CN105880342A - Automatic hot stamping line transmission manipulator and using method thereof - Google Patents
Automatic hot stamping line transmission manipulator and using method thereof Download PDFInfo
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- CN105880342A CN105880342A CN201610428338.6A CN201610428338A CN105880342A CN 105880342 A CN105880342 A CN 105880342A CN 201610428338 A CN201610428338 A CN 201610428338A CN 105880342 A CN105880342 A CN 105880342A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D22/00—Shaping without cutting, by stamping, spinning, or deep-drawing
- B21D22/02—Stamping using rigid devices or tools
- B21D22/022—Stamping using rigid devices or tools by heating the blank or stamping associated with heat treatment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D37/00—Tools as parts of machines covered by this subclass
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- Mechanical Engineering (AREA)
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Abstract
The invention discloses an automatic hot stamping line transmission manipulator. An X-axis movement mechanism is provided with an X-axis slideway arranged on a movable supporting mechanism, an X-axis servo motor and an X-axis transmission mechanism. A Z-axis lifting mechanism is provided with a Z-axis base arranged on the X-axis slideway, wherein a Z-axis installation plate is perpendicularly arranged on the Z-axis base, and a Z-axis servo motor, a Z-axis slideway and a Z-axis transmission mechanism are arranged on the Z-axis installation plate. An A-axis rotating mechanism is provided with an A-axis base arranged on the Z-axis slideway, wherein an A-axis installation plate is perpendicularly arranged on the A-axis base, a rotary motor used for controlling a clamping mechanism to rotate is arranged on the A-axis installation plate, the clamping mechanism is provided with a mechanical arm, one end of the mechanical arm is installed on a rotary shaft of the rotary motor through a bearing component, and a clamping cylinder and a clamping jaw are installed at the other end of the mechanical arm. The automatic hot stamping line transmission manipulator can meet the requirement for hot processing of high-mechanical-property materials to be processed, and produced parts have higher static strength and fatigue strength.
Description
Technical field
The invention belongs to drop stamping processing field, is specifically related to a kind of drop stamping transfer matic transfer robot and user
Method.
Background technology
Mechanical hand be one can Automatic Positioning Control, and Reprogrammable change multifunctional equipment, be widely used in machine
Make, the department such as metallurgical, electronics and light industry.Drop stamping production technology facings high speed, automatization, flexibility, precise treatment
Direction is developed.Mechanical hand is applied in drop stamping production technology, fundamentally changes traditional mechanical metaplasia and produce, be modern heat punching
The important development direction of pressure production technology.At present, domestic market there is no the overheated punch process center of report.
Summary of the invention
The purpose of the invention is to provide a kind of drop stamping transfer matic transfer robot and using method, and this drop stamping transfer matic passes
Sending mechanical hand is the key equipment in drop stamping production process, it is possible to as the core institution of a whole set of machine adding system organic linking.Should
Drop stamping transfer matic transfer robot can meet high-mechanical property labor and materials to be added heat processing technique requirement so that it is the part of production has
Higher static strength and fatigue strength, to meet the new standard of development and production, new demand, and improve production efficiency, material profit
By rate.This invention also can flexible adjust, moreover it is possible to meets other high-mechanical property standard component heat processing technique requirements.
