A manipulator of a forging manipulator

Abstract

The present invention provides a manipulator of a forging manipulator, which relates to the technical field of forging processing equipment. The manipulator of the forging manipulator includes a machine base, a rotating mechanism is arranged at the center of the top of the machine base, a lifting and adjusting mechanism is fixedly connected to the top of the rotating mechanism, and a transverse telescopic mechanism is slidably installed at the front end of the lifting and adjusting mechanism; one end of the transverse telescopic mechanism away from the machine base is fixedly connected to a flipping mechanism, the output end of the flipping mechanism is fixedly connected to a clamping mechanism, and one end of the clamping mechanism is fixedly connected to a fixed fixture; a forging and forming mechanism corresponding to the fixed fixture is fixedly connected to the bottom of the clamping mechanism, and an ejecting mechanism is installed at the center of one side of the bottom of the forging and forming mechanism. By designing a flipping mechanism, a forging and forming mechanism and an ejecting mechanism integrated with the manipulator, metal forgings can complete forging processing on the manipulator, which not only ensures the processing quality, but also simplifies the processing process and improves the forging processing efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of forging processing equipment, in particular to a forging manipulator robot. Background Art

[0002] Forging manipulator is an auxiliary forging machine used to clamp the forging blank and cooperate with the hydraulic press or forging hammer to complete the main actions such as feeding, rotating, and turning. Forging operation forging manipulator mobile phone helps to improve working conditions and improve production efficiency. According to needs, the manipulator can also be used for furnace loading and unloading, and can realize remote control and linkage with the host. The structure of the manipulator is divided into two types: tracked and trackless, and its transmission mode includes mechanical, hydraulic and mixed types. In addition, there are manipulators specially used for certain auxiliary processes, such as loading and unloading manipulators and tool manipulators. In order to cooperate with the work of the manipulator, a forging blank turntable is sometimes configured to facilitate the turning of the forging blank. In die forging and large-piece stamping, the application of manipulators has become increasingly common. Such a manipulator is actually an automatic forging manipulator.

[0003] During the forging process of metal forgings, forging robots are needed to complete the operations of picking, loading and unloading. The complete process is that the robot clamps the material and sends it into the forging die. The robot withdraws and the forging machine completes the forging of the material. After the forging is completed, the ejection mechanism in the die ejects the processed parts. Finally, the original robot or another robot clamps the material and sends it to the designated area for the next processing. This traditional robot structure is not only time-consuming and labor-intensive to execute the above process, but also sometimes requires two or even more robots to operate simultaneously at the same processing position, which is not only too costly, but also not conducive to simplifying the process and improving the forging efficiency.

[0004] To this end, we have developed a new forging manipulator. Summary of the invention

[0005] 1. Technical issues to be resolved

[0006] In view of the shortcomings of the prior art, the present invention provides a forging manipulator robot, which solves the problem that the traditional robot structure is not only time-consuming and labor-intensive to execute the existing process flow, but also sometimes requires two or even more robots to operate simultaneously at the same processing position, which is not only too costly, but also not conducive to simplifying the process flow and improving the forging processing efficiency.

[0007] (II) Technical solution

[0008] To achieve the above objectives, the present invention is implemented through the following technical solutions: A forging manipulator manipulator comprises a machine base, a rotating mechanism is arranged at the top center of the machine base, a lifting and adjusting mechanism is fixedly connected to the top of the rotating mechanism, and a lateral telescopic mechanism is slidably installed at the front end of the lifting and adjusting mechanism;

[0009] One end of the horizontal telescopic mechanism away from the machine base is fixedly connected with a flipping mechanism, and the output end of the flipping mechanism is fixedly connected with a clamping mechanism. One end of the clamping mechanism is fixedly connected with a fixed clamp.

[0010] The bottom of the clamping mechanism is fixedly connected with a forging and forming mechanism corresponding to the fixed clamp. A jacking mechanism is installed at the center of one side of the bottom of the forging and forming mechanism.

[0011] Preferably, the rotating mechanism includes a driving motor, which is installed at the center of the top of the machine base, and the top end of the output shaft of the driving motor is fixedly connected with a rotating connection disk.

