CN215144133U - Three-coordinate movement device of steel ball billet clamping and placing manipulator - Google Patents

Abstract

A three-coordinate movement device of a steel ball billet clamping and placing manipulator comprises a rack, wherein a rack horizontal adjusting supporting foot is arranged at the bottom of a rack supporting leg of the rack; the billet clamping and placing mechanism bearing platform is in a rectangular flat-plate-shaped structure and is connected with a bearing platform lifting driving mechanism, the bearing platform lifting driving mechanism is connected with a bearing platform front-rear displacement driving mechanism, and the bearing platform front-rear displacement driving mechanism is arranged at the upper part of the rack; the billet clamping and placing mechanical arm left and right displacement action mechanism is arranged on a billet clamping and placing mechanism bearing platform; the left end of the billet clamping and placing mechanism support is fixed with the left and right displacement action mechanism of the billet clamping and placing mechanical arm, and the right end of the billet clamping and placing mechanism support is a horizontal cantilever end and keeps a space with the upper surface of the left and right displacement action mechanism of the billet clamping and placing mechanical arm. The cantilever type telescopic requirement of the billet clamping and placing mechanism support is met; the requirement that the billet clamping and placing mechanism arranged by the billet clamping and placing mechanism bracket as a carrier introduces the steel ball billets into a die of the steel ball stamping forming machine is met.

Description

Three-coordinate movement device of steel ball billet clamping and placing manipulator

Technical Field

The utility model belongs to the technical field of the supporting facility of steel ball stamping forming machine, concretely relates to steel ball billet presss from both sides three-dimensional telecontrol equipment of putting manipulator.

Background

The steel ball billet is also called a forged billet or a bar segment (the same applies hereinafter), and is a billet of the steel ball stamping forming machine before stamping the steel ball. The process of steel ball punch forming is roughly as follows: the steel round bar as raw material is first heated in a heating furnace, and then cut into billets according to the volume of the steel ball to be formed, and the billets are conveyed to a steel ball stamping forming machine by a billet conveying device and are stamped into the steel ball.

From the above description and in conjunction with the expert knowledge, it can be ascertained without doubt: the billet conveying device is positioned at a billet forming station and a steel ball punch forming station in a use state, namely alternately moves between the billet forming station and the steel ball punch forming station according to the rhythm of process requirements.

The prior device for moving the steel ball billet clamping and placing manipulator is characterized in that a screw (namely a lead screw) is driven by a servo motor and a sliding table is driven by the screw to move between the two stations, and the speed of the moving mode is relatively slow, so that the requirement of high-speed steel ball punch forming production cannot be met, and a servo motor control system is complex, high in cost and high in daily inspection and maintenance cost. The "apparatus for transporting a workpiece by a forging press" proposed in CN203109155U and the "feeding robot for a hot forging line" provided in CN102581197A have technical effects described in the technical effect column of the specification, but they have the drawbacks described above because they both use the servo motor.

The "forged steel ball conveying device for stamping steel balls" introduced in CN108326225A, because of eliminating the servo motor, makes up the aforementioned disadvantages of CN203109155U and CN102581197A and can objectively reconcile the four advantages summarized in the technical effect column of the specification, but still has the following disadvantages: firstly, when a billet (namely a forging stock, the same below) is fed into the steel ball stamping forming machine, the whole sliding table carrying billet clamping and placing mechanism needs to be moved to a lower die carrier of the steel ball stamping forming machine together (together), so that one end of a front cross beam and a rear cross beam of a sliding table frame of a structural system of the sliding table frame, which are used for the sliding of the sliding table, facing the steel ball stamping forming machine is reliably fixed with the steel ball stamping forming machine, certain influence can be generated on the structural integrity and the rationality of the steel ball stamping forming machine, and certain influence can be generated on the safety protection of related parts; secondly, because a clamping and releasing mechanism bearing platform (called a sliding platform in the patent) provided with a billet clamping and releasing mechanism (namely a forging billet clamping and releasing manipulator) can only move left and right but can not lift, the lifting height of the clamping and releasing mechanism bearing platform which can not lift can only be compensated by the opening and closing (descending when opening and ascending when closing or retracting) of the billet clamping and releasing mechanism (called a forging billet clamping and releasing mechanism), so the movement amplitude of the billet clamping and releasing mechanism in the opening and closing process is larger, especially as mentioned above, because the sliding platform carries the part which is advanced and retreated to the lower die carrier of the steel ball stamping forming machine, the stamping forming machine must be kept enough between the upper die carrier and the lower die carrier to meet the opening and closing space of the billet clamping and releasing mechanism, otherwise, the interference situation occurs, and the harsh factors are added to the steel ball stamping machine to a certain extent; thirdly, after the billet is pushed out by the billet pushing mechanism, the billet needs to be pushed upwards by the billet pushing mechanism to feed the billet to the billet clamping mechanism, so that the structure is relatively complex, the space is occupied greatly, and the daily convenient inspection and maintenance are not facilitated. In view of the foregoing, and not by way of limitation, there is a need for improvement and the solutions described below are made in this context.

SUMMERY OF THE UTILITY MODEL

The task of the utility model is to provide a help making billet to press from both sides puts flexible effect about manipulator embodies good cantilever type and avoid and steel ball stamping forming machine between produce structural connection and can embody integrality and independence of ideal separately, be favorable to making steel ball billet press from both sides and put manipulator and can satisfy the steel ball billet to introduce in the mould of steel ball stamping forming machine and satisfy the steel ball billet that the alternative operation required draws forth between station and the steel ball forming station at the steel ball billet and press from both sides the three-coordinate telecontrol equipment of putting manipulator around displacement.

The utility model discloses a three-coordinate movement device of a steel ball billet clamping and placing manipulator, which comprises a frame, wherein the frame is in a hollow frame-shaped structure, and the bottom of a frame supporting leg of the frame is provided with a frame horizontal adjusting supporting foot; the blank clamping and placing mechanism comprises a bearing table, a bearing table lifting driving mechanism and a bearing table front and back displacement driving mechanism; the billet clamping and placing mechanism bearing platform is in a rectangular flat-plate-shaped structure and is connected with a bearing platform lifting driving mechanism at a position corresponding to the upper part of the bearing platform lifting driving mechanism, the bearing platform lifting driving mechanism is connected with a bearing platform front and rear displacement driving mechanism in a state of being vacated above the rack, and the bearing platform front and rear displacement driving mechanism is arranged at the upper part of the rack; the billet clamping and placing mechanical arm left-right displacement action mechanism is arranged on a billet clamping and placing mechanism bearing table; and the right end of the billet clamping and placing mechanism support is a horizontal cantilever end and forms a space with the upper surface of the left and right displacement action mechanism of the billet clamping and placing mechanical arm.

