Manipulator for automatic roll forging of connecting rods

Abstract

The present invention provides a manipulator for automatic roll forging of connecting rods, wherein at least two claws are hinged to a claw seat located on the inner side, a claw rod is provided at the tail end of the claw, and the side of the claw rod close to the axis is an inclined surface; a manipulator slider is provided between the claw rods, the manipulator slider contacts the inclined surface, and the manipulator slider is connected to an opening and closing hydraulic cylinder fixed at the tail end of the claw seat; and at least one tension spring is provided between the claw rods. By optimizing the structural design of the feeding manipulator, it is possible to reduce the dependence on the machining accuracy of the manipulator parts, reduce the influence of temperature changes on the parts, especially on the vulnerable parts, such as hydraulic cylinders, guide rails and other parts, and extend the service life of the feeding manipulator under high temperature conditions.

Description

Technical Field

[0001] The invention relates to the field of automobile connecting rod processing, in particular to a manipulator used for automatic roll forging of connecting rods. Background Art

[0002] The roll forging system in the prior art, the structure of which is shown in JP Patent Publication No. 2006-297447, uses a manipulator to transport the heated workpiece to two rollers for rolling forging. The initial forging temperature of the workpiece is usually required to be between 1050-1100°C, and the workpiece cools down very quickly in the air. Excessive heating temperature will affect the quality of the finished workpiece.

[0003] The feeding robot in the prior art is usually driven to open and close by an electromagnet or a hydraulic cylinder. Due to the high temperature of the workpiece, some parts in the feeding robot are vulnerable parts, such as the slide rail and the hydraulic cylinder, which are very easy to be damaged.

[0004] Due to the differences in workpieces, the position of the material-grabbing robot needs to be adjustable, but the cost of adding additional movements to the robot is high, and the cost of adjusting the position of the material-grabbing robot needs to be reduced. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a manipulator for automatic roll forging of connecting rods, simplify the structure of the feeding manipulator, extend the service life of the feeding manipulator, and reduce the use cost of the feeding manipulator.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is: a manipulator for automatic roll forging of connecting rods, at least two grippers are hinged to the gripper seat located on the inner side, a gripper rod is provided at the tail end of the gripper, and the side of the gripper rod close to the axis is an inclined surface;

[0007] A manipulator slider is provided between the gripper rods, the manipulator slider contacts the inclined surface, and the manipulator slider is connected to an opening and closing hydraulic cylinder fixed at the rear end of the gripper seat;

[0008] At least one tension spring is arranged between the hand claw rods.

[0009] In a preferred solution, the grip seat is provided with a grip seat groove for the grip rod to pass through;

[0010] The opening and closing hydraulic cylinder is installed in the hand claw seat.

[0011] In a preferred solution, pins are provided on both sides of the free end of the gripper rod, and each pin is connected with a tension spring.

[0012] In a preferred solution, raised blocking pieces are provided on both sides of the robot slider on the gripper rod.

[0013] In a preferred solution, the gripper seat is rotatably connected to the first telescopic arm, and is connected to the rotation drive device through a transmission mechanism on the outer wall of the gripper seat, and the rotation drive device is fixedly mounted on the outer wall of the first telescopic arm.

[0014] In a preferred solution, the first telescopic arm is slidably sleeved with the second telescopic arm, and a telescopic hydraulic cylinder is provided between the first telescopic arm and the second telescopic arm.

[0015] In a preferred solution, the tail of the second telescopic arm is hinged to the translation seat, and the middle of the bottom of the second telescopic arm is hinged to the translation seat through a variable amplitude hydraulic cylinder;

[0016] The translation seat is slidably installed on the translation slide rail, and the translation seat is connected with the translation hydraulic cylinder.

[0017] In a preferred embodiment, the cross section of the gripper is "C" shaped;

[0018] Alternatively, the cross-sections of the two grippers are hexagonal.

[0019] In a preferred solution, a gripper inner lining for heat insulation and thickness adjustment is provided on the inner side of the gripper.

[0020] In a preferred solution, a buffer and heat-insulating pad is also provided at the head end of the gripper seat.

