CN218285531U - Forging or stamping manipulator - Google Patents

Abstract

The utility model relates to a forging or stamping manipulator, a rotary driving device is arranged on a machine base and is connected with at least two rotating arms; a Y-direction guide rail and a Y-direction screw rod are arranged on the rotating arm, a Y-direction sliding bearing is connected onto the Y-direction guide rail, and an X-direction connecting seat is connected onto the Y-direction sliding bearing and the Y-direction screw rod; each X-direction connecting seat is provided with a Z-direction guide rail, the Z-direction guide rail is connected with a Z-direction sliding bearing, and the Z-direction sliding bearing and the Z-direction screw rod are connected with an arm seat; an X-direction sliding seat is arranged on each arm seat, and one end of each X-direction sliding seat is connected with the mechanical arm. Adopt the utility model discloses, through the motor control of control system to this manipulator motion's lift, flexible, rotation and every degree of freedom, realize two rotor arms simultaneous workings at least and accomplish process more than the twice, can effectively improve production efficiency, can be used to many forging punching machine synchronous workings.

Description

A forging or stamping manipulator

technical field

The utility model relates to a forging or punching manipulator, in particular to a clamping manipulator, which belongs to the field of mechanical automation.

Background technique

At present, in the forging production of hardware tools, etc., the traditional process is to manually clamp the heated metal workpiece and send it to the forging press for multiple forging. This kind of manual loading and unloading operation mode has low production efficiency and has gradually Be eliminated. Now, there are a variety of manipulators on the market, which can imitate certain actions and functions of human hands and arms, and are used to grab, carry objects or operate tools according to a fixed program. It can replace the heavy labor of people to realize the mechanization and automation of production. , can operate in harmful environment to protect personal safety, has been used in the field of forging, used to clamp the forging billet and cooperate with hydraulic press or forging hammer to complete the auxiliary forging of main actions such as feeding, turning and turning. These manipulators are mainly composed of three parts: hand, motion mechanism and control system; and according to the shape, size, weight, material and operation requirements of the grasped object, they are divided into clamping type, holding type and adsorption type. structure type.

A manipulator is disclosed in the patent document with the patent number ZL201620466103.1, which includes a base on which a rotating disk and a rotating motor are arranged; a Y-direction fuselage is fixed on the rotating disk, and a Y-direction rail is provided on the Y-direction fuselage , There is an X-direction body for sliding on the Y guide rail, and a Y-direction driving device on the Y-direction body; an X-direction rail is provided on the X-direction body, and an X-direction slide seat is provided for sliding on the X-direction rail, and the X-direction There is an X-direction driving device on the fuselage; a mechanical arm and a rotating motor are provided on the X-direction sliding seat; A slide block is arranged between the hinge points; the other end of the slide block is connected with an eccentric wheel through a connecting rod, and the eccentric wheel is arranged on the arm; the arm body is also provided with an eccentric wheel motor that drives the eccentric wheel to rotate. The utility model has the advantages of compact structure, simple control, convenient operation and maintenance, and low manufacturing cost; the forged parts can be quickly and accurately positioned and grasped by issuing commands through the control box.

In the patent document No. 2014203183090, a linear drive type forging manipulator is disclosed, including an arm and a claw; the claw is fixedly connected to one end of the arm; the arm includes a base plate, a screw, and a long guide rail , a square slider, a nut, a servo motor, a shaft coupling; one end of the screw is movably connected with a screw holder, and the other end is movably connected with a screw support, and the screw holder and the screw support The seat is fixedly connected to the base plate; the screw and the long guide rail are parallel to each other; the claw includes a slider module and fingers; the fingers are fixedly connected to the slider; the slider module Set includes: finger body, guide rail, piston, plunger pin, slider. The guide rail type manipulator is suitable for the material handling and transmission in the mechanical manufacturing process, and has small frictional resistance, stable operation, high precision and long service life. At the same time, quench the high temperature workpiece.

In the patent document with the patent application number 201610544714.8, a stamping manipulator is disclosed, including a frame, a lifting structure arranged on the frame and a telescopic structure arranged on the top of the lifting structure. The lower side of the front end is also provided with a front rotary structure, and a central rotary structure is also provided at the junction of the lifting structure and the telescopic structure. The present invention has simple structure and flexible operation, and its various structures cooperate with each other to quickly realize the clamping and feeding of the workpiece. Compared with manual operation, it can greatly improve the processing efficiency and processing safety, and can perform lifting, telescopic and Rotary control, thus greatly improving its scope of application, good stability and strong applicability.