The technical solution used in the present invention is:
Drop stamping transfer matic transfer robot, including removable supporting mechanism (1), X-axis travel mechanism (2), Z-axis lifting mechanism
(3), A axle rotating mechanism (4) and clamp system (5)；
Described X-axis travel mechanism (2) has the X-axis slideway (2.1) being arranged on removable supporting mechanism (1), X-axis servo electricity
Machine (2.2) and X-axis drive mechanism (2.3)；Described X-axis slideway (2.1) supports Z-axis lifting mechanism (3) and limits Z axis elevator
The structure (3) traveling track in X-axis；Described X-axis servomotor (2.2) and X-axis drive mechanism (2.3) are used for driving Z axis liter
Descending mechanism (3) is upper mobile at X-axis slideway (2.1)；
Described Z-axis lifting mechanism (3) has the Z axis being arranged on X-axis slideway (2.1) and being connected with X-axis drive mechanism (2.3)
Base (3.1), Z axis base (3.1) is vertically provided with Z axis installing plate (3.2), and Z axis installing plate (3.2) is provided with Z axis servo
Motor (3.3), Z axis slideway (3.4) and Z-axis transmission mechanism；Described A axle rotating mechanism (4) is arranged on Z axis slideway (3.4)
On, and make lifting moving along Z axis slideway (3.4) under the effect of Z axis servomotor (3.3) and Z-axis transmission mechanism；
Described A axle rotating mechanism (4) has the A axle base being arranged on Z axis slideway (3.4) and being connected with Z-axis transmission mechanism
(4.1), A axle base (4.1) is vertically provided with A axle installing plate (4.2), A axle installing plate (4.2) to be provided with for controlling clamping
The electric rotating machine (4.3) that mechanism (5) rotates；
Described clamp system (5) has mechanical arm (5.1), and one end of described mechanical arm (5.1) is arranged on by bearing assembly (5.2)
In the rotating shaft of electric rotating machine (4.3), one end of mechanical arm (5.1) is equipped with clamping cylinder (5.3) and claw (5.4), by clamping gas
Cylinder (5.3) controls unlatching and the Guan Bi of claw (5.4).
Described drop stamping transfer matic transfer robot, described removable supporting mechanism (1) has casing (1.1), casing (1.1)
Being provided with stage body (1.2), casing (1.1) four corners below is respectively equipped with travelling wheel (1.3), and the outside of each travelling wheel (1.3) is all provided with
There is support lower margin (1.4)；Described casing (1.1) be provided with for control X-axis servomotor (2.2), Z axis servomotor (3.3),
The turn-key system that electric rotating machine (4.3) and clamping cylinder (5.3) work.
Described drop stamping transfer matic transfer robot, described removable supporting mechanism (1) is additionally provided with flexible discharging device (6),
Described flexible discharging device is positioned at the side of X-axis slideway (2.1)；Described flexible discharging device has base plate (6.1), base plate (6.1)
Middle part be provided with screw thread guide pillar (6.3), the periphery that base plate (6.1) is positioned at screw thread guide pillar (6.3) is provided with several smooth guide pillar
(6.2), the top of screw thread guide pillar (6.3) is provided with the V-type fixture block (6.5) for clamping blank (8) and cover plate (6.6), and screw thread is led
Post (6.3) is provided with the support platform (6.4) of band nut, the nut in described support platform (6.4) by with screw thread guide pillar (6.3)
Control support platform (6.4) is coordinated to move up and down；It is additionally provided with in described support platform (6.4) and leading that smooth guide pillar (6.2) coordinates
Hole.
Described drop stamping transfer matic transfer robot, described cover plate (6.6) is L-type cover plate (6.6) and is furnished with adjustable jackscrew, lid
Plate (6.6) one sidewall is arranged on V-type fixture block (6.5) by bolt, and cover plate (6.6) another sidewall is positioned at V-type fixture block (6.5)
Top, described cover plate (6.6) another sidewall has a gap；V-type fixture block (6.5) has V-type opening, described gap and V-type
Opening is oppositely arranged, and described adjustable jackscrew is arranged on cover plate (6.6) sidewall, coordinates with V-type opening；Described blank (8) leads to
The effect crossing gap, adjustable jackscrew and V-type opening is positioned in support platform (6.4).
Described drop stamping transfer matic transfer robot, is provided with thermal insulation ceramics sheet between described clamping cylinder (5.3) and claw (5.4)
(5.5), described claw (5.4) is high-temperature alloy steel claw (5.4).
Described drop stamping transfer matic transfer robot, one end of described removable supporting mechanism (1) is additionally provided with connection assembly (7),
Described removable supporting mechanism (1) is connected with metal extrusion press (9) by connecting assembly (7).
Described drop stamping transfer matic transfer robot, described electric rotating machine (4.3) is connected with mechanical arm (5.1) by decelerator,
One end of the most described mechanical arm (5.1) is arranged on the output shaft of decelerator by bearing assembly (5.2).
A kind of drop stamping transfer matic, the transfer robot described in employing, also include metal extrusion press (9), metal extrusion press operates
Cabinet (10) and high frequency induction heater (11), described metal extrusion press (9) is arranged on before being positioned at transfer robot on ground (12)
End, described high frequency induction heater (11) and metal extrusion press operation cabinet (10) lay respectively at the both sides of transfer robot.