[0012] Through the above technical solution, when the driving motor works, its output shaft can drive the rotating connection disk to rotate synchronously, so as to drive the whole manipulator to rotate, so as to complete the rotating loading.

[0013] Preferably, the lifting and adjusting mechanism includes a lifting seat and a lifting motor. The lifting seat is fixedly connected to the top of the rotating connection disk. Both sides of the front end of the lifting seat are fixedly connected with lifting guide rails. The center of the front end of the lifting seat is fixedly connected with a first fixed rack. The lifting motor is installed in the horizontal telescopic mechanism. The output end of the lifting motor is fixedly connected with a first transmission gear, and the first transmission gear meshes with the first fixed rack.

[0014] Through the above technical solution, when the lifting motor works, it can drive the horizontal telescopic mechanism and the whole manipulator to perform lifting adjustment through gear meshing, so as to send the clamped metal forging to the designated processing position.

[0015] Preferably, the horizontal telescopic mechanism includes a main fixed arm, which is slidably connected between two lifting guide rails. The center of one end of the main fixed arm is slidably connected with a telescopic arm. The front and rear ends of the inner wall of the main fixed arm are fixedly connected with limit slide rails. The center of the front and rear ends of the telescopic arm is provided with limit sliding grooves. The center of the top of the telescopic arm is fixedly connected with a second fixed rack. A telescopic motor is installed on one side of the center of the main fixed arm away from the machine base. The output end of the telescopic motor is fixedly connected with a second transmission gear, and the second transmission gear meshes with the second fixed rack.

[0016] Through the above technical solution, when the telescopic motor works, it can drive the telescopic arm to move and stretch in the center of the main fixed arm through gear meshing.

[0017] Preferably, the flipping mechanism includes a fixed frame, which is fixed at one end of the telescopic arm, and a flipping motor is installed on one side of the inner wall of the fixed frame.

[0018] Through the above technical solution, after the clamping mechanism clamps the metal forging, the flipping motor can drive the clamping mechanism to rotate by degrees through the output shaft. After the two movable clamping arms of the clamping mechanism are relaxed, the metal forging will automatically fall into the forming groove opened on one side of the top of the forging die base.

[0019] Preferably, the clamping mechanism includes a fixed clamping seat, the fixed clamping seat is fixed on one side of the outer wall of the fixed frame, a clamping cylinder is installed on one side of the center of the fixed clamping seat close to the fixed frame, and the front and rear ends of the center of the fixed clamping seat far from the clamping cylinder are both slidably connected with movable clamping arms. The fixed clamping seat is provided with guiding sliding grooves corresponding to the two movable clamping arms. One end of the piston rod of the clamping cylinder is fixedly connected with a telescopic adjusting block corresponding to the two movable clamping arms, and directional sliding grooves corresponding to the telescopic adjusting block are opened on the inner sides of the two movable clamping arms.

[0020] Through the above technical solution, when the piston rod of the clamping cylinder expands and contracts, it can drive the two movable clamping arms to move towards or away from each other through the telescopic adjusting block, so as to drive the fixed fixture to clamp or loosen.

[0021] Preferably, the fixed fixture includes two fixed seats, the two fixed seats are respectively fixedly connected to the outer sides of the two movable clamping arms, connecting blocks are fixedly connected to the outer sides of the two fixed seats, and arc-shaped clamping plates are fixedly connected to the inner sides of the two connecting blocks.

[0022] Through the above technical solution, when the fixed fixture moves to the clamping position of the metal forging, the two movable clamping arms move towards each other, and the two arc-shaped clamping plates will clamp the metal forging; when the flipping mechanism drives the clamping mechanism to complete the flipping, the two movable clamping arms move in the opposite direction, and the two arc-shaped clamping plates will loosen the metal forging, and the metal forging will automatically fall into the forming groove opened on one side of the top of the forging die base.

[0023] Preferably, the forging and forming mechanism includes a forging die base, the forging die base is fixed to the bottom of the fixed clamping seat, a forming groove is opened on one side of the top of the forging die base, and a positioning groove is opened at the center of the bottom of the forming groove.

[0024] Through the above technical solution, after the metal forging falls into the forming groove opened on one side of the top of the forging die base, the manipulator drives the forging and forming mechanism to move directly below the bottom of the stamping head of the forging machine, and the stamping head punches downward to complete the shaping of the metal forging.