[0021] The present invention provides a manipulator for automatic roll forging of connecting rods. By optimizing the structure of the feeding manipulator, the manipulator can reduce the dependence on the machining accuracy of the manipulator parts, reduce the influence of temperature changes on the parts, especially on the vulnerable parts, such as hydraulic cylinders, guide rails and other parts, and extend the service life of the feeding manipulator under high temperature conditions. In the preferred solution, by adopting an optimized manipulator structure, it is possible to quickly feed the roll forging machine, and the structure is simpler than that of the existing manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The present invention will be further described below in conjunction with the accompanying drawings and embodiments:

[0023] Figure 1 It is a structural schematic diagram of the feeding robot in the present invention.

[0024] Figure 2 It is a schematic diagram of the overall structure of the present invention.

[0025] Figure 3 It is a top view schematic diagram of the present invention.

[0026] Figure 4 for Figure 1 AA cross-sectional view.

[0027] Figure 5 for Figure 1 Schematic diagram of the BB cross-section.

[0028] Figure 6 for Figure 1 Schematic diagram of CC section view.

[0029] Figure 7 It is a structural schematic diagram of the robot assembly in the present invention.

[0030] In the figure: heating furnace 1, slide 2, feeding manipulator 3, manipulator assembly 31, claw 3101, claw inner liner 3102, claw seat 3103, claw seat groove 3104, claw rod 3105, manipulator slider 3106, baffle 3107, tension spring 3108, buffer insulation pad 3109, rotation drive device 32, rotation transmission gear set 33, support bearing 34, opening and closing hydraulic cylinder 35, first telescopic arm 36, second telescopic arm 37, telescopic hydraulic cylinder 38, variable amplitude hydraulic cylinder 39, translation seat 300, translation slide rail 301, translation hydraulic cylinder 302, upper arc extrusion die 4, lower arc extrusion die 5, material picking manipulator 6, nut column 7, material picking trolley 8, distance fine-tuning device 9, pushing device 10, unloading conveying device 11, roll forging machine 12, first die cavity 121, second die cavity 122, third die cavity 123. DETAILED DESCRIPTION

[0031] like Figures 1 to 7 In the embodiment, a manipulator for automatic roll forging of connecting rods is provided, wherein at least two grippers 3101 are hinged to a gripper seat 3103 located inside, and a gripper rod 3105 is provided at the tail end of the gripper 3101, and the side of the gripper rod 3105 close to the axis is an inclined surface; the tail end described in this example refers to Figure 6 The right direction in .

[0032] A manipulator slider 3106 is provided between the gripper rods 3105, the manipulator slider 3106 contacts the inclined surface, and the manipulator slider 3106 is connected to an opening and closing hydraulic cylinder 35 fixed at the rear end of the gripper seat 3103;

[0033] At least one tension spring 3108 is provided between the gripper rods 3105. In this way, when there is no robot slider 3106 between the gripper rods 3105, the gripper 3101 can be opened. Figure 6 In this example, pins are provided on both sides of the free end of the gripper rod 3105, and each has a tension spring 3108 connected to the pin to open the gripper 3101. The piston rod of the opening and closing hydraulic cylinder 35 is extended and retracted to drive the manipulator slider 3106 to slide axially. Figure 7 When the right side of the slide is slid, the gripper 3101 closes and clamps the workpiece. Figure 6When the left side slides in the middle, the claw 3101 opens under the effect of the tension spring 3108. With this structure, since the opening and closing hydraulic cylinder 35 is far away from the workpiece, the service life of the opening and closing hydraulic cylinder 35 is greatly extended.

[0034] The preferred solution is Figure 7 In the embodiment, the gripper seat 3103 is provided with a gripper seat groove 3104 for the gripper rod 3105 to pass through; the opening and closing hydraulic cylinder 35 is installed in the gripper seat 3103. Figure 5 In the embodiment, a raised baffle 3107 is provided on both sides of the manipulator slider 3106 located at the gripper rod 3105. The baffle 3107 is used to limit the sliding position of the gripper rod 3105.

[0035] The preferred solution is Figure 6 In the embodiment, pins are provided on both sides of the free end of the claw rod 3105, and each of the pins is connected with a tension spring 3108 to achieve dynamic balance.