The using method of a kind of described drop stamping transfer matic transfer robot, comprises the steps:
1) by removable supporting mechanism (1), transfer robot is pushed into metal extrusion press (9) front, and by connect assembly (7) with
Metal extrusion press (9) connects fixing；
2) blank (8) is placed on flexible discharging device (6), and by nut regulation blank (8) in support platform (6.4)
Height, after determining blank (8) height, utilize the clamping of V-type fixture block (6.5) and cover plate (6.6) that blank (8) is positioned at support
On platform (6.4)；
5) by X-axis servomotor (2.2), Z axis servomotor (3.3) and electric rotating machine (4.3), under velocity mode manually
The clamp system (5) being clamped with smooth bar is separately adjusted to angularly blank (8) position to be held of flexible discharging device (6), high frequency
Blank (8) position to be heated of sensing heater (11), blank (8) position to be processed of metal extrusion press (9), carry out similar machine
The working cutter of bed, records the spatial coordinate location of three positions simultaneously；Billet size parameter to be processed, speed of service ginseng
Number, the space position parameter write turn-key system of three positions；
6) intelligent operation process: one-touch startup stops, and first passes through X-axis servomotor (2.2), Z axis servomotor (3.3)
With electric rotating machine (4.3), clamp system (5) is adjusted to blank (8) position to be held；By clamping cylinder in clamp system (5)
(5.3) control claw (5.4) and open and close clamping blank (8)；Then clamp system (5) is controlled by Z axis servomotor (3.3)
Rise and make blank (8) depart from flexible discharging device (6), by X-axis servomotor (2.2), Z axis servomotor (3.3) and rotation
Clamp system (5) is adjusted to blank (8) position to be heated by motor (4.3), will clamping blank (8) by controlling clamping cylinder (5.3)
Claw (5.4) extend in high frequency induction heater (11), begin to warm up；After having heated, controlled by clamping cylinder (5.3)
The claw (5.4) of clamping heating blank (8) departs from high frequency induction heater (11)；Watched by X-axis servomotor (2.2), Z axis
Take motor (3.3) and electric rotating machine (4.3) controls clamp system (5) and delivers to treat in metal extrusion press (9) by the blank (8) after heating
Working position, then lower into mould, complete blanking by controlling clamping cylinder (5.3) unlatching claw (5.4)；Finally, will folder
Tight mechanism (5) returns from metal extrusion press (9), system back to zero；
5) control metal extrusion press (9) work finally by metal extrusion press operation cabinet (10), complete the processing of blank (8).
The method have the advantages that
One drop stamping transfer matic transfer robot of the present invention mainly includes removable supporting mechanism and turn-key system, flexible blowing dress
Put, X-axis travel mechanism, Z-axis lifting mechanism, A axle rotating mechanism, clamp system (pneumatic), connect assembly etc..Wherein
Removable supporting mechanism is mainly used to location and supports and lay pneumatic element, electrical equipment；Turn-key system can write blank in batches
Gauge size, by host computer management and control, and periodically can store warning message, the torque velocities output situation of each motor,
Position situation, the position situation of cylinder；Flexible discharging device can be extended to automatic charging line based on vibrating disk etc., adds certainly
Dynamic lower stockline can form the machining center with certain beat；Three coordinate machine structure (X-axis travel mechanism, Z-axis lifting mechanism,
A axle rotating mechanism) complete location and transport；Connect assembly to be used to be connected mechanical hand with metal extrusion press, not only secure
Mechanical hand position in z-direction, it is ensured that mechanical hand linear precision in the X direction.The present invention is primarily referred to as with servo
Motor and source of the gas are as power source.Three motions are all made up of servomotor and drive mechanism, complete predetermined space
The movement of position.X-axis, Z axis can use leading screw module, and Z axis is rotated by decelerator driving mechanical arm.
One drop stamping transfer matic transfer robot of the present invention uses packaged type supporting mechanism to be applicable to unfixed life as platform
Produce scene.Mechanical hand, firing equipment, process equipment becomes split-type structural, has versatility, it is simple to safeguard.Flexible feeding dress
Put guarantee and to be fed have certain versatility；Pneumatic clamping mechanism is furnished with the special fixture of different range and ensures that labor and materials versatility to be added is real
Border is feasible.Three-coordinate manipulator uses absolute position monitoring system to make machinery location more accurate, safe and reliable.