In the patent document with the patent number 201420562992.2, an automatic stamping manipulator is disclosed. The bottom four corners of the bottom plate are fixed with feet by nuts, the bottom plate is provided with a support frame, the top of the support frame is provided with a main shaft, the main shaft is provided with a main shaft track, the main shaft track is matched with the main shaft slider, and the main shaft is connected with the main shaft motor through the main shaft drive rack , the main shaft direction is also provided with a secondary shaft, the secondary shaft slider is provided with a secondary shaft belt, the secondary shaft belt is matched with the secondary shaft pulley, the secondary shaft is also connected with the secondary shaft motor, and the secondary shaft is provided with a Z axis , the Z-axis is connected with the Z-axis motor, the Z-axis slider is provided with the Y-axis, the Y-axis is provided with a Y-axis guide rail and a Y-axis slider, the Y-axis slider is fixedly connected with the Y-axis support frame, and the Y-axis support frame A Y-axis moving part is provided, and the Y-axis moving part is respectively connected with a Y-axis motor and a mechanical arm, and a suction cup is arranged at the outer end of the mechanical arm. The manipulator of the utility model can arbitrarily set the positions of up and down, left and right, and front and back according to the position of the mould, and the debugging is quite simple and quick.

In summary, the forging or stamping manipulator described above is generally applicable to one process and one forging or stamping machine. At the same time, in actual production, such as the production of hardware tools mentioned above, a complete pair of Tools need multiple forging and stamping processes to complete. At the same time, for different forging or stamping machines, when the stations are not at the same height and need to be forged and stamped together, and the clamping and workpiece delivery processes are completed in a very short time, Thereby realizing the automation work of the whole production line is to be studied.

Contents of the invention

The purpose of this utility model is to provide a forging and stamping manipulator that can quickly send the workpiece of the previous process to the next process, and can be suitable for at least two processes and more than two forging and stamping machines, so as to realize the automation of the production line.

The technical solution adopted by the utility model is: a forging or punching manipulator, which is characterized in that it includes a machine base, on which a rotating drive device is arranged, and the rotating drive device is connected with at least two rotating arms; There are Y-direction rails and Y-direction screw rods, Y-direction guide rails are connected with Y-direction sliding bearings, Y-direction sliding bearings and Y-direction screw rods are connected with X-direction connecting seats, and one end of Y-direction screw rods is connected to the motor. , the other end is connected with the rotating bearing; each X-direction connecting seat is provided with a Z-direction rail, the Z-direction rail is connected with a Z-direction sliding bearing, and the Z-direction sliding bearing and the Z-direction screw are connected with an arm seat. One end of the Z-direction screw rod is connected to the second phase of the motor, and the other end is connected to the second phase of the rotating bearing; each arm seat is provided with an X-direction sliding seat, one end of the X-direction sliding seat is connected to the mechanical arm, and the other end is connected to the third motor. connected; the mechanical arm includes an arm body, a finger cylinder and fingers, and the finger cylinder controls the opening and closing of the fingers.

The above-mentioned forging or stamping manipulator is characterized in that one end of the arm body is connected with the finger cylinder, and the other end is connected with the finger, and the finger cylinder controls the opening and closing and rotation of the finger; or one end of the finger cylinder is connected with the arm body, and the finger cylinder The other end is connected with the finger, and the finger cylinder controls the opening and closing and rotation of the finger.

The above-mentioned forging or stamping manipulator is characterized in that a rotating mechanism is arranged between the arm body and the fingers, and the rotating mechanism controls the omni-directional rotation of the fingers.

The above-mentioned forging or stamping manipulator is characterized in that the rotating mechanism is a rotating cylinder.

The above-mentioned forging or stamping manipulator is characterized in that the rotating drive device is a divider or a rotating cylinder, and the divider or rotating cylinder is connected to the motor four times.

The aforementioned forging or punching manipulator is characterized in that the corresponding two rotating arms are arranged eccentrically, that is, the corresponding two rotating arms are not on the same axis.

The above-mentioned forging or punching manipulator is characterized in that the corresponding two rotating arms are arranged side by side.

The aforementioned forging or punching manipulator is characterized in that each rotating arm is provided with two Y-direction rails, and each Y-direction rail is provided with two Y-direction sliding bearings.