[0036] In a preferred solution, the gripper seat 3103 is rotatably connected to the first telescopic arm 36, and the outer wall of the gripper seat 3103 is connected to the rotation drive device 32 through a transmission mechanism, and the rotation drive device 32 is fixedly mounted on the outer wall of the first telescopic arm 36. Figure 1 In the embodiment, the manipulator assembly 31 is supported in the first telescopic arm 36 by two sets of supporting bearings 34. The outer wall of the claw seat 3103 of the manipulator assembly 31 is provided with a rotating transmission gear set 33. The rotating transmission gear set 33 is connected to a reducer, and the reducer is connected to a servo motor. The reducer is preferably an RV reducer. With the above structure, the manipulator assembly 31 realizes the action of rotating around the axis.

[0037] The preferred solution is Figure 1 In the embodiment, the first telescopic arm 36 and the second telescopic arm 37 are slidably connected, and a telescopic hydraulic cylinder 38 is provided between the first telescopic arm 36 and the second telescopic arm 37. With this structure, the telescopic action of the manipulator is realized.

[0038] The preferred solution is Figure 1 In the figure, the tail of the second telescopic arm 37 is hinged to the translation seat 300, and the middle position of the bottom of the second telescopic arm 37 is hinged to the translation seat 300 through the variable amplitude hydraulic cylinder 39; thereby, the lifting and lowering operations of the manipulator are realized.

[0039] The translation seat 300 is slidably mounted on the translation slide rail 301, and the translation seat 300 is connected to the translation hydraulic cylinder 302. With this structure, the translation action of the manipulator is realized.

[0040] The preferred solution is Figure 4 In the embodiment, the cross section of the gripper 3101 is "C" shaped;

[0041] Alternatively, the cross-sections of the two grippers 3101 are hexagonal. This structure facilitates better clamping and fixing of the workpiece.

[0042] The preferred solution is Figure 4 In the embodiment, a grip inner lining 3102 for heat insulation and thickness adjustment is provided on the inner side of the grip 3101.

[0043] In the preferred solution, a buffer heat insulation pad 3109 is also provided at the head end of the gripper seat 3103. The buffer heat insulation pad is made of asbestos, which can buffer the impact of the workpiece and reduce the heat conducted to the drive device, thereby extending the service life of the entire feeding robot 3. The head end in this example refers to the left end of the gripper seat 3103.

[0044] like Figures 1 to 7 The scheme of the present invention is further described as follows with the best embodiment:

[0045] The pushing device 10 is usually a hydraulic cylinder, which pushes the workpieces into the heating furnace 1 in sequence. The heating furnace 1 heats the workpieces to 1050℃~1100℃, and the piston rod of the variable amplitude hydraulic cylinder 39 extends, the feeding robot 3 is raised, and the claw 3101 is facing the bottom end of the slide 2. At the same time, the opening and closing hydraulic cylinder 35 is actuated, and the piston rod of the opening and closing hydraulic cylinder 35 is extended. The tension spring 3108 pulls the claw rod 3105 to open the claw 3101. As the pushing device 10 is pushed, the workpiece is pushed out of the heating furnace 1 and slides down the slide 2. It falls between the open claws 3101 and is cushioned by the buffer insulation pad 3109. The opening and closing hydraulic cylinder 35 is actuated, and the piston rod retracts, driving the robot slider 3106 to move forward. Figure 7The right side of the slider 3106 pushes the claw rod 3105 open, closing the claw 3101 and clamping the workpiece. The variable amplitude hydraulic cylinder 39 is actuated, and the piston rod is retracted, so that the feeding manipulator 3 becomes horizontal. The telescopic hydraulic cylinder 38 is actuated, and the piston rod is extended to send the workpiece between the upper arc extrusion die 4 and the lower arc extrusion die 5, and the claw 3101 is released. The upper arc extrusion die 4 and the lower arc extrusion die 5 rotate to forge the workpiece in the die cavity. Further preferably, a plurality of parallel die cavities are provided in the upper arc extrusion die 4 and the lower arc extrusion die 5, such as the first die cavity 121, the second die cavity 122 and the third die cavity 123. After forging once, the upper arc extrusion die 4 and the lower arc extrusion die 5 rotate in the opposite direction to send the workpiece back to between the claws 3101 of the feeding manipulator 3 again, and the feeding manipulator 3 clamps the workpiece. The telescopic hydraulic cylinder 38 is actuated, the piston rod is retracted, and the workpiece is taken out. At the same time, the piston rod of the translation hydraulic cylinder 302 is extended, and the translation seat 300 is pushed to slide along the translation slide rail 301 for a distance, and is aligned with the second die cavity. At the same time, the rotation drive device 32 is actuated, driving the entire manipulator assembly 31 to rotate 90°, and the telescopic hydraulic cylinder 38 is actuated, and the piston rod is extended, and the workpiece is sent into the second die cavity between the upper arc extrusion die 4 and the lower arc extrusion die 5 for forging. After the forging is completed, the upper arc extrusion die 4 and the lower arc extrusion die 5 are reversed again, and the workpiece is sent back to the feeding manipulator 3. The piston rod of the translation hydraulic cylinder 302 is extended, and the translation seat 300 is pushed to slide along the translation slide rail 301 for a distance. The manipulator assembly 31 of the feeding manipulator 3 is rotated 90° again, and the workpiece is sent into the third die cavity between the upper arc extrusion die 4 and the lower arc extrusion die 5 for forging. After forging is completed, the material taking manipulator 6 extends to take the material, and the manipulator assembly 31 of the material taking manipulator 6 can also adopt the assembly structure of the feeding manipulator 3 to realize the opening and closing of the claw 3101. After the material taking manipulator 6 takes the material, it is released, and the workpiece falls onto the unloading conveying device 11 and is conveyed to the next process. The unloading conveying device 11 in this example is a slideway and crawler conveying device.

