CN218285531U

CN218285531U - Forging or stamping manipulator

Info

Publication number: CN218285531U
Application number: CN202220435067.8U
Authority: CN
Inventors: 周雯婷; 周捷明
Original assignee: Individual
Current assignee: Individual
Priority date: 2022-03-02
Filing date: 2022-03-02
Publication date: 2023-01-13
Anticipated expiration: 2032-03-02

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

Forging or stamping manipulator

Technical Field

The utility model relates to a forging and pressing or stamping manipulator, especially manipulator of centre gripping type belongs to the mechanical automation field.

Background

At present, in forging production such as hardware and tools, traditional technology all is that the manual work carries out forging many times with the metal work centre gripping of heating on sending to the forging press, and this kind of unloading operational mode of going up that relies on the manpower, production efficiency is low, has been eliminated gradually. At present, a plurality of mechanical arms appear in the market, can simulate certain action functions of human hands and arms, are used for grabbing and carrying objects or operating tools according to a fixed program, can replace heavy labor of people to realize mechanization and automation of production, can be operated under harmful environment to protect personal safety, and are applied to the field of forging to clamp a forging stock to be matched with a hydraulic press or a forging hammer to finish auxiliary forging and pressing of main actions such as feeding, rotating, turning and the like. The manipulators mainly comprise three parts, namely a hand part, a motion mechanism and a control system; and, according to the shape, size, weight, material and operation requirements of the object to be grasped, it is classified into various structural forms such as a clamp type, a holding type, and an adsorption type.

Patent document No. ZL201620466103.1 discloses a manipulator, which comprises a base, a rotating disc and a rotating motor, wherein the base is provided with the rotating disc and the rotating motor; a Y-direction machine body is fixed on the rotating disc, a Y-direction guide rail is arranged on the Y-direction machine body, an X-direction machine body is arranged on the Y-direction guide rail in a sliding mode, and a Y-direction driving device is arranged on the Y-direction machine body; an X-direction guide rail is arranged on the X-direction machine body, an X-direction sliding seat is arranged on the X-direction guide rail in a sliding manner, and an X-direction driving device is arranged on the X-direction machine body; a mechanical arm and a rotating motor are arranged on the X-direction sliding seat; the mechanical arm comprises an arm body, wherein a connecting seat is arranged at one end of the arm body, two mechanical fingers are hinged to the connecting seat, and a sliding block is arranged between the two hinged points; the other end of the sliding block is connected with an eccentric wheel through a connecting rod, and the eccentric wheel is arranged on the arm body; the arm body is also provided with an eccentric wheel motor which drives the eccentric wheel to rotate. The utility model has compact structure, simple control, convenient operation and maintenance and low manufacturing cost; the control box sends out commands, so that the forged parts can be quickly and accurately positioned and grabbed.

In patent document No. 2014203183090, a linear driving type forging robot is disclosed, which comprises an arm and a paw; the paw is fixedly connected with one end of the arm; the arm comprises a bottom plate, a lead screw, a long guide rail, a square sliding block, a nut, a servo motor and a coupler; one end of the screw is movably connected with a screw fixing seat, the other end of the screw is movably connected with a screw supporting seat, and the screw fixing seat and the screw supporting seat are fixedly connected to the bottom plate; the screw rod and the long guide rail are parallel to each other; the gripper comprises a sliding block module and fingers; the fingers are fixedly connected with the sliding block; the slider module includes: finger body, guide rail, piston, plunger pin, slider. The guide rail type mechanical arm is suitable for the mechanical manufacturing process, realizes the carrying and transmission of materials, and has the advantages of small friction resistance, stable operation, high precision and long service life. And simultaneously, quenching the high-temperature workpiece.

In the patent document with patent application number 201610544714.8, a stamping manipulator is disclosed, which comprises a rack, a lifting structure arranged on the rack and a telescopic structure arranged at the top of the lifting structure, wherein a front end lower side surface of the telescopic structure is further provided with a front rotary structure, and a central rotary structure is further arranged at the joint of the lifting structure and the telescopic structure. The invention has simple structure and flexible operation, can quickly realize clamping and feeding of workpieces by the mutual matching of the structures, can greatly improve the processing efficiency and the processing safety compared with manual operation, and can carry out lifting, stretching and rotating control according to the requirement, thereby greatly improving the application range, having good use stability and strong applicability.