The above-mentioned forging or stamping manipulator is characterized in that the Z-direction sliding bearing and the Z-direction screw are connected to the arm seat through a fixing plate.

The above-mentioned forging or punching manipulator is characterized in that the other end of the X-direction sliding seat is connected to the motor in three phases through a belt.

Adopting the utility model, through the control system of the lifting, telescopic, rotating and motor control of each degree of freedom of the manipulator movement mechanism, at least two rotating arms can work at the same time, and the workpiece of the previous process can be sent to the next process. The cost is low, the control is simple, the production efficiency can be effectively improved, and it can be used for synchronous work of multiple forging and stamping machines.

Description of drawings

Fig. 1 is a schematic front view of the utility model.

Fig. 2 is a schematic top view of the utility model.

Fig. 3 is a schematic top view of two rotating arms arranged side by side in the utility model.

Fig. 4 is a schematic top view of an embodiment of the utility model with four rotating arms.

Fig. 5 is a schematic diagram of the utility model in which a rotating mechanism is added.

The serial numbers in the figure indicate: workbench 1, workpiece 2, finger 3, arm body 4, finger cylinder 5, X-direction sliding seat 6, belt 7, arm seat 8, Y-guiding rail 9, motor 10, rotating arm 11, Motor 3 12, Z guide rail 13, motor 2 14, Z direction sliding bearing 15, Y direction sliding bearing 16, rotating bearing 1 17, machine base 18, splitter 19, nut 20, X direction connecting seat 21, workbench Two 22, fixed plate 23, Z direction screw mandrel 24, motor four 25, Y direction screw mandrel 26, rotating bearing two 27, rotating mechanism 28, workbench three 29 and workbench four 30.

detailed description

The technical solutions of the present invention will be fully described below in conjunction with specific embodiments of the present invention, and the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present utility model, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.

One, embodiment one.

With reference to Fig. 1 and Fig. 2, this forging press or stamping manipulator comprises machine base 18, is provided with rotating drive device on the machine base 18, and rotating drive device comprises divider 19 and motor four 25, divider 19 is connected with two rotating arms 11 , and the two rotating arms 11 correspond to each other and are arranged eccentrically (or concentrically), that is, the corresponding two rotating arms 11 are not on the same axis; each rotating arm 11 is provided with two Y Guide rail 9 and a Y-direction screw rod 26, each Y-direction guide rail 9 is connected with two Y-direction sliding bearings 16, Y-direction sliding bearings 16 and Y-direction screw rod 26 are connected with X-direction connecting seat 21, Y direction One end of the screw mandrel 26 is connected with the motor one 10, and the other end is connected with the rotating bearing one 17; two Z guide rails 13 and a Z direction screw mandrel 24 are arranged on each X-direction connecting seat 21, each Z guide rail 13 is connected with Z to slide bearing 15, and Z slide bearing 15 and Z to screw mandrel 24 are connected arm base 9 by fixed plate 23, and one end of Z to screw mandrel 24 is connected with motor two 14, and the other end is connected with motor two 14. Rotating bearing two 27 are connected; each arm seat 9 is provided with an X-direction sliding seat 6, and one end of the X-direction sliding seat 6 is connected with the mechanical arm, and the other end is connected with the motor three 12 through the belt 7; the mechanical arm includes an arm Body 4, finger cylinder 5 and finger 3, arm body 4 one end is connected with finger cylinder 5, and the other end is connected with finger 3, and finger cylinder 5 controls opening and closing of finger 3.

Above-mentioned divider 19 and motor four 25 can be substituted by rotating cylinder, can realize above-mentioned function equally.