In a specific embodiment of the present invention, a frame support is fixed on the upper portion of the frame; the bearing table front and back displacement driving mechanism is arranged on the rack support; the bearing table lifting driving mechanism is hinged with the bearing table front-back displacement driving mechanism, and the billet clamping and placing mechanism bearing table is connected with the bearing table lifting driving mechanism at the positions of four corners of the billet clamping and placing mechanism bearing table; the middle part of the billet clamping and placing mechanical arm left-right displacement action mechanism is arranged on one upward side of the billet clamping and placing mechanism bearing platform, and the left end and the right end of the billet clamping and placing mechanical arm respectively extend out of the billet clamping and placing mechanism bearing platform; the left end of the billet clamping and placing mechanism support is fixed on the left fixing plate of the billet clamping and placing mechanism support, and the right end of the billet clamping and placing mechanism support is fixed with a right fixing plate of the billet clamping and placing mechanism support.

In another specific embodiment of the present invention, the front and rear displacement driving mechanism of the loading platform comprises a support fixing frame, a front and rear displacement driving action cylinder of the lifting bottom plate, a front and rear displacement driving action cylinder supporting seat of the lifting bottom plate, a left displacement guide rod of the lifting bottom plate and a right displacement guide rod of the lifting bottom plate, the support fixing frame is fixed on the upper portion of the frame support, a rear end of the support fixing frame is fixed with a rear cross beam of the support fixing frame, a front end of the support fixing frame is fixed with a front cross beam of the support fixing frame, the front and rear displacement driving action cylinder supporting seat of the lifting bottom plate is fixed with the frame support at a position corresponding to the front side of the front cross beam of the support fixing frame, a front end of the cylinder body of the front and rear displacement driving action cylinder of the lifting bottom plate is hinged with a cylinder base hinge frame, the front and rear displacement driving action cylinder posts of the lifting bottom plate of the front and rear displacement driving action cylinder of the lifting bottom plate face backwards, the left displacement guide rod of the lifting bottom plate is positioned on the left side of the front-back displacement driving action cylinder of the lifting bottom plate, the front end of the left displacement guide rod of the lifting bottom plate is fixed with the upper part of the left end of the front cross beam of the support fixing frame through a front support seat of the left guide rod, the rear end of the left displacement guide rod of the lifting bottom plate is fixed with the upper part of the left end of the back cross beam of the support fixing frame through a back support seat of the left guide rod, the right displacement guide rod of the lifting bottom plate is positioned on the right side of the front-back displacement driving action cylinder of the lifting bottom plate, the front end of the right displacement guide rod of the lifting bottom plate is fixed with the upper part of the right end of the front cross beam of the support fixing frame through a front support seat of the right guide rod, the front support seat of the left guide rod corresponds to the back support seat of the left guide rod, and the front support seat corresponds to the back support seat of the right guide rod, a lifting bottom plate displacement left guide rod sliding block is arranged in the middle of the lifting bottom plate displacement left guide rod in a sliding manner, and a lifting bottom plate displacement right guide rod sliding block is arranged in the middle of the lifting bottom plate displacement right guide rod in a sliding manner; the bearing platform lifting driving mechanism is connected with the lifting bottom plate front and back displacement driving acting cylinder column and is also connected with the lifting bottom plate displacement left guide rod slide block and the lifting bottom plate displacement right guide rod slide block.

In another specific embodiment of the present invention, a lifting bottom plate front-rear displacement driving cylinder column connector is provided at the end of the lifting bottom plate front-rear displacement driving cylinder column; the bearing platform lifting driving mechanism comprises a front and rear displacement bottom plate and a group of billet clamping and placing mechanism bearing platform driving acting cylinders, the front and rear displacement bottom plate is simultaneously fixed with the lifting bottom plate displacement left guide rod slide block and the lifting bottom plate displacement right guide rod slide block, a front and rear displacement bottom plate hinging lug is fixed at the downward side of the front and rear displacement bottom plates and at the position corresponding to the cylinder column connector for driving the front and rear displacement of the lifting bottom plate, the front and back displacement bottom plate hinging lug is hinged with the front and back displacement driving action cylinder column connector of the lifting bottom plate, the number of the driving action cylinders of a group of billet clamping and placing mechanism bearing platform is four, and the driving action cylinders are fixed with the front and back displacement bottom plates in a suspension state at the positions of four corners distributed at one side of the front and back displacement bottom plates facing downwards, the billet clamping and placing mechanism bearing table driving action cylinder column of the billet clamping and placing mechanism bearing table driving action cylinder faces upwards and extends to the upper part of the front and back displacement bottom plate; the billet clamping and placing mechanism bearing table is connected with the upper end part of the billet clamping and placing mechanism bearing table driving action cylinder column.

In yet another embodiment of the present invention, the left and right displacement mechanism of the billet clamping and placing manipulator comprises a supporting platform fixing frame, a left and right reciprocating frame left slider guide rod fixing seat, a left and right reciprocating frame right slider guide rod fixing seat, a left and right reciprocating frame slider guide rod and a left and right reciprocating frame driving action cylinder, the middle part of the supporting platform fixing frame is arranged at one upward side of the billet clamping and placing mechanism supporting platform and fixed with the billet clamping and placing mechanism supporting platform, the left end of the supporting platform fixing frame is extended out of the left end surface of the billet clamping and placing mechanism supporting platform in a horizontal cantilever state, the right end surface is extended out of the right end surface of the billet clamping and placing mechanism supporting platform in a horizontal cantilever state, a pair of left and right reciprocating frame left sliders is fixed at the bottom of the left end of the left and right reciprocating frame, and a pair of left and right reciprocating frame right sliders is fixed at the bottom of the right end of the left and right reciprocating frame, a pair of left and right reciprocating frame left slider guide rod holders fixed to a left slider guide rod holder base plate fixed to the left end of the platform holder in a state of being parallel to each other in the front-rear direction, a pair of left and right reciprocating frame right slider guide rod holders fixed to a right slider guide rod holder base plate fixed to the right end of the platform holder in a state of being parallel to each other in the front-rear direction, a pair of left and right reciprocating frame slider guide rods fixed to the left and right reciprocating frame left slider guide rod holders in a number of parallel to each other in the front-rear direction, and a left end of each of the left and right reciprocating frame slider guide rods fixed to the left and right reciprocating frame left slider guide rod holders and a right end of each of the right and left reciprocating frame slider guide rods fixed to the left and right reciprocating frame right slider guide rod holders, a left end of a cylinder body of the left and right reciprocating frame driving cylinder being hinged to a left and right reciprocating frame driving cylinder holder, the left and right reciprocating frame driving action cylinder hinged frame is fixed with the upper end of the action cylinder hinged frame fixed column, the lower end of the action cylinder hinged frame fixed column is fixed with the upward side of the left end of the bearing table fixed frame, a reinforcing corner brace is connected between the middle part of the right side of the action cylinder hinged frame fixed column and the bearing table fixed frame, the left and right reciprocating frame driving action cylinder column of the left and right reciprocating frame driving action cylinder faces to the right and the tail end of the left and right reciprocating frame driving action cylinder column is connected with a movable frame hinged lug hinged joint, and the movable frame hinged lug hinged joint is hinged with a movable frame hinged lug formed on the left and right reciprocating frame; the left fixing plate of the billet clamping and placing mechanism support is formed by extending a bottom plate of a left reciprocating frame and a right reciprocating frame rightwards; and a space is reserved between the lower surface of the billet clamping and releasing mechanism support and the upper surface of the right sliding block guide rod fixing seat of the left and right reciprocating motion frame.