Patent document No. 201420562992.2 discloses an automated press robot. The four corners below the bottom plate are fixed with feet through nuts, a support frame is arranged on the bottom plate, a main shaft is arranged at the top of the support frame, a main shaft track is arranged on the main shaft, the main shaft track is matched with a main shaft sliding block, the main shaft is connected with a main shaft motor through a main shaft driving rack, an auxiliary shaft is further arranged in the direction of the main shaft, an auxiliary shaft belt is arranged on the auxiliary shaft sliding block, the auxiliary shaft belt is matched with an auxiliary shaft belt pulley, the auxiliary shaft is further connected with an auxiliary shaft motor, a Z shaft is arranged on the auxiliary shaft, the Z shaft is connected with the Z shaft motor, a Y shaft is arranged on the Z shaft sliding block, a Y shaft guide rail and a Y shaft sliding block are arranged on the Y shaft, the Y shaft sliding block is fixedly connected with a Y shaft support frame, a Y shaft moving part is arranged on the Y shaft support frame, the Y shaft moving part is respectively connected with the Y shaft motor and a mechanical arm, and a sucking disc is arranged at the outer end of the mechanical arm. The utility model discloses a manipulator can be according to the position of mould, set for about, the position of front and back wantonly, and the debugging is fairly simple swift.

The forging or stamping manipulator described above is generally applicable to a single process and a single forging or stamping machine, and in actual production, such as the production of hardware tools mentioned above, a complete set of tools is manufactured on a production line, which requires a plurality of forging and stamping processes to complete, and for different forging or stamping machines, when the stations are not at the same height, the simultaneous forging and stamping operations are required, and the clamping and workpiece feeding processes are completed in a very short time, so that the automation of the whole production line is realized.

Disclosure of Invention

The utility model aims at providing a can be fast deliver to next process with the work piece of last process, can be applicable to two at least processes and two and forge work more than the punching machine to realize the automatic forging press manipulator of production line.

The utility model adopts the technical proposal that: 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; a Z-direction guide rail is arranged on each X-direction connecting seat, a Z-direction sliding bearing is connected onto each Z-direction guide rail, the Z-direction sliding bearing and the Z-direction screw rod are connected with arm seats, one end of the Z-direction screw rod is connected with the second motor phase, and the other end of the Z-direction screw rod is connected with the second rotating bearing phase; 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.

The forging or stamping manipulator is characterized in that one end of the arm body is connected with the finger cylinder, the other end of the arm body is connected with the finger, and the finger cylinder controls 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.

The 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 fingers to rotate in all directions.

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

The forging or stamping manipulator is characterized in that the rotation driving device is a divider or a rotation cylinder, and the divider or the rotation cylinder is connected with a motor IV.

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

The forging or stamping manipulator is characterized in that the two corresponding rotating arms are arranged in parallel.

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

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

The forging or stamping manipulator is characterized in that the other end of the X-direction sliding seat is connected with a motor in a three-phase mode through a belt.

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, send the work piece of the process of the last to the next process, low in manufacturing cost, control is simple, can effectively improve production efficiency, can be used to many forging punching machine synchronous workings.

Drawings

Fig. 1 is a schematic front view of the present invention.

Fig. 2 is a schematic top view of the present invention.

Fig. 3 is a schematic plan view of two parallel rotating arms according to the present invention.

Fig. 4 is a schematic top view of an embodiment of the invention having four rotating arms.

Fig. 5 is a schematic view of the present invention with an additional rotating mechanism.

The sequence numbers in the figures indicate: the device comprises a first workbench 1, a workpiece 2, fingers 3, an arm body 4, a finger cylinder 5, an X-direction sliding seat 6, a belt 7, an arm seat 8, a Y-direction guide rail 9, a first motor 10, a rotating arm 11, a third motor 12, a Z-direction guide rail 13, a second motor 14, a Z-direction sliding bearing 15, a Y-direction sliding bearing 16, a first rotating bearing 17, a machine base 18, a divider 19, a nut 20, an X-direction connecting seat 21, a second workbench 22, a fixing plate 23, a Z-direction screw rod 24, a fourth motor 25, a Y-direction screw rod 26, a second rotating bearing 27, a rotating mechanism 28, a third workbench 29 and a fourth workbench 30.