Standard component drop stamping transfer matic transfer robot can meet high-mechanical property labor and materials to be added heat processing technique requirement so that it is produces
Part there is higher static strength and fatigue strength, to meet the new standard of development and production, new demand, and improve production effect
Rate, stock utilization.This invention also can flexible adjust, moreover it is possible to meets other high-mechanical property standard component heat processing technique requirements.
One drop stamping transfer matic transfer robot of the present invention (1) preparation that generally comprises easy and simple to handle: each joint of equipment of checking without
System electrification after loosening, mechanical location is safe, starts if alarm free manually to get ready (relative to three-coordinate manipulator three-dimensional reference
Zero point measures feeding device, firing equipment, the corresponding coordinate of punch press spatial reference point), and write, carry out parametrization.(2)
Working method: after each equipment connection signal is normal, feeding preparation, to click on and automatically start, system is accomplished to by reference order
Position feeding, feeding clamping heating, etc. to be heated complete, feeding processing, put in place blanking return, complete punch process, back to zero
Deng action.
Accompanying drawing explanation
Fig. 1 is the structural representation of the invention drop stamping transfer matic transfer robot.
Fig. 2 is the side view of the invention drop stamping transfer matic transfer robot.
Fig. 3 is that the invention drop stamping transfer matic transfer robot is relative to operating position figure.
The structural representation of Fig. 4 flexibility discharging device.
The structural representation of Fig. 5 pneumatic clamping mechanism.
Wherein: removable supporting mechanism 1, casing 1.1, stage body 1.2, travelling wheel 1.3, lower margin 1.4, X-axis moving machine are supported
Structure 2, X-axis slideway 2.1, X-axis servomotor 2.2, X-axis drive mechanism 2.3, Z-axis lifting mechanism 3, Z axis base 3.1,
Z axis installing plate 3.2, Z axis servomotor 3.3, Z axis slideway 3.4, A axle rotating mechanism 4, Z axis base 4.1, A axle is installed
Plate 4.2, electric rotating machine 4.3, clamp system 5, mechanical arm 5.1, bearing assembly 5.2, clamping cylinder 5.3, claw 5.4, every
Thermal Ceramics sheet 5.5, flexible discharging device 6, base plate 6.1, smooth guide pillar 6.2, screw thread guide pillar 6.3, support platform 6.4, V
Type fixture block 6.5, cover plate 6.6, connect assembly 7, blank 8, metal extrusion press 9, metal extrusion press operation cabinet 10, high frequency sense
Answer heater 11, ground 12.
Detailed description of the invention
A kind of drop stamping transfer matic transfer robot as Figure 1-5, including removable supporting mechanism 1, X-axis travel mechanism
2, Z-axis lifting mechanism 3, A axle rotating mechanism 4 and clamp system 5；
Described X-axis travel mechanism 2 has the X-axis slideway 2.1 being arranged on removable supporting mechanism 1, X-axis servomotor
2.2 and X-axis drive mechanism 2.3；Described X-axis slideway 2.1 supports Z-axis lifting mechanism 3 and limits Z-axis lifting mechanism 3 and exist
Traveling track in X-axis；Described X-axis servomotor 2.2 and X-axis drive mechanism 2.3 are used for driving Z-axis lifting mechanism 3 to exist
Move on X-axis slideway 2.1；
Described Z-axis lifting mechanism 3 has the Z axis base being arranged on X-axis slideway 2.1 and being connected with X-axis drive mechanism 2.3
3.1, Z axis base 3.1 is vertically provided with Z axis installing plate 3.2, Z axis installing plate 3.2 is provided with Z axis servomotor 3.3, Z
Axle slideway 3.4 and Z-axis transmission mechanism；Described A axle rotating mechanism 4 is arranged on Z axis slideway 3.4, and at Z axis servo electricity
Lifting moving is made along Z axis slideway 3.4 under the effect of machine 3.3 and Z-axis transmission mechanism；
Described A axle rotating mechanism 4 has the A axle base being arranged on Z axis slideway 3.4 and be connected with Z-axis transmission mechanism
Vertically being provided with A axle installing plate 4.2 on 4.1, A axle bases 4.1, A axle installing plate 4.2 is provided with for controlling clamp system 5
