CN216911991U

CN216911991U - Manipulator for metal forging process

Info

Publication number: CN216911991U
Application number: CN202123027973.9U
Authority: CN
Inventors: 高法桂; 郑志瑜; 高法国
Original assignee: Jinan Heshun Forging Co ltd
Current assignee: Jinan Heshun Forging Co ltd
Priority date: 2021-12-06
Filing date: 2021-12-06
Publication date: 2022-07-08
Anticipated expiration: 2031-12-06

Abstract

The utility model discloses a manipulator for a metal forging process, which comprises a box body, wherein a supporting frame is arranged at the bottom of the box body, an adjusting device is arranged at the top of the box body, a mechanical arm is fixedly arranged at the top of the adjusting device, a gripper is arranged on the mechanical arm, the adjusting device comprises a lifting assembly, and the lifting assembly comprises a fixed cylinder and a lifting cylinder which are fixedly arranged at the top of the box body; the lifting cylinder is positioned in the fixed cylinder, and the output end of the lifting cylinder is fixedly connected with the bottom of the lifting cylinder; a plurality of guide posts are arranged at the bottom of the lifting cylinder, the guide posts are matched with guide cylinders arranged at the top of the box body, and springs are arranged between the bottoms of the guide posts and the guide cylinders; the top of a lifting cylinder is provided with a connecting platform through a slewing bearing, the mechanical arm is arranged on the connecting platform, and a third servo motor for driving the slewing bearing is arranged in the lifting cylinder. The utility model is rapid and operates more stably in cooperation with the slide rail.

Description

Manipulator for metal forging process

Technical Field

The utility model relates to the technical field of forging machinery, in particular to a manipulator for a metal forging process.

Background

Forging is a processing method which utilizes forging machinery to apply pressure on a metal blank to enable the metal blank to generate plastic deformation so as to obtain a forging with certain mechanical property, certain shape and certain size, and one of two major components of forging is adopted. The forming of the gear is subject to the forging process, the heated metal is formed into a semi-finished product of the gear through a plurality of forging procedures on a forging press, the gear moves among the plurality of forging procedures and needs a manipulator to improve the working efficiency, but the existing manipulator has multiple structures, is complex in structure, high in price and not ideal in stability.

Disclosure of Invention

The utility model provides a manipulator for a metal forging process, which aims to make up the defects of the prior art.

The utility model is realized by the following technical scheme:

a manipulator for a metal forging process comprises a box body, wherein a supporting frame is arranged at the bottom of the box body, an adjusting device is arranged at the top of the box body, a mechanical arm is fixedly arranged at the top of the adjusting device, a gripper is arranged on the mechanical arm, the adjusting device comprises a lifting assembly, and the lifting assembly comprises a fixed cylinder and a lifting cylinder which are fixedly arranged at the top of the box body; the lifting cylinder is positioned in the fixed cylinder, and the output end of the lifting cylinder is fixedly connected with the bottom of the lifting cylinder; a plurality of guide posts are arranged at the bottom of the lifting cylinder, the guide posts are matched with guide cylinders arranged at the top of the box body, and springs are arranged between the bottoms of the guide posts and the guide cylinders; the top of a lifting cylinder is provided with a connecting platform through a slewing bearing, the mechanical arm is arranged on the connecting platform, and a third servo motor for driving the slewing bearing is arranged in the lifting cylinder.

The arm is including fixing the fixed arm at the connection bench to and install the flexible arm in the fixed arm, the second synchronizing wheel is all installed to the both sides of the inside of the first end of fixed arm, the second synchronizing wheel passes through the shaft and is connected with the output of installing the first servo motor outside the fixed arm, the second synchronizing wheel passes through the hold-in range and is connected with the first synchronizing wheel of installing in the fixed arm second end inside, flexible arm passes through the connecting block and is connected with the hold-in range.

The gripper comprises a second servo motor and a fixed block fixed on a telescopic arm, connecting plates are fixedly mounted on two sides of the fixed block and hinged to first ends of hinged plates, second ends of the hinged plates are hinged to first ends of V-shaped gripping arms, the middle of each V-shaped gripping arm is hinged to the end of a nut sliding block, the second ends of the V-shaped gripping arms are free, a lead screw is mounted at the output end of the second servo motor, and the first ends of the lead screws are smooth and are in running fit with the fixed block; the screw rod is meshed with the internal thread of the nut sliding block through the external thread.

And the top and the bottom of the telescopic arm are both provided with sliding blocks matched with the sliding rails in the fixed arm.

Four corners of the bottom of the box body are fixedly provided with lifting oil cylinders.

The output end of the lifting oil cylinder is provided with a universal wheel capable of self-locking.

The utility model has the following technical effects:

the utility model has simple structure; the bottom of the lifting oil cylinder is provided with the lifting oil cylinder, so that the lifting oil cylinder can be used for adjusting the height of the whole body and can be matched with the universal wheel to move, and the use is convenient; the mechanical arm is driven by two synchronous belts, so that the mechanical arm is rapid to correspond and operates more stably by matching with the sliding rail; the fixture is driven by the servo motor, and the size and the stroke of the opening can be controlled by controlling the servo motor, so that the fixture is suitable for gears with different sizes, and has better adaptability.