The utility model has the technical effects that as the billet clamping and placing mechanical arm left and right displacement action mechanism can make the billet clamping and placing mechanism support move left and right, the cantilever type telescopic requirement of the billet clamping and placing mechanism support can be met, the connection relation between the billet clamping and placing mechanical arm and the steel ball stamping and forming machine is eliminated, and the ideal integrity and independence of the billet clamping and placing mechanical arm and the steel ball stamping and forming machine are reflected; secondly, the billet clamping and placing manipulator left and right displacement action mechanism and the billet clamping and placing mechanism support can be lifted up and down by the bearing platform lifting driving mechanism, so that the requirement that a billet clamping and placing mechanism which takes the billet clamping and placing mechanism support as a carrier introduces a steel ball billet into a die of a steel ball stamping forming machine can be met; thirdly, the bearing platform lifting driving mechanism, the billet clamping and placing mechanism bearing platform, the billet clamping and placing mechanical arm left-right displacement action mechanism and the billet clamping and placing mechanism support can displace back and forth through the bearing platform front-back displacement driving mechanism, so that the requirement that the billet clamping and placing mechanism which takes the billet clamping and placing mechanism support as a carrier alternately operates between the steel ball billet leading-out station and the steel ball forming station can be met; fourthly, the billet clamping and placing mechanism bracket can move in left and right, up and down and front and back directions, so that the requirement of three-coordinate movement of the billet clamping and placing mechanism which is arranged as a carrier can be met.

Drawings

Fig. 1 is a structural diagram of an embodiment of the present invention.

Fig. 2 is a structural diagram of fig. 1 after the billet clamping and placing mechanical arm opening and closing driving mechanism, the billet clamping and placing mechanism bracket and the billet clamping and placing mechanism are removed.

Fig. 3 is a detailed structural view of the billet clamping and placing robot opening and closing driving mechanism, the billet clamping and placing mechanism support and the billet clamping and placing mechanism shown in fig. 1.

Fig. 4 is a detailed block diagram of the billet clamping and placing robot shown in fig. 1 to 3.

Fig. 5 is a schematic view of the billet clamping and placing robot shown in fig. 1 to 4 in an opened and closed state.

Fig. 6 is a schematic view of the steel ball stamping machine of the present invention for stamping billets into steel balls.

Detailed Description

In order to make the technical essence and advantages of the present invention more clear, the applicant below describes in detail the embodiments, but the description of the embodiments is not a limitation of the present invention, and any equivalent changes made according to the inventive concept, which are only formal and not essential, should be considered as the technical scope of the present invention.

In the following description, all the concepts related to the directions or orientations of up, down, left, right, front and rear are based on the position state of fig. 1, and thus, should not be interpreted as a specific limitation to the technical solution provided by the present invention.

Referring to fig. 1, there is shown a frame 1, wherein the frame 1 is a hollow frame-shaped structure, and a frame horizontal adjusting support leg 12 is provided at the bottom of a frame support leg of the frame 1; a billet clamping and placing mechanism bearing platform 2, a bearing platform lifting driving mechanism 3 and a bearing platform front and back displacement driving mechanism 4 are shown; the billet clamping and placing mechanism bearing platform 2 is in a rectangular flat plate-shaped structure and is connected with a bearing platform lifting driving mechanism 3 at a position corresponding to the upper part of the bearing platform lifting driving mechanism 3, the bearing platform lifting driving mechanism 3 is connected with a bearing platform front-back displacement driving mechanism 4 in a state of being vacated above the rack 1, and the bearing platform front-back displacement driving mechanism 4 is arranged at the upper part of the rack 1; a billet clamping and placing mechanical arm left and right displacement action mechanism 5 is shown, and the billet clamping and placing mechanical arm left and right displacement action mechanism 5 is arranged on the billet clamping and placing mechanism bearing platform 2; a billet clamping and placing mechanism support 7 is shown, the left end of the billet clamping and placing mechanism support 7 is fixed with the left and right displacement action mechanism 5 of the billet clamping and placing mechanical arm, and the right end of the billet clamping and placing mechanism support 7 is formed into a horizontal cantilever end (also called a cantilever end) and keeps a space, namely keeps a non-contact distance, with the upper surface of the left and right displacement action mechanism 5 of the billet clamping and placing mechanical arm.

As shown in fig. 1, a billet clamping and placing mechanical arm opening and closing driving mechanism 6 and a billet clamping and placing mechanism 8 are further shown, the billet clamping and placing mechanical arm opening and closing driving mechanism 6 together with the left end of the billet clamping and placing mechanism support 7 is fixed with the billet clamping and placing mechanical arm left and right displacement action mechanism 5, that is, the billet clamping and placing mechanical arm opening and closing driving mechanism 6 is arranged at the left end of the billet clamping and placing mechanism support 7 and is fixed with the left end of the billet clamping and placing mechanism support 7 and the billet clamping and placing mechanical arm left and right displacement action mechanism 5, and the billet clamping and placing mechanism 8 is arranged at the upward side of the right end of the billet clamping and placing mechanism support 7 and is connected with the billet clamping and placing mechanical arm opening and closing driving mechanism 6.