Detailed Description

The technical solution of the present invention will be described in detail with reference to specific embodiments of the present invention, which are only some, but not all, of the embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

1. The first embodiment.

Referring to fig. 1 and fig. 2, the forging or stamping manipulator includes a base 18, a rotation driving device is disposed on the base 18, the rotation driving device includes a divider 19 and a motor four 25, the divider 19 is connected to the two rotating arms 11, and the two rotating arms 11 correspond to each other and are eccentrically disposed (or concentrically disposed) with each other, that is, the two corresponding rotating arms 11 are not on the same axis; each rotating arm 11 is provided with two Y-direction guide rails 9 and a Y-direction screw rod 26, each Y-direction guide rail 9 is connected with two Y-direction sliding bearings 16, each Y-direction sliding bearing 16 and each Y-direction screw rod 26 are connected with an X-direction connecting seat 21, one end of each Y-direction screw rod 26 is connected with a first motor 10, and the other end of each Y-direction screw rod 26 is connected with a first rotating bearing 17; each X-direction connecting seat 21 is provided with two Z-direction guide rails 13 and a Z-direction screw rod 24, each Z-direction guide rail 13 is connected with a Z-direction sliding bearing 15, the Z-direction sliding bearing 15 and the Z-direction screw rod 24 are connected with the arm seat 9 through a fixing plate 23, one end of the Z-direction screw rod 24 is connected with the second motor 14, and the other end of the Z-direction screw rod 24 is connected with the second rotating bearing 27; an X-direction sliding seat 6 is arranged on each arm seat 9, one end of the X-direction sliding seat 6 is connected with the mechanical arm, and the other end of the X-direction sliding seat 6 is connected with a motor III 12 through a belt 7; mechanical arm includes arm body 4, finger cylinder 5 and

finger

3, and 4 one end of arm body is connected with finger cylinder 5, and the other end is connected with finger 3, and finger cylinder 5 controls opening and shutting of finger 3.

The divider 19 and the motor 25 can be replaced by a rotary cylinder, and the functions can be realized.

By using the forging or stamping manipulator, in the first step, the control system controls the motor I10 to drive the Y-direction screw rod 26 to rotate around the rotating bearing I17, and the X-direction connecting seat 21 descends to the height of the workbench I1 along the Y-direction guide rail 9 through the Y-direction sliding bearing 16; secondly, controlling a second motor 14 through a control system, driving a Z-direction screw rod 24 to rotate around a second rotating bearing 27, and horizontally moving a fixed plate 23 on an X-direction connecting seat 21 along a Z-direction guide rail 13 through a Z-direction sliding bearing 15 to enable the positions of the arm seat 8 to be consistent with the positions of the arm body 4 and the station and the workpiece 2 on the first workbench 1; thirdly, controlling a third motor 12 through a control system, driving a belt 7 to enable an X-direction sliding seat 6 to extend out along an arm seat 8, and enabling a finger 3 to be located above the workpiece 2 through an arm body 4; fourthly, controlling the finger cylinder 5 through the control system to enable the finger 3 to rotate and stretch out downwards and gather in the grabbing workpiece 2, and then rotating and lifting the finger 3; fifthly, controlling a third motor 12 through a control system, driving a belt 7 to enable an X-direction sliding seat 6 to contract along an arm seat 8, and enabling an arm body 4 to be retracted; sixthly, controlling a motor IV 25 through a control system to drive a divider 19, and enabling the rotating arm 11 to rotate 180 degrees to one side of the second workbench 22; seventhly, as the second workbench 22 is higher than the first workbench 1, the first motor 10 is controlled by the control system to drive the Y-direction screw rod 26 to rotate around the first rotating bearing 17, and the X-direction connecting seat 21 rises to the height of the first workbench 1 along the Y-direction guide rail 9 through the Y-direction sliding bearing 16; eighthly, if the station 1 of the second workbench 22 and the station position of the first workbench 1 are not on the same radial line, the second motor 14 is controlled through the control system to drive the Z-direction screw rod 24 to rotate around the second rotating bearing 27, the fixing plate 23 horizontally moves on the X-direction connecting seat 21 along the Z-direction guide rail 13 through the Z-direction sliding bearing 15, so that the arm seat 8 is consistent with the station positions on the arm body 4 and the second workbench 22, and if the station 1 of the second workbench 22 and the station position of the first workbench 1 are on the same radial line, the step can be omitted; ninthly, controlling a third motor 12 through a control system, driving a belt 7 to enable an X-direction sliding seat 6 to extend out along an arm seat 8, and enabling fingers 3 to be located above the workpiece 2 of the second workbench 22 through an arm body 4; tenth step, controlling the finger cylinder 5 through the control system to enable the finger 3 to rotate and stretch out downwards and loosen the workpiece 2, placing the workpiece on a station of the second workbench 22, and then rotating and raising the finger upwards; step eleven, controlling a motor III 12 through a control system, driving a belt 7 to enable an X-direction sliding seat 6 to contract along an arm seat 8, and enabling an arm body 4 to retract; and step eleven, controlling a motor IV 25 through a control system, driving the divider 19, and enabling the rotating arm 11 to rotate back by 180 degrees and rotate to one side of the first workbench 1, thereby completing one-time conveying of the workpiece 1.

