end of the left and right traverse frame slider guide rod 55 being fixed to the aforementioned left and right traverse frame left slider guide rod holders 53 and the right end being fixed to the aforementioned left and right traverse frame right slider holders 54, a left and right traverse frame driving cylinder hinge bracket 562 being hinged to the left end of the cylinder body of the left and right traverse frame driving cylinder 56, the left and right reciprocating frame driving action cylinder hinge frame 562 is fixed with the upper end of the action cylinder hinge frame fixing column 5621 by a hinge frame fixing screw 5622, the lower end of the action cylinder hinge frame fixing column 5621 is fixed with the upward side of the left end of the bearing platform fixing frame 51, a reinforcing angle support 56211 is connected between the middle part of the right side of the action cylinder hinge frame fixing column 5621 and the bearing platform fixing frame 51, the left and right reciprocating frame driving action cylinder 561 of the left and right reciprocating frame driving action cylinder 56 faces to the right and the tail end thereof is connected with a moving frame hinge lug hinge head 5611, and the moving frame hinge lug hinge head 5611 is hinged with a moving frame hinge lug 523 formed on the left and right reciprocating frame 52; the left fixed plate 71 of the billet holding and releasing mechanism frame is formed by extending the bottom plate of the left and right reciprocating frames 52 to the right. The left and right shuttle guide 55 is substantially a cylindrical linear guide in this embodiment, and the pair of left and right shuttle 521 and 522 form a guide pair therewith.

When the left-right reciprocating frame driving cylinder 56 is operated, for example, the left-right reciprocating frame driving cylinder 561 is extended rightward (i.e., extended out of the cylinder), the left-right reciprocating frame 52 is pushed to move rightward along the pair of left-right reciprocating frame slider guides 55 via the pair of left-right reciprocating frame sliders 521 and the pair of left-right reciprocating frame sliders 522 at the bottom thereof, so as to drive the blank clamping and placing manipulator opening and closing driving mechanism 6, the blank clamping and placing mechanism support 7 and the blank clamping and placing mechanism 8, which will be described in detail below, to move rightward in synchronization, and vice versa. In the present embodiment, the left and right reciprocating frame driving cylinder 56 is a cylinder, but it is also an equivalent technical means if a cylinder is used instead.

Referring to fig. 1 and fig. 3, the aforementioned opening and closing driving mechanism 6 of the blank clamping and placing manipulator comprises a blank clamping and placing manipulator driving acting cylinder 61, an acting cylinder limiting plate bearing seat 62 and a pair of acting cylinder limiting plates 63, the blank clamping and placing manipulator driving acting cylinder 61 is fixed between the upper parts of the pair of acting cylinder limiting plates 63 through a cylinder body fixing screw 612, the lower parts of the pair of acting cylinder limiting plates 63 are respectively fixed with the upward side of the acting cylinder limiting plate bearing seat 62 through a limiting plate fixing screw 631, the acting cylinder limiting plate bearing seat 62 is fixed at the left end of the aforementioned blank clamping and placing mechanism support 7 and corresponds to the upper part of the aforementioned left fixing plate 71 of the blank clamping and placing mechanism support, and the blank clamping and placing manipulator driving acting cylinder column 611 of the blank clamping and placing manipulator driving acting cylinder 61 faces to the right; the billet clamping and placing mechanism 8 provided on the right fixed plate 72 of the billet clamping and placing mechanism support is connected to the billet clamping and placing manipulator drive action cylinder column 611. A non-contact space distance is kept between the lower surface of the right end of the forging stock clamping and placing mechanism support 7 and the upper surface of the right slider guide rod fixing seat 54 of the left and right reciprocating frame.

As shown in fig. 2, the pair of cylinder defining plates 63 have an L-shaped cross-sectional shape. When the working cylinder 61 of the billet clamping and placing manipulator is operated to extend the cylinder 611 of the billet clamping and placing manipulator to the right (i.e. to extend to the outside of the cylinder), the billet clamping and placing mechanism 8, which will be described in detail below, is driven to operate, otherwise the billet clamping and placing mechanism 8 is driven to operate in a reverse manner to the previous operation, as shown in fig. 4.