The electric rotating machine 4.3 rotated；
Clamp system 5 has mechanical arm 5.1 as shown in Figure 5, and one end of described mechanical arm 5.1 is installed by bearing assembly 5.2
In the rotating shaft of electric rotating machine 4.3, clamping cylinder, equipped with clamping cylinder 5.3 and claw 5.4, is passed through in one end of mechanical arm 5.1
5.3 unlatching controlling claw 5.4 and Guan Bis.It is provided with thermal insulation ceramics sheet 5.5 between described clamping cylinder 5.3 and claw 5.4,
Described claw 5.4 is high-temperature alloy steel claw 5.4.Described electric rotating machine 4.3 is connected with mechanical arm 5.1, i.e. by decelerator
One end of described mechanical arm 5.1 is arranged on the output shaft of decelerator by bearing assembly 5.2.Due to blank to be processed second
Individual technical process is to be heated to more than 600 DEG C in high frequency induction heater 11, can be only achieved the performance requirement of labor and materials to be added,
Therefore use high-temperature alloy steel claw, and use thermal insulation ceramics sheet 5.5 claw and clamping cylinder to be isolated, protection clamping cylinder with
Exempt from high temperature failure.Clamp system 5 uses pneumatic clamping mechanism 5, and source of the gas controls clamping cylinder through two-position four-way solenoid directional control valve
Stretching, and then control unlatching and the Guan Bi of claw, then the aperture of governing speed control valve can control compressed-air actuated flow,
Just can control the unlatching of claw and the speed of Guan Bi.
Described removable supporting mechanism 1 has casing 1.1, and casing 1.1 is provided with stage body 1.2, and casing 1.1 four corners below is divided
Not being provided with travelling wheel 1.3, the outside of each travelling wheel 1.3 is equipped with support lower margin 1.4；Described casing 1.1 is provided with for controlling
X-axis servomotor 2.2 processed, Z axis servomotor 3.3, electric rotating machine 4.3 and the turn-key system of clamping cylinder 5.3 work.
Turn-key system is with main PLC and motion-control module as control core；Touch screen and panel button switch indication light are operating system；
Detection sensor is utilized to form closed loop absolute value system.
Being additionally provided with flexible discharging device 6 on described removable supporting mechanism 1, described flexible discharging device is positioned at X-axis slideway 2.1
Side；Flexible discharging device has base plate 6.1 as shown in Figure 4, and the middle part of base plate 6.1 is provided with screw thread guide pillar 6.3, base plate
The periphery being positioned at screw thread guide pillar 6.3 on 6.1 is provided with several smooth guide pillar 6.2, and the top of screw thread guide pillar 6.3 is provided with for clamping
The V-type fixture block 6.5 of blank 8 and cover plate 6.6, screw thread guide pillar 6.3 is provided with the support platform 6.4 of band nut, described support
Nut on platform 6.4 moves up and down by coordinating control support platform 6.4 with screw thread guide pillar 6.3；Described support platform 6.4
On be additionally provided with the guide hole coordinated with smooth guide pillar 6.2.Described cover plate 6.6 for L-type cover plate 6.6 and is furnished with adjustable jackscrew, cover plate
6.6 1 sidewalls are arranged on V-type fixture block 6.5 by bolt, and another sidewall of cover plate 6.6 is positioned at the top of V-type fixture block 6.5；
Described another sidewall of cover plate 6.6 has a gap, and V-type fixture block 6.5 has V-type opening, and described gap is relative with V-type opening
Arranging, described adjustable jackscrew is arranged on cover plate 6.6 1 sidewall, coordinates with V-type opening；Described blank 8 by gap, can
The effect adjusting jackscrew and V-type opening is positioned in support platform 6.4.By the spiral shell in the support platform 6.4 of regulation band nut
Mother, makes whole support platform 6.4 under the guiding of smooth guide pillar 6.2, can move up and down on screw thread guide pillar 6.3,
Being mainly used to adapt to the support of the blank to be added of different length, according to actual condition, its range of accommodation can be between 0～85mm.