Referring to fig. 1 and 2, a frame support 11 is fixed on the upper portion of the frame 1, and the plummer forward-backward displacement driving mechanism 4 is disposed on the frame support 11; the bearing platform lifting driving mechanism 3 is hinged with the bearing platform front-back displacement driving mechanism 4, and the billet clamping and placing mechanism bearing platform 2 is connected with the bearing platform lifting driving mechanism 3 at the positions of four corners; the middle part of the billet clamping and placing mechanical arm left-right displacement action mechanism 5 is arranged, namely is stationarily fixed on one side of the billet clamping and placing mechanism bearing platform 2 facing upwards, and the left end and the right end respectively extend out of the billet clamping and placing mechanism bearing platform 2; the left end of the billet clamping and placing mechanism support 7 is fixed on a billet clamping and placing mechanism support left fixing plate 71, the right end is fixed with a billet clamping and placing mechanism support right fixing plate 72, the billet clamping and placing mechanical arm opening and closing driving mechanism 6 is supported on the billet clamping and placing mechanism support left fixing plate 71, and the billet clamping and placing mechanism 8 is arranged on the billet clamping and placing mechanism support right fixing plate 72.

Continuing with fig. 1 and 2, the aforementioned plummer front-rear displacement driving mechanism 4 includes a support fixing frame 41, a lifting bottom plate front-rear displacement driving acting cylinder 42, a lifting bottom plate front-rear displacement driving acting cylinder supporting base 43, a lifting bottom plate displacement left guide rod 44 and a lifting bottom plate displacement right guide rod 45, the support fixing frame 41 is preferably fixed on the upper portion of the aforementioned frame support 11 by welding, a support fixing frame rear cross beam 411 is fixed on the rear end of the support fixing frame 41, a support fixing frame front cross beam 412 is fixed on the front end, the lifting bottom plate front-rear displacement driving acting cylinder supporting base 43 is preferably fixed with the aforementioned frame support 11 by welding at a position corresponding to the front of the support fixing frame front cross beam 412, a cylinder base hinge frame 422 is hinged on the front end of the cylinder body of the lifting bottom plate front-rear displacement driving acting cylinder 42, the cylinder base hinge frame 422 is fixedly connected with the upper portion of the aforementioned lifting bottom plate front-rear displacement driving acting cylinder supporting base 43 by a cylinder base hinge frame screw 4221, the front-rear displacement driving cylinder column 421 of the front-rear displacement driving cylinder 42 of the lifter base plate faces backward, the left lifter base plate displacement guide rod 44 is positioned on the left side of the front-rear displacement driving cylinder 42 of the lifter base plate, and the front end of the left lifter base plate displacement guide rod 44 is fixed to the upper left end of the front beam 412 of the holder fixing frame through the front left guide rod bearing seat 441, while the rear end of the left lifter base plate displacement guide rod 44 is fixed to the upper left end of the rear beam 411 of the holder fixing frame through the rear left guide rod bearing seat 442, the right lifter base plate displacement guide rod 45 is positioned on the right side of the front-rear displacement driving cylinder 42 of the lifter base plate, and the front end of the right lifter base plate displacement guide rod 45 is fixed to the upper right end of the front beam 412 of the holder fixing frame through the front right guide rod bearing seat 451, while the rear end of the right lifter base plate displacement guide rod 45 is fixed to the upper right end of the rear beam 411 of the holder fixing frame through the rear right guide rod bearing seat (not shown), the left front guide bar support 441 and the left rear guide bar support 442 correspond to each other in the front-rear direction, the right front guide bar support 451 and the right rear guide bar support correspond to each other in the front-rear direction, a lifting base plate displacement left guide bar slider 443 is slidably disposed in the middle of the lifting base plate displacement left guide bar 44, and a lifting base plate displacement right guide bar slider 452 is slidably disposed in the middle of the lifting base plate displacement right guide bar 45; the platform elevation driving mechanism 3 is connected to the elevation base plate forward/backward displacement driving cylinder 421, and is also connected to the elevation base plate displacement left guide 443 and the elevation base plate displacement right guide 452.

From the above description and with reference to the schematic of fig. 1: the lifting base plate displacement left guide bar 44 and the lifting base plate displacement right guide bar 45 are substantially cylindrical linear guide rails, and the lifting base plate displacement left guide bar slider 443 and the lifting base plate displacement right guide bar slider 452 constitute a guide rail pair with the guide rails, respectively.

As shown in fig. 1 and 2, a lifting floor forward and backward displacement driving cylinder column coupling 4211 is provided at the end of the lifting floor forward and backward displacement driving cylinder column 421; the above-mentioned carrier table lifting driving mechanism 3 comprises a front and rear displacement base plate 31 and a set of billet clamping mechanism carrier table driving acting cylinders 32, the front and rear displacement base plate 31 is fixed with the above-mentioned left lifting base plate displacement guide rod slider 443 and right lifting base plate displacement guide rod slider 452 through front and rear displacement base plate fixing screws 312, a front and rear displacement base plate hinge lug 311 is fixed on the downward side of the front and rear displacement base plate 31 and at the position corresponding to the above-mentioned front and rear lifting base plate front and rear displacement driving acting cylinder connector 4211, the number of the set of billet clamping mechanism carrier table driving acting cylinders 32 is four and fixed with the front and rear displacement base plate 31 in a suspension state through screws at the positions of four corners distributed on the downward side of the front and rear displacement base plate 31, the billet clamping and placing mechanism bearing table driving action cylinder column 321 of the group billet clamping and placing mechanism bearing table driving action cylinder 32 faces upwards and extends to the upper part of the front and back displacement bottom plate 31; the billet holding mechanism stage 2 is connected to the upper end of the billet holding mechanism stage drive action cylinder 321.

When the lifting bottom plate front-back displacement driving action cylinder 42 works, for example, the lifting bottom plate front-back displacement driving action cylinder 421 extends out of the cylinder body backwards, the lifting bottom plate front-back displacement driving action cylinder connector 4211 pushes the front-back displacement bottom plate 31 under the guidance of the lifting bottom plate displacement left and right guide rod sliding blocks 443, 452 through the front-back displacement bottom plate hinge lug 311, so as to displace backwards, and drive the billet clamping and placing mechanism bearing table 2 and the billet clamping and placing mechanism bearing table 2 as a carrier, and the billet clamping and placing mechanism bearing table 5 is also correspondingly displaced backwards, which will be described in detail below, and vice versa.

When the aforesaid set of billet-clamping-and-placing mechanism-carrying-table driving action cylinders 32 are simultaneously operated, for example, the billet-clamping-and-placing mechanism-carrying-table driving action cylinder columns 321 are lifted upwards, i.e., extended out of the cylinder body, the billet-clamping-and-placing mechanism carrying table 2 is pushed to be lifted together with the billet-clamping-and-placing manipulator left-and-right displacement action mechanism 5 arranged by taking the billet-clamping-and-placing mechanism as a carrier, and vice versa.

In this embodiment, the driving cylinder 42 for the front and rear displacement of the lifting bottom plate and the driving cylinder 32 for the loading platform of the billet clamping mechanism are cylinders, but if the cylinders are replaced by oil cylinders, the cylinders should belong to the equivalent technical means and still belong to the technical content category disclosed by the present invention.