Referring to fig. 1 in combination with fig. 2 and 3, the said forging stock clamping and placing mechanism 8 comprises a forging stock clamping and placing manipulator opening and closing draw bar 81, a draw bar guiding sliding seat 82 and a forging stock clamping and placing manipulator 83, the left end of the said forging stock clamping and placing manipulator opening and closing draw bar 81 is connected with the said forging stock clamping and placing manipulator driving cylinder 61 through a connecting screw sleeve 811 (also called connecting nut), the middle part of the said forging stock clamping and placing manipulator opening and closing draw bar 81 is matched with the draw bar guiding sliding seat 82 in a sliding way, the said draw bar guiding sliding seat 82 is fixed on the guiding sliding seat fixing plate 821 through the draw bar guiding sliding seat fixing screw 822, the guiding sliding seat fixing plate 821 is fixed with the middle part of the said forging stock clamping and placing mechanism support 7 in the length direction, the right end of the said forging stock clamping and placing manipulator opening and closing draw bar 81 extends to the right side of the draw bar guiding sliding seat 82, the forging stock clamping and placing manipulator 83 is pivoted on the said forging stock clamping and placing mechanism support 72 and with the said forging stock clamping and placing machine The right end of the hand opening and closing traction rod 81 is connected.

Referring to fig. 2, the aforementioned forge clamping and placing manipulator 83 includes an articulated arm connecting seat 831, a first link i 832, a second link ii 833, a first joint i 834, a second joint ii 835, a first clamp jaw i 836 and a second clamp jaw ii 837, a left end of the articulated arm connecting seat 831 is connected to a right end of the opening and closing drawbar 81 of the aforementioned forge clamping and placing manipulator, a link pivotal connecting cavity 8311 is formed at a right end of the articulated arm connecting seat 831, one end of the first link i 832 is inserted into a rear side of the link pivotal connecting cavity 8311 and is hinged to the articulated arm connecting seat 831 by a first link pin i 8321, and the other end of the first link i 832 is hinged to one end of the first joint i 834 by a first joint pin i 8322, one end of the second link ii 833 is inserted into a front side of the link pivotal connecting cavity 8311 and is hinged to the articulated arm connecting seat 831 by a second link pin ii 8331, and the other end of the second link 833 is hinged to one end of the second link ii 835 by a second joint pin 8332 The middle of the first joint I834 is provided with a first joint pivot hole I8341, the first joint pivot hole I8341 is in pivot fit with a first joint pivot shaft I83411, the other end of the first joint I834 is provided with a first blank clamping claw connecting plate I8342, the middle of the second joint II 835 is provided with a second joint pivot hole II 8351, the second joint pivot hole II 8351 is in pivot fit with a second joint pivot shaft II 83511, the other end of the second joint II is provided with a second blank clamping claw connecting plate II 8352, the bottoms of the first joint pivot shaft I83411 and the second joint pivot shaft II 83511 are fixed on the forging blank clamping mechanism support right fixing plate 72, one end of the first blank clamping claw I836 is fixed with the rear side surface of the first blank clamping claw connecting plate I8342 through a first blank clamping claw fixing screw I8362, the other end of the second blank clamping claw I837 is provided with a first blank clamping claw connecting plate 8342, and one end of the second blank clamping claw 837 is connected with the second blank clamping claw connecting plate 8352 through a second blank clamping claw II fixing screw I8352 The front side is fixed, and the other end extends out of a second blank clamping claw connecting plate II 8352.

As shown in fig. 2, a first blank clamping claw cavity i 8361 is formed on the front side of one end of the first blank clamping claw i 836, which extends out of the first blank clamping claw connecting plate i 8342, a second blank clamping claw cavity ii 8371 is formed on the rear side of one end of the second blank clamping claw ii 837, which extends out of the second blank clamping claw connecting plate ii 8352, and after the first blank clamping claw i 836 and the second blank clamping claw ii 837 are closed with each other, the first blank clamping claw cavity i 8361 and the second blank clamping claw cavity ii 8371 cooperate with each other to form a complete blank clamping cavity.