Use cover plate 6.6 and V-type fixture block 6.5 to clamp blank to be processed, and ensure its clamped height during upper material clamping blank to be processed
Unanimously.
One end of described removable supporting mechanism 1 is additionally provided with connection assembly 7, and described removable supporting mechanism 1 is by connecting assembly
7 are connected with metal extrusion press 9.
A kind of drop stamping transfer matic, uses above-mentioned transfer robot, also includes metal extrusion press 9, metal extrusion press operation cabinet 10
With high frequency induction heater 11, described metal extrusion press 9 is arranged on the front end being positioned at transfer robot on ground 12, described height
Frequency sensing heater 11 and metal extrusion press operation cabinet 10 lay respectively at the both sides of transfer robot.
The using method of a kind of above-mentioned drop stamping transfer matic transfer robot, comprises the steps:
1) before transfer robot being pushed into metal extrusion press 9 by removable supporting mechanism 1, and by connecting assembly 7 and gold
Belong to extruder 9 and connect fixing；
2) blank 8 is placed on flexible discharging device 6, and by the height of the nut regulation blank 8 in support platform 6.4
Degree, after determining blank 8 height, utilizes the clamping of V-type fixture block 6.5 and cover plate 6.6 that blank 8 is positioned at support platform 6.4
On；
3) by X-axis servomotor 2.2, Z axis servomotor 3.3 and electric rotating machine 4.3, manually by under velocity mode
Through having clamped the clamp system 5 of smooth bar (simulation blank 8), to be separately adjusted to angularly the blank 8 of flexible discharging device 6 to be held
Above position, blank 8 position to be heated of high frequency induction heater 11, blank 8 position to be processed of metal extrusion press 9,
Carry out similar lathe cutter is worked, record the spatial coordinate location of three positions simultaneously；Blank 8 size to be processed is joined
Number, speed of service parameter, the space position parameter write turn-key system of three positions；
4) intelligent operation process: one-touch startup stops, and first passes through X-axis servomotor 2.2, Z axis servomotor 3.3 and
Clamp system 5 is adjusted above blank 8 position to be held by electric rotating machine 4.3, then declines；By clamp system 5 clamps
Cylinder 5.3 controls claw 5.4 and opens and close clamping blank 8；Then clamp system 5 is controlled by Z axis servomotor 3.3
Rise and make blank 8 depart from flexible discharging device 6, by X-axis servomotor 2.2, Z axis servomotor 3.3 and electric rotating machine
Clamp system 5 is adjusted to blank 8 position to be heated by 4.3, then rises, and will clamp base by controlling clamping cylinder 5.3
The claw 5.4 of material 8 extends in high frequency induction heater 11, begins to warm up；Subsequently, heating completes, and passes through clamping cylinder
5.3 claws 5.4 controlling clamping heating blank 8 depart from high frequency induction heater 11；By X-axis servomotor 2.2, Z axis
Servomotor 3.3 and electric rotating machine 4.3 control clamp system 5 and deliver in metal extrusion press 9 to be processed by the blank 8 after heating
Above position, then lower into mould, open claw 5.4 by control clamping cylinder 5.3 and complete blanking；Finally, will clamping
Mechanism 5 returns from metal extrusion press 9, system back to zero；
5) control metal extrusion press 9 finally by metal extrusion press operation cabinet 10 to work, complete the processing of blank 8.