Using the above-mentioned forging or stamping manipulator, the first step is to control the motor 10 through the control system to drive the Y-direction screw 26 to rotate around the rotating bearing 17, and the X-direction connecting seat 21 descends along the Y-direction rail 9 through the Y-direction sliding bearing 16 to a height of 1 from the workbench; the second step is to control the motor 2 14 through the control system to drive the Z-direction screw 24 to rotate around the rotating bearing 2 27, and the fixed plate 23 passes through the Z-direction sliding bearing 15 on the X-direction connecting seat 21 Move horizontally along the Z guide rail 13, so that the position of the arm seat 8 and the arm body 4 and the work station 1 on the workbench 1 and the position of the workpiece 2 are consistent; the third step is to control the motor 3 12 through the control system, and drive the belt 7 to make the X direction The sliding seat 6 protrudes along the arm seat 8, and the finger 3 is positioned above the workpiece 2 through the arm body 4; the fourth step is to control the finger cylinder 5 through the control system, so that the finger 3 first rotates downwards to protrude and gather to grab the workpiece 2 , and then turn and lift the finger 3; the fifth step, control the motor three 12 through the control system, drive the belt 7 to make the X-direction sliding seat 6 shrink along the arm seat 8, and retract the arm body 4; the sixth step, control the motor through the control system Four 25, drive the divider 19, make the rotating arm 11 rotate 180 degrees, and rotate to one side of the workbench two 22; the seventh step, because the workbench two 22 is higher than the workbench one 1, the motor one 10 is controlled by the control system, Drive Y to the screw mandrel 26 to rotate around the rotating bearing one 17, and the X direction connecting seat 21 rises to the height of the workbench one 1 along the Y guide rail 9 through the Y direction sliding bearing 16; the eighth step, if the workbench two 22 The positions of position 1 and workbench 1 are not on the same radial line, then the motor 2 14 is controlled by the control system to drive the Z-direction screw 24 to rotate around the rotating bearing 2 27, and the fixed plate 23 passes on the X-direction connecting seat 21. The Z slide bearing 15 moves horizontally along the Z guide rail 13, so that the arm base 8 is consistent with the positions on the arm body 4 and the workbench 22. On the same radial line, this step can be omitted; the ninth step is to control the motor 3 12 through the control system, drive the belt 7 to make the X-direction sliding seat 6 extend along the arm seat 8, and make the finger 3 be located on the workbench 2 through the arm body 4 22 above the workpiece 2; in the tenth step, the finger cylinder 5 is controlled by the control system, so that the finger 3 first rotates downward to protrude and loosen the workpiece 2, put it on the station of the workbench 2 22, and then rotate upward to raise it Finger; in the eleventh step, control the motor three 12 through the control system, and drive the belt 7 to make the X-direction sliding seat 6 shrink along the arm seat 8, so that the arm body 4 is retracted; in the twelfth step, control the motor four 25 through the control system to drive The divider 19 makes the rotating arm 11 rotate back 180 degrees, and rotates to one side of the workbench 1 to complete the primary delivery of the workpiece 1.

Simultaneously, the rotating arm 11 on the workbench 22 also rotates synchronously to perform the corresponding lifting and telescopic actions, and the workpiece 1 is taken and delivered from the workbench 1, so that the two mechanical arms can work synchronously and complete the two procedures, improving Productivity.

Referring to FIG. 3 , in order to enhance the stability of the rotation of the manipulator, two rotating arms 11 can be arranged side by side to reduce the rotation radius of the arm base and the arm body 4 .

Two, embodiment two.

Referring to FIG. 4 , the forging or punching manipulator includes four rotating arms 11 , and a divider 19 is connected to the four rotating arms 11 . For other structures, refer to FIG. 1 and the description in Embodiment 1.