The shapes of the first connecting rod I832 and the second connecting rod II 833 are the same; the first joint i 834 and the second joint ii 835 have the same shape; the first blank clamping claw I836 and the second blank clamping claw II 837 are mutually identical in shape.

Referring to fig. 4 in conjunction with fig. 1 to 3, fig. 4 shows a forging stock 10 to be press-formed into a steel ball by the steel ball press-forming machine 9 shown in fig. 5 in a state of being clamped by a first blank-clamping jaw i 836 and a second blank-clamping jaw ii 837. When the actuating cylinder 61 of the billet clamping and placing manipulator is operated, for example, the actuating rod 81 of the billet clamping and placing manipulator is moved rightwards, the articulated arm connecting seat 831 of the billet clamping and placing manipulator 83 is driven, the articulated arm connecting seat 831 drives the first billet clamping claw connecting plate i 8342 of the first joint i 834 and the second billet clamping claw connecting plate ii 8352 of the second joint ii 835 through the first connecting rod i 832 and the second connecting rod ii 833 to be folded towards each other as shown by dotted lines in fig. 4, so that the first billet clamping claw cavity i 8361 and the second billet clamping claw cavity ii 8371 at the right end of the first billet clamping claw i 836 and the second billet clamping claw ii 837 are folded towards each other to clamp the billet 10. When the forging stock clamping/releasing manipulator driving cylinder 61 is operated in the reverse direction, the first clamping jaw i 836 and the second clamping jaw ii 837 are repelled from each other in the reverse process to be in the solid line state shown in fig. 4, and the previously clamped forging stock 10 is released.

Referring to fig. 5 in conjunction with fig. 1 to 4, fig. 5 shows the above-mentioned steel ball press forming machine 9 belonging to the steel ball forming station, and the upper die 91 and the lower die 92 are mounted on the steel ball press forming machine 9, fig. 5 also shows a billet introducing device 20 belonging to the billet introducing station, a guide groove ejection door 2011 is provided at an ejection portion of a lower portion of the billet guide groove 201 of the billet introducing device 20, and a torsion spring 2012 for closing the guide groove ejection door 2011 is provided at a position corresponding to the guide groove ejection door 2011. The structure shown in fig. 3 is arranged on the left side of the steel ball press forming machine 9.