Continuing to refer to fig. 1 and 2, the left-right displacement mechanism 5 of the billet clamping and placing manipulator comprises a bearing platform fixing frame 51, a left-right reciprocating frame 52, a left-right reciprocating frame left slide block guide rod fixing seat 53, a left-right reciprocating frame right slide block guide rod fixing seat 54, a left-right reciprocating frame slide block guide rod 55 and a left-right reciprocating frame driving acting cylinder 56, wherein the middle part of the bearing platform fixing frame 51 is arranged at the upward side of the billet clamping and placing mechanism bearing platform 2 and is preferably fixed with the billet clamping and placing mechanism bearing platform 2 in a welding manner, the left end of the bearing platform fixing frame 51 is extended out of the left end surface of the billet clamping and placing mechanism bearing platform 2 in a horizontal cantilever state, the right end surface is extended out of the right end surface of the billet clamping and placing mechanism bearing platform 2 in a horizontal cantilever state, a pair of left-right reciprocating frame left slide blocks 521 is fixed at the bottom of the left end of the left-right reciprocating frame 52, a pair of left-right reciprocating frame right slide blocks 522 is fixed at the bottom of the left-right reciprocating frame 52, a pair of left and right traverse frame left slider guide rod holders 53 fixed to the left slider guide rod holder base plate 531 in a state of being parallel to each other back and forth, the left slider guide rod holder base plate 531 being fixed to the left end of the aforementioned stage holder 51, a pair of left and right traverse frame right slider guide rod holders 54 fixed to the right slider guide rod holder base plate 541 in a state of being parallel to each other back and forth, the right slider guide rod holder base plate 541 being fixed to the right end of the aforementioned stage holder 51, a pair of left and right traverse frame slider guide rods 55 being parallel to each other back and forth, and the left end of the left and right traverse frame slider guide rod 55 being fixed to the aforementioned left and right traverse frame left slider guide rod holders 53 and the right end being fixed to the aforementioned left and right traverse frame right slider holders 54, a left and right traverse frame driving cylinder hinge bracket 562 being hinged to the left end of the cylinder body of the left and right traverse frame driving cylinder 56, the left and right reciprocating frame driving action cylinder hinge frame 562 is fixed with the upper end of the action cylinder hinge frame fixing column 5621 by a hinge frame fixing screw 5622, the lower end of the action cylinder hinge frame fixing column 5621 is fixed with the upward side of the left end of the bearing platform fixing frame 51, a reinforcing angle support 56211 is connected between the middle part of the right side of the action cylinder hinge frame fixing column 5621 and the bearing platform fixing frame 51, the left and right reciprocating frame driving action cylinder 561 of the left and right reciprocating frame driving action cylinder 56 faces to the right and the tail end thereof is connected with a moving frame hinge lug hinge head 5611, and the moving frame hinge lug hinge head 5611 is hinged with a moving frame hinge lug 523 formed on the left and right reciprocating frame 52; the left fixed plate 71 of the billet clamping and placing mechanism support is formed by extending the bottom plate of the left and right reciprocating frame 52 rightwards; a space is kept between the lower surface of the billet clamping and placing mechanism bracket 7 and the upper surface of the right slider guide rod fixing seat 54 of the left and right reciprocating frame. The left and right shuttle guide 55 is substantially a cylindrical linear guide in this embodiment, and the pair of left and right shuttle 521 and 522 form a guide pair therewith.

When the left-right reciprocating frame driving cylinder 56 is operated, for example, the left-right reciprocating frame driving cylinder 561 is extended to the right (i.e., extended out of the cylinder), the left-right reciprocating frame 52 is pushed to the right by the left-right reciprocating frame left slider 521 and the right-left reciprocating frame right slider 522, which are provided at the bottom of the left-right reciprocating frame 52, and simultaneously moves to the right along the left-right reciprocating frame slider guide rods 55, so as to drive the billet clamping and placing manipulator opening and closing driving mechanism 6, the billet clamping and placing mechanism support 7 and the billet clamping and placing mechanism 8, which will be described in detail below, to move to the right synchronously, and vice versa. In the present embodiment, the left and right reciprocating frame driving cylinder 56 is a cylinder, but it is also an equivalent technical means if a cylinder is used instead.

Referring to fig. 3 in combination with fig. 1, the slab clamping and placing manipulator opening and closing driving mechanism 6 includes a slab clamping and placing manipulator driving acting cylinder 61, an acting cylinder limiting plate supporting seat 62 and a pair of acting cylinder limiting plates 63, the slab clamping and placing manipulator driving acting cylinder 61 is fixed between the upper parts of the pair of acting cylinder limiting plates 63 through a cylinder fixing screw 612, the lower parts of the pair of acting cylinder limiting plates 63 are respectively fixed with the upward side of the acting cylinder limiting plate supporting seat 62 through a limiting plate fixing screw 631, the acting cylinder limiting plate supporting seat 62 is fixed at the left end of the slab clamping and placing mechanism bracket 7 and corresponds to the upper part of the slab clamping and placing mechanism bracket left fixing plate 71, and a slab clamping and placing manipulator driving acting cylinder column 611 of the slab clamping and placing manipulator driving acting cylinder 61 faces to the right; the billet clamping and placing mechanism 8 provided on the right fixed plate 72 of the billet clamping and placing mechanism support is connected to the billet clamping and placing manipulator driving action cylinder column 611. A non-contact space distance is kept between the lower surface of the right end of the billet clamping and placing mechanism support 7 and the upper surface of the right slider guide rod fixing seat 54 of the left and right reciprocating frame.

As shown in fig. 3, the pair of cylinder defining plates 63 have an L-shaped cross-sectional shape. When the billet clamping and placing manipulator driving and acting cylinder 61 works to enable the billet clamping and placing manipulator driving and acting cylinder column 611 to extend rightwards (i.e. extend towards the outside of the cylinder), the billet clamping and placing mechanism 8 which will be described in detail below is driven to act, otherwise, the billet clamping and placing mechanism 8 is driven to act in a reverse manner to the previous action, as can be seen in fig. 5.