Using the above-mentioned forging or stamping manipulator, the first step is to control the motor 10 through the control system to drive the Y-direction screw 26 to rotate around the rotating bearing 17, and the X-direction connecting seat 21 descends along the Y-direction rail 9 through the Y-direction sliding bearing 16 to a height of 1 from the workbench; the second step is to control the motor 2 14 through the control system to drive the Z-direction screw 24 to rotate around the rotating bearing 2 27, and the fixed plate 23 passes through the Z-direction sliding bearing 15 on the X-direction connecting seat 21 Move horizontally along the Z guide rail 13, so that the position of the arm seat 8 and the arm body 4 and the work station 1 on the workbench 1 and the position of the workpiece 2 are consistent; the third step is to control the motor 3 12 through the control system, and drive the belt 7 to make the X direction The sliding seat 6 protrudes along the arm seat 8, and the finger 3 is positioned above the workpiece 2 through the arm body 4; the fourth step is to control the finger cylinder 5 through the control system, so that the finger 3 first rotates downwards to protrude and gather to grab the workpiece 2 , and then turn and lift the finger 3; the fifth step, control the motor three 12 through the control system, drive the belt 7 to make the X-direction sliding seat 6 shrink along the arm seat 8, and retract the arm body 4; the sixth step, control the motor through the control system Four 25, drive the splitter 19, make the rotating arm 11 rotate 90 degrees, and rotate to one side of the workbench three 29; the seventh step, because the workbench three 29 is higher than the workbench one 1, the motor one 10 is controlled by the control system, Drive the Y-direction screw rod 26 to rotate around the rotating bearing-17, and the X-direction connecting seat 21 rises to the height of the workbench-1 along the Y-direction rail 9 through the Y-direction sliding bearing 16; in the eighth step, if the rotating arm 11 rotates 90 degrees , the position of the workbench 3 29 is deviated, then the control system controls the motor 2 14 to drive the Z-direction screw 24 to rotate around the rotating bearing 2 27, and the fixed plate 23 passes through the Z-direction sliding bearing 15 along the Z direction on the X-direction connecting seat 21. Move horizontally to the guide rail 13, so that the arm base 8 is consistent with the positions on the arm body 4 and the workbench 3 29. This step can be omitted if there is no deviation in the workbench 3 29 positions; the ninth step is controlled by the control system. Motor three 12 drives the belt 7 to make the X-direction sliding seat 6 extend along the arm seat 8, and the finger 3 is positioned above the workpiece 2 of the workbench three 29 through the arm body 4; the tenth step is to control the finger cylinder 5 through the control system, Make the finger 3 turn downwards to protrude and loosen the workpiece 2, put it on the station of the workbench 3 29, then turn and raise the finger 3; the eleventh step, control the motor 3 12 through the control system, and drive the belt 7 to make The X-direction sliding seat 6 shrinks along the arm seat 8 to retract the arm body 4; in the twelfth step, control the motor 4 25 through the control system to drive the splitter 19, so that the rotating arm 11 rotates back 90 degrees and turns to the workbench 1 One side of the workpiece 1 completes a delivery of the workpiece 1.

Simultaneously, the swivel arm 11 originally on the workbench 3 29 performs corresponding lifting and telescopic actions according to the above steps, and also sends the workpiece 1 to the workbench 2 22 synchronously; similarly, the swivel arm 11 on the workbench 22 also According to the corresponding lifting and telescopic actions according to the above steps, the workpiece 1 can be sent to the workbench 4 30, so that the four mechanical arms can work synchronously at the same time and complete the four processes to improve production efficiency.

Three, embodiment three.

Referring to Fig. 5 , the forging or punching manipulator is provided with a rotating mechanism between the arm body 4 and the finger 2, the rotating mechanism is a rotating cylinder 28, which controls the omnidirectional rotation of the finger, and one end of the finger cylinder 5 is connected to the arm body 4 , the other end of the finger cylinder 5 is connected to the finger 3, and the finger cylinder 5 controls the opening and closing of the finger 3, and the rest of the structure refers to Fig. 1 in the first embodiment.

Using the above-mentioned forging or stamping manipulator, the first step is to control the motor 10 through the control system to drive the Y-direction screw 26 to rotate around the rotating bearing 17, and the X-direction connecting seat 21 descends along the Y-direction rail 9 through the Y-direction sliding bearing 16 to a height of 1 from the workbench; the second step is to control the motor 2 14 through the control system to drive the Z-direction screw 24 to rotate around the rotating bearing 2 27, and the fixed plate 23 passes through the Z-direction sliding bearing 15 on the X-direction connecting seat 21 Move horizontally along the Z guide rail 13, so that the position of the arm seat 8 and the arm body 4 and the work station 1 on the workbench 1 and the position of the workpiece 2 are consistent; the third step is to control the motor 3 12 through the control system, and drive the belt 7 to make the X direction The sliding seat 6 extends along the arm seat 8, and the finger 3 is positioned above the workpiece 2 through the arm body 4; the fourth step is to control the rotating cylinder 28 through the control system to change the position of the finger 3 so that the finger 3 is suitable for the workpiece 1. The fifth step is to control the finger cylinder 5 through the control system, so that the finger 3 first rotates downward to protrude and gather to grab the workpiece 2, and then rotates and lifts the finger 3; the sixth step is to control the motor through the control system Three 12, drive the belt 7 to make the X-direction sliding seat 6 shrink along the arm seat 8, so that the arm body 4 is retracted; the seventh step is to control the motor four 25 through the control system to drive the divider 19, so that the rotating arm 11 rotates 180 degrees and rotates To the side of workbench 222; in the eighth step, because workbench 222 is higher than workbench 1, the motor 10 is controlled by the control system to drive the Y-direction screw 26 to rotate around the rotating bearing 17, and the X-direction connecting seat 21 through the Y-direction sliding bearing 16 to rise to the height of the workbench one 1 along the Y guide rail 9; in the ninth step, if the station 1 of the workbench two 22 and the station position of the workbench one 1 are not on the same radial line, Then control the motor 2 14 by the control system, and drive the Z-direction screw mandrel 24 to rotate around the rotating bearing 2 27, and the fixed plate 23 moves horizontally along the Z guide rail 13 through the Z-direction sliding bearing 15 on the X-direction connecting seat 21, so that the arm base 8 Consistent with the positions on the arm body 4 and the workbench 22, if the station 1 of the workbench 22 and the position of the workbench 1 are on the same radial line, this step can be omitted; the tenth step, through the control The system controls the motor 3 12, drives the belt 7 to make the X-direction sliding seat 6 extend along the arm seat 8, and makes the finger 3 above the workpiece 2 of the workbench 2 22 through the arm body 4; the eleventh step is to control the finger through the control system Cylinder 5, make the finger turn downwards and loosen the workpiece 2, put it on the station of workbench 2 22, then rotate and raise the finger; the twelfth step, control the motor 3 12 through the control system, drive the belt 7 to make X Shrink the sliding seat 6 along the arm seat 8 to retract the arm body 4; in the thirteenth step, control the motor 4 25 through the control system to drive the divider 19, so that the rotating arm 11 rotates back 180 degrees, and turns to the workbench 1 1 One side of the workpiece 1 is completed.