[0046] The above-mentioned embodiments are only preferred technical solutions of the present invention and should not be regarded as limitations of the present invention. The embodiments and features in the embodiments of the present application can be arbitrarily combined with each other without conflict. The protection scope of the present invention shall be the technical solutions recorded in the claims, including the equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. A manipulator for automatic roll forging of connecting rods, characterized by: At least two grippers (3101) are hingedly connected to a gripper seat (3103) located on the inner side; a gripper rod (3105) is provided at the rear end of the gripper (3101); a side of the gripper rod (3105) close to the axis is an inclined surface; a manipulator slider (3106) is provided between the gripper rods (3105); the manipulator slider (3106) is in contact with the inclined surface; and protruding blocking sheets (3107) are provided on both sides of the manipulator slider (3106) located on the gripper rod (3105); The manipulator slider (3106) is connected to an opening and closing hydraulic cylinder (35) fixed at the rear end of the gripper seat (3103); At least one tension spring (3108) is provided between the claw rods (3105); The grip seat (3103) is provided with a grip seat groove (3104) for the grip rod (3105) to pass through; The opening and closing hydraulic cylinder (35) is installed in the hand claw seat (3103); The cross section of the gripper (3101) is "C" shaped; or the cross sections of the two grippers (3101) are hexagonal; A hand grip inner lining (3102) for heat insulation and thickness adjustment is provided on the inner side of the hand grip (3101); A buffer heat-insulating pad (3109) is also provided at the head end of the gripper seat (3103) for clamping a workpiece heated to 1050°C to 1100°C; The claw seat (3103) is rotatably connected to the first telescopic arm (36); the manipulator assembly (31) is supported in the first telescopic arm (36) via two sets of support bearings (34); a rotating transmission gear set (33) is provided on the outer wall of the claw seat (3103) of the manipulator assembly (31); the rotating transmission gear set (33) is connected to a reducer, and the reducer is connected to a servo motor; The first telescopic arm (36) and the second telescopic arm (37) are slidably sleeved, and a telescopic hydraulic cylinder (38) is provided between the first telescopic arm (36) and the second telescopic arm (37).

2. A manipulator for automatic roll forging of connecting rods according to claim 1, characterized in that: Pins are provided on both sides of the free end of the claw rod (3105), and each of the pins is connected with a tension spring (3108).

3. The manipulator for automatic roll forging of connecting rods according to claim 1 is characterized in that: The tail of the second telescopic arm (37) is hinged to the translation seat (300), and the middle position of the bottom of the second telescopic arm (37) is hinged to the translation seat (300) via a variable amplitude hydraulic cylinder (39); The translation seat (300) is slidably mounted on the translation slide rail (301), and the translation seat (300) is connected to the translation hydraulic cylinder (302).

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