Drawings

The utility model will be further described with reference to the accompanying drawings.

FIG. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic diagram of the internal structure of the robot arm.

Fig. 3 is a schematic structural view of the gripper.

Fig. 4 is a schematic structural diagram of the adjusting device.

In the figure, 1-supporting frame, 2-box body, 3-box door, 4-lifting component, 5-rotating component, 6-mechanical arm, 7-gripper, 8-lifting oil cylinder, 9-universal wheel, 10-fixed arm, 11-sliding rail, 12-telescopic arm, 13-first synchronous wheel, 14-synchronous belt, 15-connecting block, 16-first servo motor, 17-second synchronous wheel, 18-wheel shaft, 19-second servo motor, 20-fixed block, 21-hinged plate, 22-V-shaped gripping arm, 23-nut slider, 24-external thread, 25-screw rod, 26-connecting plate, 27-fixed cylinder, 28-lifting cylinder, 29-rotary support, 30-connecting table, 31-third servo motor, 32-guide column, 33-guide cylinder and 34-lifting cylinder.

Detailed Description

The following are only embodiments of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily made by those skilled in the art within the technical scope of the present invention are intended to be covered by the scope of the present invention.

The words "front", "back", "inner" and "outer" used in this invention to describe the directional relationship are for convenience of description of the embodiments only and should not be construed as limiting the present invention. The terms "first," "second," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance. The fixed connection mode comprises but is not limited to a connection mode known in the prior art, such as welding, screwing, clamping, interference fit, integral forming and the like; the number of the plurality is more than one.

Fig. 1 to 4 show an embodiment of the present invention. This embodiment provides a manipulator for metal forging process, install the box 2 of carriage 1 including the bottom, the equal fixed mounting in four angle departments in bottom of box 2 has lift cylinder 8, and universal wheel 9 that can the auto-lock is all installed to every lift cylinder 8's output. When the lifting oil cylinder 8 is in a contraction state, the universal wheels 9 are hidden in the supporting frame 1.

An adjusting device is installed at the top of the box body 2, a mechanical arm 6 is fixedly installed at the top of the adjusting device, and a gripper 7 is installed on the mechanical arm 6. The adjusting device consists of a lifting component 4 and a rotating component 5, the lifting component 4 comprises a fixed cylinder 27 fixedly installed at the top of the box body 2 and at least one vertical lifting cylinder 34, the upper end and the lower end of the fixed cylinder 27 are opened, the lifting cylinder 34 is positioned in the fixed cylinder 27, and the output end of the lifting cylinder 34 is fixedly connected with the bottom of the lifting cylinder 28; the bottom of the lift cylinder 28 seals the open-top structure and has an outer diameter that matches the inner diameter of the stationary cylinder 27. A plurality of guide posts 32 are arranged at the bottom of the lifting cylinder 28, the guide posts 32 are matched with a guide cylinder 33 fixedly arranged at the top of the box body, and a spring is arranged between the bottom of the guide posts 32 and the guide cylinder 33. In this embodiment, there are four guide posts 32, two of which are set at two ends of the same diameter of the lifting cylinder 28, and the springs of the guide posts 32 and the guide cylinder 33 can reduce the vibration generated by the up-and-down movement of the lifting cylinder 28, so that the stability is good.

A rotary support 29 is fixedly mounted on the top of the lifting cylinder 28, and a connecting table 30 is mounted on the rotary support 29, and the connecting table 30 is used for mounting the mechanical arm 6. A third servo motor 31 is installed in the lifting cylinder 28, and a gear meshed with the inner gear ring of the slewing bearing 29 is installed at the output end of the third servo motor.

The robot arm 6 includes a fixing arm 10 fixed to the connection table 30, and a telescopic arm 12 installed in the fixing arm 10. The top and the bottom of flexible arm 12 all install the slider that matches with the slide rail in the fixed arm 10, and the first end in the fixed arm 10 is sealed, and the second end is opened and is supplied flexible arm 12 to stretch out.

Two second synchronizing wheels 17 are respectively installed on two sides of the inner portion of the first end of the fixing arm 10, and the two second synchronizing wheels 17 are connected with the output end of a first servo motor 16 installed outside the fixing arm 10 through a shaft coupling through a same wheel shaft 18. Two second synchronizing wheels 17 are respectively connected with two sides of the telescopic arm 12 connected with the corresponding first synchronizing wheel 13 arranged inside the second end of the fixed arm 10 through a synchronizing belt 14, and are connected with the synchronizing belt 14 through connecting blocks 15. The first servo motor 16 drives the synchronous wheel and the synchronous belt to rotate, so as to drive the telescopic arm 12 to perform telescopic movement.