Referring to fig. 4 in conjunction with fig. 1 to 3, the billet clamping and placing mechanism 8 includes a billet clamping and placing manipulator opening and closing draw bar 81, a draw bar guiding slide seat 82 and a billet clamping and placing manipulator 83, the left end of the billet clamping and placing manipulator opening and closing draw bar 81 is connected with the billet clamping and placing manipulator driving and acting cylinder 61 through a connecting threaded sleeve 811 (also called a connecting nut), the middle part of the billet clamping and placing manipulator opening and closing draw bar 81 is in sliding fit with the draw bar guiding slide seat 82, the draw bar guiding slide seat 82 is fixed on a guiding slide seat fixing plate 821 through a draw bar guiding slide seat fixing screw 822, the guiding slide seat fixing plate 821 is fixed with the middle part of the billet clamping and placing mechanism support 7 in the length direction, the right end of the billet clamping and placing manipulator opening and closing draw bar 81 extends to the right side of the draw bar guiding slide seat 82, the billet clamping and placing manipulator 83 is pivoted on the right fixing plate 72 of the billet clamping and placing mechanism support and is connected with the billet clamping and placing machine The right end of the hand opening and closing traction rod 81 is connected.

The billet clamping and placing manipulator 83 comprises an articulated arm connecting seat 831, a first connecting rod I832, a second connecting rod II 833, a first joint I834, a second joint II 835, a first billet clamping claw I836 and a second billet clamping claw II 837, the left end of the articulated arm connecting seat 831 is connected with the right end of the open-close draw bar 81 of the billet clamping and placing manipulator, a connecting rod pivot connecting cavity 8311 is formed at the right end of the articulated arm connecting seat 831, one end of the first connecting rod I832 is inserted into the rear side of the connecting rod pivot connecting cavity 8311 and is hinged with the articulated arm connecting seat 831 through a first connecting rod pin I8321, the other end of the first connecting rod I832 is hinged with one end of the first joint I834 through a first joint pin I8322, one end of the second connecting rod II 833 is inserted into the front side of the connecting rod pivot connecting cavity 8311 and is hinged with the articulated arm connecting seat 831 through a second connecting rod pin II 8331, and the other end of the second connecting rod II 833 is hinged with one end of the second joint pin 835 through a second joint 8332, a first joint pivot hole I8341 is arranged in the middle of the first joint I834, the first joint pivot hole I8341 is in pivot fit with a first joint pivot shaft I83411, a first blank clamping claw connecting plate I8342 is formed at the other end of the first joint I834, a second joint pivot hole II 8351 is arranged in the middle of the second joint II 835, the second joint pivot hole II 8351 is in pivot fit with a second joint pivot shaft II 83511, a second blank clamping claw connecting plate II 8352 is formed at the other end of the second joint II 835, the bottoms of the first joint pivot shaft I83411 and the second joint pivot shaft II 83511 are fixed on the blank section clamping mechanism support right fixing plate 72, one end of the first blank clamping claw I836 is fixed with the rear side surface of the first blank clamping claw connecting plate I8342 through a first blank clamping claw fixing screw I8362, the other end of the second blank clamping claw 837 is fixed with the front side surface of the second blank clamping claw connecting plate 8352 through a second blank clamping claw fixing screw I8352 The surface is fixed, and the other end extends out of the second blank clamping claw connecting plate II 8352.

As shown in fig. 4, a first blank clamping claw cavity i 8361 is formed on the front side of one end of the first blank clamping claw i 836, which extends out of the first blank clamping claw connecting plate i 8342, a second blank clamping claw cavity ii 8371 is formed on the rear side of one end of the second blank clamping claw ii 837, which extends out of the second blank clamping claw connecting plate ii 8352, and after the first blank clamping claw i 836 and the second blank clamping claw ii 837 are closed with each other, the first blank clamping claw cavity i 8361 and the second blank clamping claw cavity ii 8371 cooperate with each other to form a complete blank segment clamping cavity.

The shapes of the first connecting rod I832 and the second connecting rod II 833 are the same; the first joint i 834 and the second joint ii 835 have the same shape; the first blank clamping claw I836 and the second blank clamping claw II 837 are mutually identical in shape.

Referring to fig. 5 in conjunction with fig. 1 to 4, fig. 5 shows a billet 10 to be press-formed into a steel ball by the steel ball press-forming machine 9 shown in fig. 6 in a state of being clamped by a first blank clamping claw i 836 and a second blank clamping claw ii 837. When the aforesaid billet clamping and placing manipulator driving actuating cylinder 61 is operated, for example, the billet clamping and placing manipulator opening and closing draw bar 81 is moved rightwards, the articulated arm connecting seat 831 of the billet clamping and placing manipulator 83 is driven, the articulated arm connecting seat 831 drives the first blank clamping claw connecting plate i 8342 of the first joint i 834 and the second blank clamping claw connecting plate ii 8352 of the second joint ii 835 through the first connecting rod i 832 and the second connecting rod ii 833 to be folded towards each other as shown by the dotted line in fig. 5, so that the first blank clamping claw cavity i 8361 and the second blank clamping claw cavity ii 8371 at the right end of the first blank clamping claw i 836 and the second blank clamping claw ii 837 are folded towards each other to clamp the billet 10. When the billet gripping and placing robot driving cylinder 61 is operated in the reverse direction, the first gripping claw i 836 and the second gripping claw ii 837 are repelled from each other in the reverse process to take the solid line state shown in fig. 5, and the previously gripped billet 10 is released.

Referring to fig. 6 in conjunction with fig. 1 to 5, fig. 6 shows the above-mentioned steel ball press forming machine 9, and the upper die 91 and the lower die 92 are mounted on the steel ball press forming machine 9, fig. 6 also shows a billet introducing device 20, a guide groove ejection door 2011 is provided at an ejection portion of a lower portion of the billet guide groove 201 of the billet introducing device 20, and a torsion spring 2012 for closing the guide groove ejection door 2011 is provided at a position corresponding to the guide groove ejection door 2011. The structure shown in fig. 1 of the utility model is arranged on the left side of the steel ball stamping forming machine 9.

