CN106825359A - A kind of press forging grasping mechanism - Google Patents
A kind of press forging grasping mechanism Download PDFInfo
- Publication number
- CN106825359A CN106825359A CN201710080314.0A CN201710080314A CN106825359A CN 106825359 A CN106825359 A CN 106825359A CN 201710080314 A CN201710080314 A CN 201710080314A CN 106825359 A CN106825359 A CN 106825359A
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- CN
- China
- Prior art keywords
- contiguous block
- connecting plate
- depression bar
- pressure pin
- mechanism includes
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J13/00—Details of machines for forging, pressing, or hammering
- B21J13/08—Accessories for handling work or tools
- B21J13/10—Manipulators
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Forging (AREA)
Abstract
The present invention relates to a kind of press forging grasping mechanism.Including rotating mechanism, supporting mechanism and hold-down mechanism, the rotating mechanism includes the pneumatic rotary actuator being connected with robot Y-axis end, the output shaft lower end of the pneumatic rotary actuator is provided with connecting plate, the supporting mechanism includes the parallelly opening-and-closing jaw installed in connecting plate lower end, two parallelly opening-and-closing jaw front ends are provided with pressure pin, two pressure pin lower ends are respectively equipped with two hooks, the hold-down mechanism includes the cylinder installed in connecting plate lower end, the piston-rod lower end of cylinder is provided with horizontal brace rod, the front end of the horizontal brace rod is provided with contiguous block, the lower end of the contiguous block passes through the rotatable depression bar of hinge, the depression bar lower section is provided with lower mould, lower mould upper surface is provided with the die cavity for placing workpiece, both sides are provided with the groove that can accommodate hook lower end in die cavity.Simple structure of the present invention, accurate positioning, stable and reliable operation forges and presses workpiece instead of artificial crawl, so as to realize the automation of forging and stamping processing, improves operating efficiency.
Description
Technical field
The present invention relates to a kind of grasping mechanism, more particularly to a kind of press forging grasping mechanism, belong to robotics.
Background technology
Forging and stamping are that forging and punching press are collectively referred to as, be using the tup of metal forming machinery, anvil block, drift or by mould to blank
Apply pressure, be allowed to produce plastic deformation, so as to obtain the method for processing forming of the product of required shape and size.
, it is necessary to the forging and stamping workpiece to producing is captured in forging and stamping field, if using manually being captured to workpiece,
With danger, and work under bad environment, existing traditional grasping mechanism is unreliable, and positioning is inaccurate, and operating efficiency
Lowly.The content of the invention
It is reliable and stable it is an object of the invention to provide a kind of simple structure for drawbacks described above, accurate positioning, operating efficiency
A kind of press forging grasping mechanism high.
For this technical solution adopted in the present invention is：
Including rotating mechanism, supporting mechanism and hold-down mechanism, the rotating mechanism includes pneumatic with what robot Y-axis end was connected
Tilt cylinder, the output shaft lower end of the pneumatic rotary actuator is provided with connecting plate, and the supporting mechanism is included installed in connecting plate lower end
Parallelly opening-and-closing jaw, two parallelly opening-and-closing jaw front ends are provided with pressure pin, and two pressure pin lower ends are respectively equipped with two hooks, described
Hold-down mechanism includes the cylinder installed in connecting plate lower end, and the piston-rod lower end of cylinder is provided with horizontal brace rod, and the level connects
The front end of extension bar is provided with contiguous block, and by the rotatable depression bar of hinge, the depression bar lower section sets for the lower end of the contiguous block
There is lower mould, lower mould upper surface is provided with the die cavity for placing workpiece, and both sides are provided with the groove that can accommodate hook lower end in die cavity.
Used as the further improvement of above-mentioned technical proposal, the cylinder is located at parallelly opening-and-closing jaw rear side, and the level connects
Extension bar is located at the lower section of parallelly opening-and-closing jaw, and the depression bar is located on two pressure pin center vertical faces, and the contiguous block is located at same
On the hook center vertical face of side two.
Used as the further improvement of above-mentioned technical proposal, the lower end of the contiguous block is provided with link slot, the depression bar upper end
Rotated in link slot and with contiguous block by bearing pin and be connected.