Claims (9)
1. drop stamping transfer matic transfer robot, it is characterised in that include removable supporting mechanism (1), X-axis travel mechanism
(2), Z-axis lifting mechanism (3), A axle rotating mechanism (4) and clamp system (5)；
Described X-axis travel mechanism (2) has the X-axis slideway (2.1) being arranged on removable supporting mechanism (1), X-axis servo electricity
Machine (2.2) and X-axis drive mechanism (2.3)；Described X-axis slideway (2.1) supports Z-axis lifting mechanism (3) and limits Z axis elevator
The structure (3) traveling track in X-axis；Described X-axis servomotor (2.2) and X-axis drive mechanism (2.3) are used for driving Z axis liter
Descending mechanism (3) is upper mobile at X-axis slideway (2.1)；
Described Z-axis lifting mechanism (3) has the Z axis being arranged on X-axis slideway (2.1) and being connected with X-axis drive mechanism (2.3)
Base (3.1), Z axis base (3.1) is vertically provided with Z axis installing plate (3.2), and Z axis installing plate (3.2) is provided with Z axis servo
Motor (3.3), Z axis slideway (3.4) and Z-axis transmission mechanism；Described A axle rotating mechanism (4) is arranged on Z axis slideway (3.4)
On, and make lifting moving along Z axis slideway (3.4) under the effect of Z axis servomotor (3.3) and Z-axis transmission mechanism；
Described A axle rotating mechanism (4) has the A axle base being arranged on Z axis slideway (3.4) and being connected with Z-axis transmission mechanism
(4.1), A axle base (4.1) is vertically provided with A axle installing plate (4.2), A axle installing plate (4.2) to be provided with for controlling clamping
The electric rotating machine (4.3) that mechanism (5) rotates；
Described clamp system (5) has mechanical arm (5.1), and one end of described mechanical arm (5.1) is arranged on by bearing assembly (5.2)
In the rotating shaft of electric rotating machine (4.3), one end of mechanical arm (5.1) is equipped with clamping cylinder (5.3) and claw (5.4), by clamping gas
Cylinder (5.3) controls unlatching and the Guan Bi of claw (5.4).
2. drop stamping transfer matic transfer robot as claimed in claim 1, it is characterised in that described removable supporting mechanism
(1) having casing (1.1), casing (1.1) is provided with stage body (1.2), and casing (1.1) four corners below is respectively equipped with travelling wheel
(1.3), the outside of each travelling wheel (1.3) is equipped with support lower margin (1.4)；Described casing (1.1) is provided with and watches for controlling X-axis
Take the turn-key system that motor (2.2), Z axis servomotor (3.3), electric rotating machine (4.3) and clamping cylinder (5.3) work.
3. drop stamping transfer matic transfer robot as claimed in claim 1, it is characterised in that described removable supporting mechanism
(1) being additionally provided with flexible discharging device (6) on, described flexible discharging device is positioned at the side of X-axis slideway (2.1)；Described flexibility is put
Material device has base plate (6.1), and the middle part of base plate (6.1) is provided with screw thread guide pillar (6.3), and base plate is positioned at screw thread guide pillar on (6.1)
(6.3) periphery is provided with several smooth guide pillar (6.2), and the top of screw thread guide pillar (6.3) is provided with the V-type folder for clamping blank (8)
Block (6.5) and cover plate (6.6), screw thread guide pillar (6.3) is provided with the support platform (6.4) of band nut, described support platform (6.4)
On nut by coordinate with screw thread guide pillar (6.3) control support platform (6.4) move up and down；Described support platform (6.4) is upper also
It is provided with the guide hole coordinated with smooth guide pillar (6.2).
4. drop stamping transfer matic transfer robot as claimed in claim 3, it is characterised in that described cover plate (6.6) is L-type
Cover plate (6.6) is also furnished with adjustable jackscrew, and cover plate (6.6) sidewall is arranged on V-type fixture block (6.5) by bolt, cover plate (6.6)
Another sidewall is positioned at the top of V-type fixture block (6.5), and described cover plate (6.6) another sidewall has a gap；V-type fixture block (6.5)
Having V-type opening, described gap is oppositely arranged with V-type opening, and described adjustable jackscrew is arranged on cover plate (6.6) sidewall,
Coordinate with V-type opening；Described blank (8) is positioned at support platform (6.4) by the effect of gap, adjustable jackscrew and V-type opening
On.
5. drop stamping transfer matic transfer robot as claimed in claim 1, it is characterised in that described clamping cylinder (5.3) and
Being provided with thermal insulation ceramics sheet (5.5) between claw (5.4), described claw (5.4) is high-temperature alloy steel claw (5.4).
6. drop stamping transfer matic transfer robot as claimed in claim 1, it is characterised in that described removable supporting mechanism
(1) one end is additionally provided with connection assembly (7), and described removable supporting mechanism (1) is by connecting assembly (7) and metal extrusion press (9)
Connect.