In the process of pressing the billet 10 (also called "steel ball billet", the same above) into balls by the cooperation of the upper die 91 and the lower die 92 of the steel ball press forming machine 9, that is, after the feeding of the billet 10 into the lower die 92 by the billet clamping and placing manipulator 83 is completed, the billet clamping and placing mechanism support 7 is displaced leftwards by the operation of the left-right reciprocating frame driving action cylinder 56 of the structural system of the left-right displacement action mechanism 5 of the billet clamping and placing manipulator, and the loading platform lifting driving mechanism 3 and the billet clamping and placing mechanism loading platform 2 are displaced backwards by the operation of the lifting bottom plate front-back displacement driving action cylinder 42. At this time, the billet gripping and placing robot 83 having the first and second gripping claws i 836 and ii 837 in the opened state corresponds to a position below the billet guide groove 201. Then, at the working position of a set of billet clamping and placing mechanism bearing platform driving acting cylinders 32 of the bearing platform lifting driving mechanism 3, the billet clamping and placing mechanism bearing platform 2 is lifted together with the billet clamping and placing mechanical arm left and right displacement acting mechanism 5, the billet clamping and placing mechanical arm opening and closing driving mechanism 6, the billet clamping and placing mechanism support 7 and the billet clamping and placing mechanism 8, so that a first billet clamping claw I836 and a second billet clamping claw II 837 respectively correspond to two sides of a cylinder opening 2013 of the billet guiding groove 201, at the moment, the billet clamping and placing mechanical arm driving acting cylinder 61 works, according to the applicant, the first billet clamping claw I836 and the second billet clamping claw II 837 of the billet clamping and placing mechanical arm 83 are matched together (namely, the cooperation effect of the mutual folding is realized) to clamp one billet 10 introduced from the billet guiding groove 201, and then the lifting bottom plate front and back driving acting cylinder 42 reversely works relative to the working state, in the above-described process, the billet gripping and placing robot 83 is also displaced in the reverse direction, that is, in the forward direction, during which the billet 10 in the state of being gripped by the first gripping claw i 836 and the second gripping claw ii 837 is pushed open the aforementioned guide groove ejection door 2011 against the urging force of the torsion spring 2012, and when the billet gripping and placing mechanism support 7 together with the billet gripping and placing robot opening and closing drive mechanism 6 and the billet gripping and placing robot 83 of the billet gripping and placing mechanism 8 correspond to the position state shown in fig. 6 at present, the left and right reciprocating frame drive cylinder 56 is operated in the reverse direction to displace the billet gripping and placing mechanism support 7 to the right, and the billet 10 in the state of being gripped by the first gripping claw i 836 and the second gripping claw ii 837 corresponds to between the upper and lower dies 91 and 92, because the billet 10 previously located between the upper and lower dies 91 and 92 has been formed into a steel ball and left from the lower die 92, and then the aforementioned billet gripping and placing mechanism drive table drive cylinder 32 is operated in the reverse direction, the billet gripping and placing robot 83 descends in the reverse process described above, and the billet 10 enters the lower die 92. Then, the billet gripping and placing manipulator driving cylinder 61 is operated in the reverse direction to repel the first gripping claw i 836 and the second gripping claw ii 837 of the structural system of the billet gripping and placing manipulator 83 of the billet gripping and placing mechanism 8, that is, to release the gripping of the billet 10 positioned in the lower mold 92. Then, the above process is repeated to drive the working cylinder 56 by the left and right shuttles, so that the billet clamping and placing mechanism support 7 is moved leftward, i.e., in a direction away from the upper and lower dies 91 and 92. The above process is repeated continuously to feed the billet 10 into the upper and lower dies 91, 92 at the rate required by the process. In addition, as can be seen from the schematic diagram of fig. 6, the structure of the present invention does not have structural connection with the steel ball stamping forming machine 9, so that the two have good integrity and independence.

To sum up, the technical solution provided by the present invention remedies the defects in the prior art, successfully completes the invention task, and faithfully embodies the technical effects mentioned in the above technical effect column by the applicant.

Claims (5)

1. A three-coordinate movement device of a steel ball billet clamping and placing manipulator is characterized by comprising a rack (1), wherein the rack (1) is in a hollow frame-shaped structure, and a rack horizontal adjusting supporting foot (12) is arranged at the bottom of a rack supporting leg of the rack (1); a billet clamping and placing mechanism bearing platform (2), a bearing platform lifting driving mechanism (3) and a bearing platform front and back displacement driving mechanism (4); the billet clamping and placing mechanism bearing platform (2) is in a rectangular flat plate-shaped structure and is connected with a bearing platform lifting driving mechanism (3) at a position corresponding to the upper part of the bearing platform lifting driving mechanism (3), the bearing platform lifting driving mechanism (3) is connected with a bearing platform front-back displacement driving mechanism (4) in a state of being vacated above the rack (1), and the bearing platform front-back displacement driving mechanism (4) is arranged at the upper part of the rack (1); a billet clamping and placing mechanical arm left-right displacement action mechanism (5), wherein the billet clamping and placing mechanical arm left-right displacement action mechanism (5) is arranged on the billet clamping and placing mechanism bearing platform (2); and the left end of the billet clamping and placing mechanism support (7) is fixed with the left and right displacement action mechanism (5) of the billet clamping and placing mechanical arm, and the right end of the billet clamping and placing mechanism support (7) is a horizontal cantilever end and keeps a space with the upper surface of the left and right displacement action mechanism (5) of the billet clamping and placing mechanical arm.

2. The three-coordinate movement device of the steel ball billet gripping and placing manipulator according to claim 1, characterized in that a frame support (11) is fixed on the upper part of the frame (1); the bearing table front and back displacement driving mechanism (4) is arranged on the rack support (11); the bearing table lifting driving mechanism (3) is hinged with the bearing table front-back displacement driving mechanism (4), and the billet clamping and placing mechanism bearing table (2) is connected with the bearing table lifting driving mechanism (3) at the positions of four corners of the billet clamping and placing mechanism bearing table; the middle part of the billet clamping and placing mechanical arm left-right displacement action mechanism (5) is arranged on one upward side of the billet clamping and placing mechanism bearing table (2), and the left end and the right end of the billet clamping and placing mechanical arm extend out of the billet clamping and placing mechanism bearing table (2) respectively; the left end of the billet clamping and placing mechanism support (7) is fixed on a billet clamping and placing mechanism support left fixing plate (71), and the right end is fixed with a billet clamping and placing mechanism support right fixing plate (72).