Used as the further improvement of above-mentioned technical proposal, the hook upper side is provided with waist-shaped hole, and the waist-shaped hole leads to
Bolt is crossed to be connected with pressure pin.
It is an advantage of the invention that：
Simple structure of the present invention, accurate positioning, stable and reliable operation forges and presses workpiece instead of artificial crawl, so as to realize that forging and stamping add
The automation of work, improves operating efficiency.
Brief description of the drawings
Fig. 1 is structural representation of the invention.
Fig. 2 is stereogram of the invention.
Fig. 3 is the sectional view of A-A in Fig. 1.
1 it is pneumatic rotary actuator in figure, 2 be connecting plate, 3 be parallelly opening-and-closing jaw, 4 be pressure pin, 5 be hook, 6 be cylinder, 7 is
Horizontal brace rod, 8 be contiguous block, 9 be bearing pin, 10 be depression bar, 11 be lower mould, 12 be groove, 13 be waist-shaped hole, 14 be bolt.
Specific embodiment
A kind of press forging grasping mechanism, including rotating mechanism, supporting mechanism and hold-down mechanism, the rotating mechanism include with
The pneumatic rotary actuator 1 of robot Y-axis end connection, the output shaft lower end of the pneumatic rotary actuator 1 is provided with connecting plate 2, the holding
Mechanism includes the parallelly opening-and-closing jaw 3 installed in the lower end of connecting plate 2, and two front ends of parallelly opening-and-closing jaw 3 are provided with pressure pin 4, two
The lower end of individual pressure pin 4 is respectively equipped with two hooks 5, and the hold-down mechanism includes the cylinder 6 installed in the lower end of connecting plate 2, cylinder 6
Piston-rod lower end is provided with horizontal brace rod 7, and the front end of the horizontal brace rod 7 is provided with contiguous block 8, the lower end of the contiguous block 8
Rotatable depression bar 10 is hinged by bearing pin 9, the lower section of the depression bar 10 is provided with lower mould 11, and the lower upper surface of mould 11 is provided with placement workpiece
Die cavity, both sides are provided with the groove 12 that can accommodate the lower end of hook 5 in die cavity.
Used as the further improvement of above-mentioned technical proposal, the cylinder 6 is located at the rear side of parallelly opening-and-closing jaw 3, the level
Connecting rod 7 is located at the lower section of parallelly opening-and-closing jaw 3, and the depression bar 10 is located on two center vertical faces of pressure pin 4, the contiguous block
8 are located on the center vertical face of two hooks of homonymy 5.
Used as the further improvement of above-mentioned technical proposal, the lower end of the contiguous block 8 is provided with link slot, on the depression bar 10
End is located in link slot and is rotated with contiguous block 8 by bearing pin 9 and is connected.
Used as the further improvement of above-mentioned technical proposal, the upper side of the hook 5 is provided with waist-shaped hole 13, the waist-shaped hole
13 are connected by bolt 14 with pressure pin 4.
In the course of the work, parallelly opening-and-closing jaw is rotated to the location of workpiece, parallelly opening-and-closing by pneumatic rotary actuator by connecting plate
Jaw front end is held up workpiece by the hook of pressure pin lower end, and the cylinder of connecting plate lower end drives contiguous block by horizontal brace rod
The depression bar of lower end is compressed to workpiece, prevents workpiece to be shifted in moving process, both sides in the upper surface die cavity of lower mould
The groove that can accommodate hook lower end is provided with, is easy to hook to carry out holding, the side of hook does not contact with workpiece, it is ensured that do not influence work
The positioning of part.
Claims (4)
1. a kind of press forging grasping mechanism, it is characterised in that including rotating mechanism, supporting mechanism and hold-down mechanism, the rotation
Mechanism includes the pneumatic rotary actuator being connected with robot Y-axis end, and the output shaft lower end of the pneumatic rotary actuator is provided with connecting plate, institute
Stating supporting mechanism includes being arranged on the parallelly opening-and-closing jaw of connecting plate lower end, and two parallelly opening-and-closing jaw front ends are provided with pressure pin,
Two pressure pin lower ends are respectively equipped with two hooks, and the hold-down mechanism includes the cylinder installed in connecting plate lower end, the work of cylinder
Stopper rod lower end is provided with horizontal brace rod, and the front end of the horizontal brace rod is provided with contiguous block, and the lower end of the contiguous block passes through pin
Axle is hinged rotatable depression bar, and the depression bar lower section is provided with lower mould, and lower mould upper surface is provided with the die cavity for placing workpiece, two in die cavity
Side is provided with the groove that can accommodate hook lower end.