Simultaneously, the rotating arm 11 on the workbench 22 also rotates synchronously to perform the corresponding lifting and telescopic actions, and the workpiece 1 is taken and delivered from the workbench 1, so that the two mechanical arms can work synchronously and complete the two procedures, improving Productivity.

Referring to FIG. 3 , in order to enhance the stability of the rotation of the manipulator, two rotating arms 11 can be arranged side by side to reduce the rotation radius of the arm base and the arm body 4 .

Four, embodiment four.

Referring to FIG. 4 , the forging or stamping manipulator includes four rotating arms 11 , and a divider 19 is connected to the four rotating arms 11 . With reference to Fig. 5, wherein, between arm body 4 and finger 2, be provided with rotating mechanism, rotating mechanism is rotating cylinder 28, and rotating cylinder 28 controls finger to rotate in all directions, and one end of finger cylinder 5 is connected with arm body 4, and finger cylinder 5 The other end is connected with the finger 3, and the finger cylinder 5 controls the opening and closing of the finger 3. For the rest of the structure of the forging or punching manipulator, refer to FIG. 1 and the description in Embodiment 1.

Using the above-mentioned forging or stamping manipulator, the first step is to control the motor 10 through the control system to drive the Y-direction screw 26 to rotate around the rotating bearing 17, and the X-direction connecting seat 21 descends along the Y-direction rail 9 through the Y-direction sliding bearing 16 to a height of 1 from the workbench; the second step is to control the motor 2 14 through the control system to drive the Z-direction screw 24 to rotate around the rotating bearing 2 27, and the fixed plate 23 passes through the Z-direction sliding bearing 15 on the X-direction connecting seat 21 Move horizontally along the Z guide rail 13, so that the position of the arm seat 8 and the arm body 4 and the work station 1 on the workbench 1 and the position of the workpiece 2 are consistent; the third step is to control the motor 3 12 through the control system, and drive the belt 7 to make the X direction The sliding seat 6 extends along the arm seat 8, and the finger 3 is positioned above the workpiece 2 through the arm body 4; the fourth step is to control the rotating cylinder 28 through the control system to change the position of the finger 3 so that the finger 3 is suitable for the workpiece 1. The fifth step is to control the finger cylinder 5 through the control system, so that the fingers 3 are gathered to grab the workpiece 2; the sixth step is to control the motor 3 12 through the control system to drive the belt 7 to make the X-direction sliding seat 6 move along the arm Seat 8 contracts, and arm body 4 is withdrawn; The seventh step, controls motor four 25 through control system, drives divider 19, makes rotating arm 11 rotate 90 degrees, turns to the side of workbench three 29; Eighth step, because The workbench 3 29 is higher than the workbench 1, and the motor 10 is controlled by the control system to drive the Y-direction screw 26 to rotate around the rotating bearing 17, and the X-direction connecting seat 21 rises along the Y-direction rail 9 through the Y-direction sliding bearing 16 to The height of workbench 1 is 1; in the ninth step, if the rotating arm 11 rotates 90 degrees and the position of workbench 3 29 deviates, the motor 2 14 is controlled by the control system to drive the Z-direction screw 24 to rotate around the rotating bearing 2 27 , the fixed plate 23 moves horizontally along the Z guide rail 13 through the Z-direction sliding bearing 15 on the X-direction connecting seat 21, so that the arm base 8 is consistent with the positions on the arm body 4 and the workbench 3 29, if the workbench 3 29 If there is no deviation in the station, this step can be omitted; in the tenth step, the motor 3 12 is controlled by the control system, and the belt 7 is driven to make the X-direction sliding seat 6 extend along the arm seat 8, and the finger 3 is positioned on the workbench 3 through the arm body 4. The top of the workpiece 2 at 29; the eleventh step, control the finger cylinder 5 through the control system, so that the finger 3 rotates downward to release the workpiece 2, put it on the station of the workbench 3 29, and then rotate and raise the finger 3; the tenth The second step is to control the motor three 12 through the control system to drive the belt 7 to make the X-direction sliding seat 6 shrink along the arm seat 8, so that the arm body 4 is retracted; the thirteenth step is to control the motor four 25 through the control system to drive the divider 19, Make the rotating arm 11 rotate back 90 degrees, and rotate to one side of the workbench 1 to complete the primary delivery of the workpiece 1.