3. The three-coordinate movement apparatus of a steel ball billet gripping and placing manipulator according to claim 2, wherein the carriage forward and backward displacement driving mechanism (4) comprises a support fixing frame (41), a lifting floor forward and backward displacement driving cylinder (42), a lifting floor forward and backward displacement driving cylinder support (43), a lifting floor displacement left guide rod (44) and a lifting floor displacement right guide rod (45), the support fixing frame (41) is fixed on the upper portion of the frame support (11), a support fixing frame rear cross beam (411) is fixed at the rear end of the support fixing frame (41), a support fixing frame front cross beam (412) is fixed at the front end, the lifting floor forward and backward displacement driving cylinder support (43) is fixed with the frame support (11) at a position corresponding to the front of the support fixing frame front cross beam (412), a cylinder base hinge frame (422) is hinged at the front end of the cylinder body of the lifting floor forward and backward displacement driving cylinder (42), the cylinder base hinged frame (422) is fixedly connected with the lifting bottom plate front and rear displacement driving action cylinder supporting seat (43), a lifting bottom plate front and rear displacement driving action cylinder column (421) of the lifting bottom plate front and rear displacement driving action cylinder (42) faces backwards, a lifting bottom plate displacement left guide rod (44) is positioned on the left side of the lifting bottom plate front and rear displacement driving action cylinder (42), the front end of the lifting bottom plate displacement left guide rod (44) is fixed with the upper part of the left end of the support fixing frame front cross beam (412) through a left guide rod front supporting seat (441), the rear end of the lifting bottom plate displacement left guide rod (44) is fixed with the upper part of the left end of the support fixing frame rear cross beam (411) through a left guide rod rear supporting seat (442), the lifting bottom plate displacement right guide rod (45) is positioned on the right side of the lifting bottom plate front and rear displacement driving action cylinder (42), and the front end of the lifting bottom plate displacement right guide rod (45) is fixed with the upper part of the right end of the support front cross beam (412) through a right guide rod front supporting seat (451) The upper part of the lifting bottom plate displacement right guide rod (45) is fixed with the upper part of the right end of the support fixing frame rear cross beam (411) through a right guide rod rear support seat, the left guide rod front support seat (441) corresponds to the left guide rod rear support seat (442) in the front-rear direction, the right guide rod front support seat (451) corresponds to the right guide rod rear support seat in the front-rear direction, a lifting bottom plate displacement left guide rod sliding block (443) is arranged in the middle of the lifting bottom plate displacement left guide rod (44) in a sliding manner, and a lifting bottom plate displacement right guide rod sliding block (452) is arranged in the middle of the lifting bottom plate displacement right guide rod (45) in a sliding manner; the bearing platform lifting driving mechanism (3) is connected with the lifting bottom plate front and back displacement driving acting cylinder column (421) and is also connected with the lifting bottom plate displacement left guide rod slide block (443) and the lifting bottom plate displacement right guide rod slide block (452).

4. The three-coordinate movement device of the steel ball billet gripping and placing manipulator according to claim 3, wherein a lifting bottom plate front and rear displacement driving acting cylinder column connector (4211) is provided at the end of the lifting bottom plate front and rear displacement driving acting cylinder column (421); the bearing platform lifting driving mechanism (3) comprises a front and rear displacement bottom plate (31) and a group of billet clamping and placing mechanism bearing platform driving acting cylinders (32), the front and rear displacement bottom plate (31) is simultaneously fixed with a lifting bottom plate displacement left guide rod slide block (443) and a lifting bottom plate displacement right guide rod slide block (452), a front and rear displacement bottom plate hinging lug (311) is fixed on one downward side of the front and rear displacement bottom plate (31) and at a position corresponding to the lifting bottom plate front and rear displacement driving acting cylinder connector (4211), the front and rear displacement bottom plate hinging lug (311) is hinged with the lifting bottom plate front and rear displacement driving acting cylinder connector (4211), the number of the group of billet clamping and placing mechanism bearing platform driving acting cylinders (32) is four, and the billet clamping and placing mechanism bearing platform driving acting cylinders are fixed with the front and rear displacement bottom plate (31) in a suspension state at the positions of four corners distributed on the downward side of the front and rear displacement bottom plate (31), the billet clamping and placing mechanism bearing table driving acting cylinder column (321) of the group of billet clamping and placing mechanism bearing table driving acting cylinder (32) faces upwards and extends to the upper part of the front and back displacement bottom plate (31); the billet clamping and placing mechanism bearing table (2) is connected with the upper end part of the billet clamping and placing mechanism bearing table driving action cylinder column (321).

5. The three-coordinate movement device of the steel ball billet gripping and placing manipulator according to claim 2, wherein the billet gripping and placing manipulator left and right displacement action mechanism (5) comprises a bearing platform fixing frame (51), a left and right reciprocating frame (52), a left and right reciprocating frame left slider guide rod fixing frame (53), a left and right reciprocating frame right slider guide rod fixing frame (54), a left and right reciprocating frame slider guide rod (55) and a left and right reciprocating frame driving action cylinder (56), the middle part of the bearing platform fixing frame (51) is arranged at the upward side of the billet gripping and placing mechanism bearing platform (2) and fixed with the billet gripping and placing mechanism bearing platform (2), the left end of the bearing platform fixing frame (51) is projected out of the left end surface of the billet gripping and placing mechanism bearing platform (2) in a horizontal cantilever state, and the right end surface is projected out of the right end surface of the billet gripping and placing mechanism bearing platform (2) in a horizontal cantilever state, a pair of left and right reciprocating frame left sliders (521) is fixed at the bottom of the left end of the left and right reciprocating frame (52), a pair of left and right reciprocating frame right sliders (522) is fixed at the bottom of the right end of the left and right reciprocating frame (52), a pair of left and right reciprocating frame left slider guide holder (53) is fixed on a left slider guide holder base plate (531) in a state of being parallel to each other in the front-rear direction, the left slider guide holder base plate (531) is fixed at the left end of the carrier table fixing frame (51), a pair of left and right reciprocating frame right slider guide holder (54) is fixed on a right slider guide holder base plate (541) in a state of being parallel to each other in the front-rear direction, the right slider guide holder base plate (541) is fixed at the right end of the carrier table fixing frame (51), and a pair of left and right reciprocating frame slider guide rods (55) are parallel to each other in the front-rear direction, the left end of the left and right reciprocating frame slide block guide rod (55) is fixed with the left and right reciprocating frame slide block guide rod fixing seat (53), the right end is fixed with the left and right reciprocating frame slide block guide rod fixing seat (54), the left end of the cylinder body of the left and right reciprocating frame driving action cylinder (56) is hinged with a left and right reciprocating frame driving action cylinder hinge frame (562), the left and right reciprocating frame driving action cylinder hinge frame (562) is fixed with the upper end of the action cylinder hinge frame fixing column (5621), the lower end of the action cylinder hinge frame fixing column (5621) is fixed with the upward side of the left end of the bearing platform fixing frame (51), a reinforcing angle brace (56211) is connected between the middle part of the right side of the action cylinder hinge frame fixing column (5621) and the bearing platform fixing frame (51), the left and right reciprocating frame driving action cylinder (561) of the left and right reciprocating frame driving action cylinder (56) faces to the right and the tail end of the left and moving frame hinge lug is connected with a moving frame hinge lug A joint (5611) which is hinged to a movable frame hinge lug (523) formed on the left and right reciprocating frames (52) by a movable frame hinge lug hinge joint (5611); the billet clamping and placing mechanism support left fixing plate (71) is formed by extending the bottom plate of the left and right reciprocating frame (52) rightwards; a space is reserved between the lower surface of the billet clamping and placing mechanism support (7) and the upper surface of the right slider guide rod fixing seat (54) of the left and right reciprocating motion frame.

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