[0025] Preferably, the ejecting mechanism includes an installation groove, the installation groove is opened on one side of the bottom of the forging die base, an ejecting cylinder is installed in the forging die base, the top end of the piston rod of the ejecting cylinder is fixedly connected with an ejecting block, and the ejecting block is positioned at the center of the positioning groove.

[0026] Through the above technical solution, after the forging and shaping of the metal forging is completed, the clamping mechanism is driven by the flipping mechanism to complete the flipping. The manipulator moves the forging die base to the blanking position. At this time, the ejecting cylinder works, and the ejecting block is driven by the piston rod of the ejecting cylinder to move, so as to eject the formed metal part out of the forming groove and complete the blanking.

[0027] (III) Beneficial effects

[0028] The present invention provides a forging manipulator. It has the following beneficial effects:

[0029] 1. For this forging manipulator, by designing a flipping mechanism, a forging and forming mechanism and an ejecting mechanism integrated with the manipulator, the metal forging can complete the forging process on the manipulator, which not only ensures the processing quality, but also simplifies the processing technology and improves the forging processing efficiency.

[0030] 2. For this forging manipulator, by designing an integrated forging manipulator, a series of forging processes can be completed by one manipulator without the need for two or more manipulators to cooperate. This not only ensures the processing accuracy, but also greatly reduces the equipment cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is the first perspective structure diagram of the present invention;

[0032] Figure 2 is the second perspective structure diagram of the present invention;

[0033] Figure 3 is the structural schematic diagram of the clamping mechanism of the present invention;

[0034] Figure 4 is the structural schematic diagram of the flipping mechanism of the present invention;

[0035] Figure 5 is the top view structural diagram of the fixed fixture of the present invention;

[0036] Figure 6 is the three-dimensional structural schematic diagram of the forging and forming mechanism of the present invention;

[0037] Figure 7 is Figure 5 the sectional view taken along the line B-B in

[0038] Among them, 1. Machine base; 2. Rotating mechanism; 201. Driving motor; 202. Rotating connecting plate; 3. Lifting and adjusting mechanism; 301. Lifting seat; 302. Lifting guide rail; 303. First fixed rack; 4. Transverse telescopic mechanism; 401. Main fixed arm; 402. Telescopic arm; 403. Limit sliding rail; 404. Limit sliding groove; 405. Second fixed rack; 5. Flipping mechanism; 501. Fixed frame; 502. Flipping motor; 6. Clamping mechanism; 601. Fixed clamping seat; 602. Clamping cylinder; 603. Movable clamping arm; 604. Guide sliding groove; 605. Telescopic adjusting block; 606. Directional sliding groove; 7. Fixed fixture; 701. Fixed seat; 702. Connecting block; 703. Arc-shaped clamping plate; 8. Forging and forming mechanism; 801. Forging die base; 802. Forming groove; 803. Positioning groove; 9. Ejecting mechanism; 901. Installation groove; 902. Ejecting cylinder; 903. Ejecting block. Detailed implementation manners

[0039] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0040] Embodiment:

[0041] As Figures 1 - 7 shown, the embodiment of the present invention provides a forging manipulator, including a machine base 1. A rotating mechanism 2 is arranged at the center of the top of the machine base 1. The rotating mechanism 2 includes a driving motor 201. The driving motor 201 is installed at the center of the top of the machine base 1, and the top end of the output shaft of the driving motor 201 is fixedly connected with a rotating connecting plate 202. When the driving motor 201 works, its output shaft can drive the rotating connecting plate 202 to rotate synchronously, so as to drive the entire manipulator to rotate, so as to complete rotary loading;

[0042] The top of the rotating mechanism 2 is fixedly connected with a lifting and adjusting mechanism 3. The lifting and adjusting mechanism 3 includes a lifting seat 301 and a lifting motor. The lifting seat 301 is fixedly connected to the top of the rotating connecting plate 202. Both sides of the front end of the lifting seat 301 are fixedly connected with lifting guide rails 302. The center of the front end of the lifting seat 301 is fixedly connected with a first fixed rack 303. The lifting motor is installed in the transverse telescopic mechanism 4. The output end of the lifting motor is fixedly connected with a first transmission gear, and the first transmission gear meshes with the first fixed rack 303. When the lifting motor works, it can drive the transverse telescopic mechanism 4 and the entire manipulator to perform lifting adjustment through gear meshing, so as to send the clamped metal forging to a specified processing position;