In the process of pressing the forging stock 10 (also called "steel ball blank", the same applies to the above) into balls by the cooperation of the upper die 91 and the lower die 92 of the steel ball press molding machine 9, that is, after the feeding of the forging stock 10 into the lower die 92 by the forging stock clamping and placing manipulator 83 is completed, the forging stock clamping and placing mechanism support 7 is displaced leftward by the operation of the left-right reciprocating frame driving cylinder 56 of the structural system of the left-right displacement action mechanism 5 of the forging stock clamping and placing manipulator, and the carrier table lifting drive mechanism 3 and the carrier table 2 of the forging stock clamping and placing mechanism are displaced rearward by the operation of the front-rear displacement driving cylinder 42 of the lifting bottom plate. At this time, the billet gripping and placing manipulator 83 having the first and second billet gripping claws i 836 and ii 837 in the open state corresponds to a position below the billet guide groove 201. Then, at the working position of a group of forging stock clamping and placing mechanism bearing platform driving acting cylinders 32 of a bearing platform lifting driving mechanism 3, the forging stock clamping and placing mechanism bearing platform 2, the forging stock clamping and placing mechanical arm left and right displacement acting mechanism 5, the forging stock clamping and placing mechanical arm opening and closing driving mechanism 6, the forging stock clamping and placing mechanism support 7 and the forging stock clamping and placing mechanism 8 are lifted together, so that a first blank clamping claw I836 and a second blank clamping claw II 837 respectively correspond to two sides of a cylinder opening 2013 of a forging stock guiding groove 201, at the moment, the forging stock clamping and placing mechanical arm driving acting cylinder 61 works, according to the applicant, the first blank clamping claw I836 and the second blank clamping claw II 837 of the forging stock clamping and placing mechanical arm 83 are matched together (namely, the cooperation effect of the mutual folding is realized) to clamp a forging stock 10 introduced from the forging stock guiding groove 201, and then the lifting bottom plate front and back driving acting cylinders 42 work reversely relative to the working state, in the above-described procedure, the billet clamping and placing robot 83 is also displaced in the reverse direction, that is, in the forward direction, in which the aforementioned guide groove knockout door 2011 is pushed open by the billet 10 in the state of being clamped by the first and second clamping jaws i 836 and ii 837 against the urging force of the torsion spring 2012, and when the billet clamping and placing mechanism holder 7 together with the billet clamping and placing robot opening and closing drive mechanism 6 and the billet clamping and placing robot 83 of the billet clamping and placing mechanism 8 correspond to the position state shown at present in fig. 5, the left and right reciprocating frame drive-application cylinder 56 is operated in the reverse direction to displace the billet clamping and placing mechanism holder 7 rightward, and the billet 10 in the state of being clamped by the first and second clamping jaws i 836 and ii 837 corresponds to between the upper and lower dies 91 and 92, because the billet 10 previously located between the upper and lower dies 91 and 92 has been formed into a steel ball and left from the lower die 92, and then, the aforementioned set of billet clamping and placing mechanism carrier table drive-application cylinder 32 is operated in the reverse direction, the billet-clamping robot 83 descends in the reverse process described above, and the billet 10 enters the lower die 92. Then, the forging stock clamping/releasing manipulator driving cylinder 61 is operated in the reverse direction to repel the first clamping jaw i 836 and the second clamping jaw ii 837 of the forging stock clamping/releasing manipulator 83 of the forging stock clamping/releasing mechanism 8, that is, to release the clamping of the forging stock 10 in the lower mold 92. Then, the above-described process is repeated to drive the working cylinder 56 by the left and right shuttles, thereby moving the blank holding and releasing mechanism support 7 leftward, i.e., in a direction away from the upper and lower dies 91, 92. The above process is repeated continuously to achieve the desired rate of feeding the forging stock 10 into the upper and lower dies 91, 92. Furthermore, as can be seen from the schematic illustration of fig. 5, the right end of the support 7 of the forging clamping and placing mechanism of the present invention is not structurally connected to the steel ball stamping forming machine 9, so that the two have good integrity and independence.

To sum up, the technical solution provided by the present invention remedies the defects in the prior art, successfully completes the invention task, and faithfully embodies the technical effects mentioned in the above technical effect column by the applicant.

Claims (4)

1. A forging stock clamping and releasing manipulator structure for forming steel balls is characterized by comprising a forging stock clamping and placing manipulator opening and closing driving mechanism (6), a forging stock clamping and placing mechanism support (7) and a forging stock clamping and placing mechanism (8), wherein the forging stock clamping and placing manipulator opening and closing driving mechanism (6) comprises a forging stock clamping and placing manipulator driving acting cylinder (61), an acting cylinder limiting plate supporting seat (62) and a pair of acting cylinder limiting plates (63), the forging stock clamping and placing manipulator driving acting cylinder (61) is fixed between the upper parts of the pair of acting cylinder limiting plates (63) through cylinder body fixing screws (612), the lower parts of the pair of acting cylinder limiting plates (63) are fixed with the upward side of the acting cylinder limiting plate supporting seat (62) through limiting plate fixing screws (631), the acting cylinder limiting plate supporting seat (62) is fixed at the left end of the forging stock clamping and placing mechanism support (7), the forging stock clamping and placing mechanical arm driving action cylinder column (611) of the forging stock clamping and placing mechanical arm driving action cylinder (61) faces to the right, the right end of a forging stock clamping and placing mechanism support (7) is a horizontal cantilever end and is fixedly provided with a forging stock clamping and placing mechanism support right fixing plate (72), a forging stock clamping and placing mechanism (8) comprises a forging stock clamping and placing mechanical arm opening and closing traction rod (81), a traction rod guide sliding seat (82) and a forging stock clamping and placing mechanical arm (83), the left end of the forging stock clamping and placing mechanical arm opening and closing traction rod (81) is connected with the forging stock clamping and placing mechanical arm driving action cylinder column (611) of the forging stock clamping and placing mechanical arm driving action cylinder (61) through a connecting screw sleeve (811), the middle part of the forging stock clamping and placing mechanical arm opening and closing traction rod (81) is in sliding fit with the traction rod guide sliding seat (82), and the guide traction rod sliding seat (82) is fixed on a guide sliding seat fixing plate (821), the guide sliding seat fixing plate (821) is fixed to the middle of the forging stock clamping and placing mechanism support (7) in the length direction, the right end of a forging stock clamping and placing mechanical arm opening and closing traction rod (81) extends to the right side of a traction rod guide sliding seat (82), and a forging stock clamping and placing mechanical arm (83) is pivoted to the right fixing plate (72) of the forging stock clamping and placing mechanism support and connected with the right end of the forging stock clamping and placing mechanical arm opening and closing traction rod (81).