7. drop stamping transfer matic transfer robot as claimed in claim 1, it is characterised in that described electric rotating machine (4.3) leads to
Crossing decelerator to be connected with mechanical arm (5.1), one end of the most described mechanical arm (5.1) is arranged on decelerator by bearing assembly (5.2)
Output shaft on.
8. a drop stamping transfer matic, uses the transfer robot as described in claim 1-7 is arbitrary, it is characterised in that also
Including metal extrusion press (9), metal extrusion press operation cabinet (10) and high frequency induction heater (11), described metal extrusion press (9) sets
Put the front end being positioned at transfer robot on ground (12), described high frequency induction heater (11) and metal extrusion press operation cabinet (10)
Lay respectively at the both sides of transfer robot.
9. the using method of drop stamping transfer matic transfer robot as described in claim 1-7 is arbitrary, it is characterised in that
Comprise the steps:
1) by removable supporting mechanism (1), transfer robot is pushed into metal extrusion press (9) front, and by connect assembly (7) with
Metal extrusion press (9) connects fixing；
2) blank (8) is placed on flexible discharging device (6), and by nut regulation blank (8) in support platform (6.4)
Height, after determining blank (8) height, utilize the clamping of V-type fixture block (6.5) and cover plate (6.6) that blank (8) is positioned at support
On platform (6.4)；
3) by X-axis servomotor (2.2), Z axis servomotor (3.3) and electric rotating machine (4.3), under velocity mode manually
The clamp system (5) being clamped with smooth bar is separately adjusted to angularly blank (8) position to be held of flexible discharging device (6), high frequency
Blank (8) position to be heated of sensing heater (11), blank (8) position to be processed of metal extrusion press (9), carry out similar machine
The working cutter of bed, records the spatial coordinate location of three positions simultaneously；Billet size parameter to be processed, speed of service ginseng
Number, the space position parameter write turn-key system of three positions；
4) intelligent operation process: one-touch startup stops, and first passes through X-axis servomotor (2.2), Z axis servomotor (3.3)
With electric rotating machine (4.3), clamp system (5) is adjusted to blank (8) position to be held；By clamping cylinder in clamp system (5)
(5.3) control claw (5.4) and open and close clamping blank (8)；Then clamp system (5) is controlled by Z axis servomotor (3.3)
Rise and make blank (8) depart from flexible discharging device (6), by X-axis servomotor (2.2), Z axis servomotor (3.3) and rotation
Clamp system (5) is adjusted to blank (8) position to be heated by motor (4.3), will clamping blank (8) by controlling clamping cylinder (5.3)
Claw (5.4) extend in high frequency induction heater (11), begin to warm up；After having heated, controlled by clamping cylinder (5.3)
The claw (5.4) of clamping heating blank (8) departs from high frequency induction heater (11)；Watched by X-axis servomotor (2.2), Z axis
Take motor (3.3) and electric rotating machine (4.3) controls clamp system (5) and delivers to treat in metal extrusion press (9) by the blank (8) after heating
Working position, then lower into mould, complete blanking by controlling clamping cylinder (5.3) unlatching claw (5.4)；Finally, will folder
Tight mechanism (5) returns from metal extrusion press (9), system back to zero；
5) control metal extrusion press (9) work finally by metal extrusion press operation cabinet (10), complete the processing of blank (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610428338.6A CN105880342B (en) | 2016-06-17 | 2016-06-17 | Drop stamping transfer matic transfer robot and application method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610428338.6A CN105880342B (en) | 2016-06-17 | 2016-06-17 | Drop stamping transfer matic transfer robot and application method |
Publications (2)
| Publication Number | Publication Date |
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| CN105880342A true CN105880342A (en) | 2016-08-24 |
| CN105880342B CN105880342B (en) | 2018-08-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610428338.6A Active CN105880342B (en) | 2016-06-17 | 2016-06-17 | Drop stamping transfer matic transfer robot and application method |
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| CN108927434A (en) * | 2018-06-07 | 2018-12-04 | 东风(武汉)实业有限公司 | The heat stamping and shaping device of high strength steel |
| CN110625018A (en) * | 2019-10-23 | 2019-12-31 | 马鞍山楚锐科技信息咨询有限公司 | Quick blank pressing device for manufacturing bell mouth pipe fitting |
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| Publication number | Publication date |
|---|---|
| CN105880342B (en) | 2018-08-07 |
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