The gripper 7 is fixedly mounted on the telescopic arm 12. The gripper 7 comprises a second servo motor 19 fixed on the telescopic arm and a fixed block 20, connecting plates 26 are fixedly mounted on two sides of the fixed block, the connecting plates 26 are hinged to first ends of hinged plates 21, second ends of the hinged plates 21 are hinged to first ends of V-shaped gripper arms 22, the middle portions of the V-shaped gripper arms 22 are hinged to end portions of nut sliders 23, and second ends of the V-shaped gripper arms 22 are free ends and used for gripping forgings. The output end of the second servo motor 19 is provided with a screw rod 25 through a coupler, and the first end of the screw rod 25 is smooth and is in running fit with the fixed block 20 through a bearing; the second end of the screw 25 is provided with an external thread which meshes with an internal thread of the nut runner 23. The second servo motor 19 drives the screw rod 25 to rotate, and drives the nut slider 23 to move towards the fixed block 20 or to be away from the fixed block 20. When the nut sliding block 23 is close to the fixed block 20, the second ends of the V-shaped gripping arms 22 are close to each other, the forged piece is tightened, and when the nut sliding block 23 is far away from the fixed block 20, the second ends of the V-shaped gripping arms 22 are far away from each other, and the forged piece is loosened. The initial distance between the second ends of the two V-shaped gripping arms 22 is determined by adjusting the distance between the nut slider 23 and the fixed block 20 so as to adapt to forgings with different diameters, and then the stroke information of the nut slider 23 or the second servo motor 19 is set so that the V-shaped gripping arms 22 can clamp the forgings.

The box body 2 is provided with a box door 3, a hydraulic module, an air source module and a controller are arranged in the box body, the controller is used for controlling the whole equipment, the hydraulic module is connected with the lifting oil cylinder 8 through a pipeline, and the air source module is connected with the lifting air cylinder 34 through a pipeline.

During the use, the tongs 7 firstly clamps the forging, then the lift cylinder 28 is jacked up by the lift cylinder 34, the lift cylinder 28 drives the mechanical arm 6 to ascend, the whole forging is taken out of the die, then the telescopic arm 12 retracts, then the third servo motor 31 drives the mechanical arm to rotate for a preset angle, then the telescopic arm 12 stretches out, the lift cylinder 34 drives the lift cylinder 28 to fall down, and the tongs 7 place the forging in the next process.

Claims

1. The utility model provides a manipulator for metal forging process, includes that the bottom is installed box (2) of carriage (1), its characterized in that: the top of the box body (2) is provided with an adjusting device, the top of the adjusting device is fixedly provided with a mechanical arm (6), the mechanical arm (6) is provided with a gripper (7), the adjusting device comprises a lifting assembly (4), and the lifting assembly (4) comprises a fixed cylinder (27) and a lifting cylinder (34) which are fixedly arranged on the top of the box body (2); the lifting cylinder (34) is positioned in the fixed cylinder (27), and the output end of the lifting cylinder is fixedly connected with the bottom of the lifting cylinder (28); a plurality of guide posts (32) are arranged at the bottom of the lifting cylinder (28), the guide posts (32) are matched with a guide cylinder (33) arranged at the top of the box body, and a spring is arranged between the bottom of each guide post (32) and the corresponding guide cylinder (33); the top of a lifting cylinder (28) is provided with a connecting platform (30) through a slewing bearing (29), the mechanical arm (6) is arranged on the connecting platform (30), and a third servo motor (31) for driving the slewing bearing (29) is arranged in the lifting cylinder (28).

2. The manipulator for a metal forging process according to claim 1, wherein: arm (6) are including fixing fixed arm (10) on connecting platform (30) to and install flexible arm (12) in fixed arm (10), second synchronizing wheel (17) are all installed to the both sides of the inside of the first end of fixed arm (10), second synchronizing wheel (17) are connected with the output of installing first servo motor (16) outside fixed arm (10) through shaft (18), second synchronizing wheel (17) are connected with first synchronizing wheel (13) of installing in fixed arm (10) second end inside through hold-in range (14), flexible arm (12) are connected with hold-in range (14) through connecting block (15).

3. The manipulator for a metal forging process according to claim 2, wherein: the gripper (7) comprises a second servo motor (19) fixed on the telescopic arm and a fixed block (20), connecting plates (26) are fixedly mounted on two sides of the fixed block (20), the connecting plates (26) are hinged with first ends of hinged plates (21), second ends of the hinged plates (21) are hinged with first ends of V-shaped gripper arms (22), the middle parts of the V-shaped gripper arms (22) are hinged with end parts of nut sliders (23), second ends of the V-shaped gripper arms (22) are free, screw rods (25) are mounted at output ends of the second servo motor (19), and first ends of the screw rods (25) are smooth and are in running fit with the fixed block (20); the screw rod (25) is meshed with the internal thread of the nut sliding block (23) through the external thread.

4. The manipulator for a metal forging process according to claim 2, wherein: and sliding blocks matched with the sliding rails in the fixed arm (10) are arranged at the top and the bottom of the telescopic arm (12).

5. The manipulator for a metal forging process according to claim 2, wherein: four corners of the bottom of the box body (2) are fixedly provided with lifting oil cylinders (8).

6. The robot for a metal forging process according to claim 5, wherein: the output end of the lifting oil cylinder (8) is provided with a universal wheel (9) capable of self-locking.