Meanwhile, the rotating arm 11 on the second workbench 22 also synchronously rotates to perform corresponding lifting and stretching actions, and the workpiece 1 is taken from the first workbench 1, so that the two mechanical arms synchronously work at the same time and complete two processes, and the production efficiency is improved.

Referring to fig. 3, in order to enhance the stability of the rotation of the robot, two rotating arms 11 may be arranged in parallel to reduce the radius of rotation of the arm base and the arm body 4.

2. The second embodiment.

Referring to fig. 4, the forging or stamping manipulator comprises four rotating arms 11, a divider 19 is connected with the four rotating arms 11, and the rest of the structure is described with reference to fig. 1 and the first embodiment.

Using the forging or stamping manipulator, firstly, controlling the first motor 10 through the control system to drive the Y-direction screw rod 26 to rotate around the first rotating bearing 17, and lowering the X-direction connecting seat 21 to the height of the first workbench 1 along the Y-direction guide rail 9 through the Y-direction sliding bearing 16; secondly, controlling a second motor 14 through a control system, driving a Z-direction screw rod 24 to rotate around a second rotating bearing 27, and horizontally moving a fixed plate 23 on an X-direction connecting seat 21 along a Z-direction guide rail 13 through a Z-direction sliding bearing 15 to enable the positions of the arm seat 8 to be consistent with the positions of the arm body 4 and the station and the workpiece 2 on the first workbench 1; thirdly, controlling a third motor 12 through a control system, driving a belt 7 to enable an X-direction sliding seat 6 to extend out along an arm seat 8, and enabling a finger 3 to be located above the workpiece 2 through an arm body 4; fourthly, controlling the finger cylinder 5 through the control system to enable the finger 3 to rotate and stretch out downwards and gather in the grabbing workpiece 2, and then rotating and lifting the finger 3; fifthly, controlling a motor III 12 through a control system, driving a belt 7 to enable an X-direction sliding seat 6 to contract along an arm seat 8, and enabling an arm body 4 to retract; sixthly, controlling a motor IV 25 through a control system to drive a divider 19, and enabling the rotating arm 11 to rotate 90 degrees to one side of a workbench III 29; seventhly, as the third workbench 29 is higher than the first workbench 1, the first motor 10 is controlled by the control system to drive the Y-direction screw rod 26 to rotate around the first rotating bearing 17, and the X-direction connecting seat 21 rises to the height of the first workbench 1 along the Y-direction guide rail 9 through the Y-direction sliding bearing 16; eighthly, if the rotating arm 11 rotates by 90 degrees and the position of the workbench III 29 has deviation, controlling the motor II 14 through the control system to drive the Z-direction screw rod 24 to rotate around the rotating bearing II 27, and horizontally moving the fixing plate 23 on the X-direction connecting seat 21 along the Z-direction guide rail 13 through the Z-direction sliding bearing 15 to ensure that the arm seat 8 is consistent with the work positions on the arm body 4 and the workbench III 29, wherein the step can be omitted if the work position of the workbench III 29 does not have deviation; ninth, controlling a third motor 12 through a control system, driving a belt 7 to enable an X-direction sliding seat 6 to extend out along an arm seat 8, and enabling a finger 3 to be located above a workpiece 2 of a third workbench 29 through an arm body 4; tenth, controlling the finger cylinder 5 through the control system to enable the finger 3 to rotate and stretch out downwards and loosen the workpiece 2, placing the workpiece on a third 29 working positions of the working table, and then rotating and raising the finger 3; step eleven, controlling a motor III 12 through a control system, driving a belt 7 to enable an X-direction sliding seat 6 to contract along an arm seat 8, and enabling an arm body 4 to retract; and step eleven, controlling a motor IV 25 through a control system, driving the divider 19, and enabling the rotating arm 11 to rotate back by 90 degrees and rotate to one side of the first workbench 1, thereby completing one-time conveying of the workpiece 1.