Simultaneously, the swivel arm 11 originally on the workbench 3 29 performs corresponding lifting and telescopic actions according to the above steps, and also sends the workpiece 1 to the workbench 2 22 synchronously; similarly, the swivel arm 11 on the workbench 22 also According to the corresponding lifting and telescopic actions according to the above steps, the workpiece 1 can be sent to the workbench 4 30, so that the four mechanical arms can work synchronously at the same time and complete the four processes to improve production efficiency.

Claims (10)

1. A forging or stamping manipulator is characterized by comprising a base, wherein a rotation driving device is arranged on the base and is connected with at least two rotating arms; each rotating arm is provided with a Y-direction guide rail and a Y-direction screw rod, the Y-direction guide rail is connected with a Y-direction sliding bearing, the Y-direction sliding bearing and the Y-direction screw rod are connected with an X-direction connecting seat, one end of the Y-direction screw rod is connected with a first motor, and the other end of the Y-direction screw rod is connected with a first rotating bearing; each X-direction connecting seat is provided with a Z-direction guide rail, the Z-direction guide rail is connected with a Z-direction sliding bearing, the Z-direction sliding bearing and a Z-direction screw rod are connected with an arm seat, one end of the Z-direction screw rod is connected with the motor II, and the other end of the Z-direction screw rod is connected with the rotating bearing II; an X-direction sliding seat is arranged on each arm seat, one end of each X-direction sliding seat is connected with the mechanical arm, and the other end of each X-direction sliding seat is connected with the three phases of the motor; the mechanical arm comprises an arm body, a finger cylinder and fingers, and the finger cylinder controls the fingers to open and close.

2. A forging or stamping manipulator according to claim 1, wherein the arm body is connected at one end to a finger cylinder and at the other end to a finger, the finger cylinder controlling opening and closing and rotation of the finger; or one end of the finger cylinder is connected with the arm body, the other end of the finger cylinder is connected with the finger, and the finger cylinder controls the opening, closing and rotation of the finger.

3. A forging or stamping manipulator according to claim 1, wherein a rotation mechanism is provided between the body and the fingers, the rotation mechanism controlling the fingers to rotate in all directions.

4. A forging or stamping manipulator according to claim 3, wherein the rotary mechanism is a rotary cylinder.

5. A forging or stamping manipulator according to claim 1, wherein the rotary drive means is a divider or rotary cylinder connected to the motor.

6. A forging or stamping manipulator according to claim 1, wherein the arms are eccentrically located, i.e. not concentric.

7. A forging or stamping manipulator according to claim 1, wherein the respective arms are arranged in parallel.

8. A forging or stamping manipulator according to claim 1, wherein each rotor arm is provided with two Y-guide rails, each Y-guide rail being provided with two Y-slide bearings.

9. A swaging or stamping manipulator according to claim 1 in which the Z-slide bearing and the Z-lead screw are connected to the arm mount by a fixing plate.

10. A forging or stamping manipulator according to claim 1, wherein the other end of the X-slide is connected to the motor by a belt.

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