2. a kind of press forging grasping mechanism according to claim 1, it is characterised in that the cylinder is located at parallelly opening-and-closing gas
Pawl rear side, the horizontal brace rod is located at the lower section of parallelly opening-and-closing jaw, and the depression bar is located on two pressure pin center vertical faces,
The contiguous block is located on two hook center vertical faces of homonymy.
3. a kind of press forging grasping mechanism according to claim 1 and 2, it is characterised in that the lower end of the contiguous block sets
There is link slot, the depression bar upper end is located in link slot and is rotated with contiguous block by bearing pin and is connected.
4. a kind of press forging grasping mechanism according to claim 1, it is characterised in that the hook upper side is provided with waist
Type hole, the waist-shaped hole is connected by bolt with pressure pin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710080314.0A CN106825359B (en) | 2017-02-15 | 2017-02-15 | A kind of press forging grasping mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710080314.0A CN106825359B (en) | 2017-02-15 | 2017-02-15 | A kind of press forging grasping mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106825359A true CN106825359A (en) | 2017-06-13 |
| CN106825359B CN106825359B (en) | 2018-08-07 |
Family
ID=59128650
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710080314.0A Active CN106825359B (en) | 2017-02-15 | 2017-02-15 | A kind of press forging grasping mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106825359B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108526856A (en) * | 2018-03-09 | 2018-09-14 | 北京航天控制仪器研究所 | A kind of unstressed operating device of conductive hairspring |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5947040A (en) * | 1982-12-01 | 1984-03-16 | Sumitomo Heavy Ind Ltd | Manipulator for forging |
| CN201329582Y (en) * | 2008-07-17 | 2009-10-21 | 浙江天煌科技实业有限公司 | Manipulator with four degrees of freedom |
| CN203266633U (en) * | 2013-05-21 | 2013-11-06 | 洛阳理工学院 | Space coordinate positioning grabbing mechanical arm |
| CN203371542U (en) * | 2013-07-29 | 2014-01-01 | 绍兴文理学院 | Mechanical arm for carrying |
| CN204430143U (en) * | 2015-02-13 | 2015-07-01 | 中信戴卡股份有限公司 | Bar Handling device |
| CN105033148A (en) * | 2015-08-19 | 2015-11-11 | 浙江博雷重型机床制造有限公司 | Forging loading robot |
| CN206509467U (en) * | 2017-02-15 | 2017-09-22 | 亚威徕斯机器人制造（江苏）有限公司 | A kind of press forging grasping mechanism |
-
2017
- 2017-02-15 CN CN201710080314.0A patent/CN106825359B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5947040A (en) * | 1982-12-01 | 1984-03-16 | Sumitomo Heavy Ind Ltd | Manipulator for forging |
| CN201329582Y (en) * | 2008-07-17 | 2009-10-21 | 浙江天煌科技实业有限公司 | Manipulator with four degrees of freedom |
| CN203266633U (en) * | 2013-05-21 | 2013-11-06 | 洛阳理工学院 | Space coordinate positioning grabbing mechanical arm |
| CN203371542U (en) * | 2013-07-29 | 2014-01-01 | 绍兴文理学院 | Mechanical arm for carrying |
| CN204430143U (en) * | 2015-02-13 | 2015-07-01 | 中信戴卡股份有限公司 | Bar Handling device |
| CN105033148A (en) * | 2015-08-19 | 2015-11-11 | 浙江博雷重型机床制造有限公司 | Forging loading robot |
| CN206509467U (en) * | 2017-02-15 | 2017-09-22 | 亚威徕斯机器人制造（江苏）有限公司 | A kind of press forging grasping mechanism |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108526856A (en) * | 2018-03-09 | 2018-09-14 | 北京航天控制仪器研究所 | A kind of unstressed operating device of conductive hairspring |
| CN108526856B (en) * | 2018-03-09 | 2020-02-11 | 北京航天控制仪器研究所 | Stress-free operating device for conductive hairspring |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106825359B (en) | 2018-08-07 |
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