Meanwhile, the rotating arm 11 on the third worktable 29 performs corresponding lifting and stretching actions according to the steps, and synchronously conveys the workpiece 1 to the second worktable 22; similarly, the rotating arm 11 on the second workbench 22 performs corresponding lifting and stretching actions according to the above steps, and the workpiece 1 can be conveyed to the fourth workbench 30, so that four mechanical arms can synchronously work at the same time and complete four processes, and the production efficiency is improved.

3. Example three.

Referring to fig. 5, the forging or stamping manipulator is provided with a rotating mechanism between the arm body 4 and the finger 2, the rotating mechanism is a rotating cylinder 28, the rotating cylinder 28 controls the finger to rotate in all directions, one end of the finger cylinder 5 is connected with the arm body 4, the other end of the finger cylinder 5 is connected with the finger 3, the finger cylinder 5 controls the finger 3 to open and close, and the rest structures refer to fig. 1 in the first embodiment.

By using the forging or stamping manipulator, in the first step, the control system controls the motor I10 to drive the Y-direction screw rod 26 to rotate around the rotating bearing I17, and the X-direction connecting seat 21 descends to the height of the workbench I1 along the Y-direction guide rail 9 through the Y-direction sliding bearing 16; secondly, controlling a second motor 14 through a control system, driving a Z-direction screw rod 24 to rotate around a second rotating bearing 27, and horizontally moving a fixed plate 23 on an X-direction connecting seat 21 along a Z-direction guide rail 13 through a Z-direction sliding bearing 15 to enable the positions of the arm seat 8 to be consistent with the positions of the arm body 4 and the work station and the work piece 2 on the first workbench 1; thirdly, controlling a third motor 12 through a control system, driving a belt 7 to enable an X-direction sliding seat 6 to extend out along an arm seat 8, and enabling a finger 3 to be located above the workpiece 2 through an arm body 4; fourthly, controlling the rotary cylinder 28 through the control system to change the position of the finger 3, so that the finger 3 is suitable for grabbing according to the shape of the workpiece 1; fifthly, controlling the finger cylinder 5 through the control system to enable the finger 3 to rotate and extend downwards and gather in the grabbing workpiece 2, and then rotating and lifting the finger 3; sixthly, controlling a motor III 12 through a control system, driving a belt 7 to enable an X-direction sliding seat 6 to contract along an arm seat 8, and enabling an arm body 4 to retract; seventhly, controlling a motor IV 25 through a control system to drive a divider 19, and enabling the rotating arm 11 to rotate 180 degrees to one side of the workbench II 22; eighthly, as the second workbench 22 is higher than the first workbench 1, the first motor 10 is controlled by the control system to drive the Y-direction screw rod 26 to rotate around the first rotating bearing 17, and the X-direction connecting seat 21 rises to the height of the first workbench 1 along the Y-direction guide rail 9 through the Y-direction sliding bearing 16; ninth, if the station 1 of the second workbench 22 and the station position of the first workbench 1 are not on the same radial line, the second motor 14 is controlled by the control system to drive the Z-direction screw rod 24 to rotate around the second rotating bearing 27, the fixing plate 23 horizontally moves on the X-direction connecting seat 21 along the Z-direction guide rail 13 through the Z-direction sliding bearing 15, so that the arm seat 8 is consistent with the station positions on the arm body 4 and the second workbench 22, and if the station 1 of the second workbench 22 and the station position of the first workbench 1 are on the same radial line, the step can be omitted; tenth step, controlling a third motor 12 through a control system, driving a belt 7 to enable an X-direction sliding seat 6 to extend out along an arm seat 8, and enabling a finger 3 to be located above the workpiece 2 of the second workbench 22 through an arm body 4; step ten, controlling a finger cylinder 5 through a control system to enable a finger to rotate downwards and loosen the workpiece 2, placing the workpiece on a station of a second workbench 22, and then rotating to raise the finger; step ten, controlling a motor III 12 through a control system, driving a belt 7 to enable an X-direction sliding seat 6 to contract along an arm seat 8, and enabling an arm body 4 to retract; and a thirteenth step of controlling the motor IV 25 through the control system to drive the divider 19 to rotate the rotating arm 11 back 180 degrees to one side of the first workbench 1, so as to finish one-time conveying of the workpiece 1.