2. The structure of the mechanical hand for clamping and releasing the forged billets for forming steel balls according to claim 1, wherein the mechanical hand (83) for clamping and placing the forged billets comprises an articulated arm connecting seat (831), a first connecting rod I (832), a second connecting rod II (833), a first joint I (834), a second joint II (835), a first clamping claw I (836) and a second clamping claw II (837), the left end of the articulated arm connecting seat (831) is connected with the right end of the opening and closing draw bar (81) of the mechanical hand for clamping and placing the forged billets, a connecting rod pivoting connecting cavity (8311) is formed at the right end of the articulated arm connecting seat (831), one end of the first connecting rod I (832) is inserted into the rear side of the connecting rod pivoting connecting cavity (8311) and is hinged with the connecting seat (831) through a first connecting rod pin I (8321), and the other end of the first connecting rod I (832) is hinged with one end of the first joint (834) through a first joint pin I (8322), one end of a second connecting rod II (833) extends into the front side of the connecting rod pivoting connecting cavity (8311) and is hinged with the hinged arm connecting seat (831) through a second connecting rod pin shaft II (8331), the other end of the second connecting rod II (833) is hinged with one end of a second joint II (835) through a second joint hinged pin shaft II (8332), the middle part of a first joint I (834) is provided with a first joint pivoting hole I (8341), the first joint pivoting hole I (8341) is in pivoting fit with a first joint pivoting shaft I (83411), the other end of the first joint I (834) forms a first blank clamping claw connecting plate I (8342), the middle part of the second joint II (835) is provided with a second joint pivoting hole II (8351), the second joint pivoting hole II (8351) is in pivoting fit with a second joint pivoting shaft II (83511), and the other end of the second joint II (835) forms a second blank clamping claw connecting plate II (8352), first joint pivot axle I (83411) and second joint pivot axle II (83511) fix forge blank clamping and placing mechanism support right side fixed plate (72), the one end of first clamp base claw I (836) with the trailing flank of first clamp base claw connecting plate I (8342) is fixed, the other end goes out first clamp base claw connecting plate I (8342), the one end of second clamp base claw II (837) with the leading flank of second clamp base claw connecting plate II (8352) is fixed, the other end stretches out second clamp base claw connecting plate II (8352).

3. The structure of the mechanical hand for clamping and releasing the forged blank for forming the steel ball according to claim 2, wherein a first clamping jaw cavity i (8361) is formed at a front side of an end of the first clamping jaw i (836) extending out of the first clamping jaw connecting plate i (8342), a second clamping jaw cavity ii (8371) is formed at a rear side of an end of the second clamping jaw ii (837) extending out of the second clamping jaw connecting plate ii (8352), and the first clamping jaw cavity i (8361) and the second clamping jaw cavity ii (8371) cooperate with each other to form a complete forged blank clamping cavity after the first clamping jaw i (836) and the second clamping jaw ii (837) are closed with each other.

4. The structure of the steel ball forming forging stock clamping and releasing manipulator according to claim 2, wherein the first connecting rod I (832) and the second connecting rod II (833) have the same shape; the first joint I (834) and the second joint II (835) are mutually the same in shape; the first blank clamping claw I (836) and the second blank clamping claw II (837) are identical in shape with each other.

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