4. Example four.

Referring to fig. 4, the swaging or stamping manipulator includes four rotating arms 11, and a divider 19 is connected to the four rotating arms 11. Referring to fig. 5, a rotating mechanism is arranged between the arm body 4 and the finger 2, the rotating mechanism is a rotating cylinder 28, the rotating cylinder 28 controls the finger to rotate in all directions, one end of the finger cylinder 5 is connected with the arm body 4, the other end of the finger cylinder 5 is connected with the finger 3, and the finger cylinder 5 controls the finger 3 to open and close. The remaining structure of the forging or coining robot is described with reference to figure 1 and in one embodiment.

Using the forging or stamping manipulator, firstly, controlling the first motor 10 through the control system to drive the Y-direction screw rod 26 to rotate around the first rotating bearing 17, and lowering the X-direction connecting seat 21 to the height of the first workbench 1 along the Y-direction guide rail 9 through the Y-direction sliding bearing 16; secondly, controlling a second motor 14 through a control system, driving a Z-direction screw rod 24 to rotate around a second rotating bearing 27, and horizontally moving a fixed plate 23 on an X-direction connecting seat 21 along a Z-direction guide rail 13 through a Z-direction sliding bearing 15 to enable the positions of the arm seat 8 to be consistent with the positions of the arm body 4 and the station and the workpiece 2 on the first workbench 1; thirdly, controlling a third motor 12 through a control system, driving a belt 7 to enable an X-direction sliding seat 6 to extend out along an arm seat 8, and enabling a finger 3 to be located above the workpiece 2 through an arm body 4; fourthly, controlling the rotary cylinder 28 through the control system to change the position of the finger 3, so that the finger 3 is suitable for grabbing according to the shape of the workpiece 1; fifthly, controlling the finger cylinder 5 through the control system to enable the fingers 3 to be folded to grab the workpiece 2; sixthly, controlling a motor III 12 through a control system, driving a belt 7 to enable an X-direction sliding seat 6 to contract along an arm seat 8, and enabling an arm body 4 to retract; seventhly, controlling a motor IV 25 through a control system to drive a divider 19, and enabling the rotating arm 11 to rotate 90 degrees to one side of a workbench III 29; eighthly, as the third workbench 29 is higher than the first workbench 1, the first motor 10 is controlled by the control system to drive the Y-direction screw rod 26 to rotate around the first rotating bearing 17, and the X-direction connecting seat 21 rises to the height of the first workbench 1 along the Y-direction guide rail 9 through the Y-direction sliding bearing 16; ninth, if the rotating arm 11 rotates 90 degrees and the position of the workbench third 29 has deviation, the control system controls the motor second 14 to drive the Z-direction screw rod 24 to rotate around the rotating bearing second 27, the fixing plate 23 horizontally moves on the X-direction connecting seat 21 along the Z-direction guide rail 13 through the Z-direction sliding bearing 15, so that the work positions of the arm seat 8 and the arm body 4 and the work positions of the workbench third 29 are consistent, and if the work positions of the workbench third 29 do not have deviation, the step can be omitted; tenth step, controlling a third motor 12 through a control system, driving a belt 7 to enable an X-direction sliding seat 6 to extend out along an arm seat 8, and enabling a finger 3 to be located above the workpiece 2 of the third workbench 29 through an arm body 4; step ten, controlling a finger cylinder 5 through a control system to enable a finger 3 to rotate to loosen the workpiece 2 downwards, placing the workpiece on a station of a third workbench 29, and then rotating to raise the finger 3; step ten, controlling a motor III 12 through a control system, driving a belt 7 to enable an X-direction sliding seat 6 to contract along an arm seat 8, and enabling an arm body 4 to be retracted; and a thirteenth step of controlling the motor IV 25 through the control system to drive the divider 19 to rotate the rotating arm 11 back by 90 degrees to one side of the first workbench 1, so as to finish one-time conveying of the workpiece 1.

Claims

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.