[0043] A lateral telescopic mechanism 4 is slidably installed at the front end of the lifting adjustment mechanism 3. The lateral telescopic mechanism 4 includes a main fixed arm 401. The main fixed arm 401 is slidably connected between two lifting guide rails 302. The center of one end of the main fixed arm 401 is slidably connected with a telescopic arm 402. At the front and rear ends of the inner wall of the main fixed arm 401, limiting slide rails 403 are fixedly connected. At the centers of the front and rear ends of the telescopic arm 402, limiting slide grooves 404 are opened. At the center of the top of the telescopic arm 402, a second fixed rack 405 is fixedly connected. On the side of the center of the main fixed arm 401 away from the machine base 1, a telescopic motor is installed. The output end of the telescopic motor is fixedly connected with a second transmission gear, and the second transmission gear meshes with the second fixed rack 405. When the telescopic motor works, it can drive the telescopic arm 402 to move and telescope in the center of the main fixed arm 401 through gear meshing;

[0044] As Figure 3 shown, a flipping mechanism 5 is fixedly connected to the end of the lateral telescopic mechanism 4 away from the machine base 1. The flipping mechanism 5 includes a fixed frame 501. The fixed frame 501 is fixed to one end of the telescopic arm 402. A flipping motor 502 is installed on one side of the inner wall of the fixed frame 501. After the clamping mechanism 6 clamps the metal forging, the flipping motor 502 can drive the clamping mechanism 6 to rotate 180 degrees through the output shaft. After the two movable clamping arms 603 of the clamping mechanism 6 are relaxed, the metal forging will automatically fall into the forming groove 802 opened on one side of the top of the forging die base 801;

[0045] As Figure 3 shown, the output end of the flipping mechanism 5 is fixedly connected with a clamping mechanism 6. The clamping mechanism 6 includes a fixed clamping seat 601. The fixed clamping seat 601 is fixed to one side of the outer wall of the fixed frame 501. A clamping cylinder 602 is installed on the side of the center of the fixed clamping seat 601 close to the fixed frame 501. At the front and rear ends of the center of the fixed clamping seat 601 away from the clamping cylinder 602, movable clamping arms 603 are slidably connected. On the fixed clamping seat 601, guiding slide grooves 604 corresponding to the two movable clamping arms 603 are opened. One end of the piston rod of the clamping cylinder 602 is fixedly connected with a telescopic adjustment block 605 corresponding to the two movable clamping arms 603. On the inner sides of the two movable clamping arms 603, orientation slide grooves 606 corresponding to the telescopic adjustment block 605 are opened. When the piston rod of the clamping cylinder 602 extends and retracts, it can drive the two movable clamping arms 603 to move towards or away from each other through the telescopic adjustment block 605, so as to drive the fixed fixture 7 to clamp or loosen;

[0046] As Figure 3As shown, one end of the clamping mechanism 6 is fixedly connected with a fixed fixture 7. The fixed fixture 7 includes two fixed seats 701 which are respectively fixedly connected to the outer sides of the two movable clamping arms 603. Connecting blocks 702 are fixedly connected to the outer sides of the two fixed seats 701, and arc-shaped clamping plates 703 are fixedly connected to the inner sides of the two connecting blocks 702. When the fixed fixture 7 moves to the metal forging clamping position, the two movable clamping arms 603 move towards each other, and the two arc-shaped clamping plates 703 will clamp the metal forging. When the flipping mechanism 5 drives the clamping mechanism 6 to complete the flipping, the two movable clamping arms 603 move in the opposite direction, and the two arc-shaped clamping plates 703 will release the metal forging, and the metal forging will automatically fall into the forming groove 802 opened on one side of the top of the forging die base 801.

[0047] As Figure 6 shown, a forging and forming mechanism 8 corresponding to the fixed fixture 7 is fixedly connected to the bottom of the clamping mechanism 6. The forging and forming mechanism 8 includes a forging die base 801 which is fixed to the bottom of the fixed clamping seat 601. A forming groove 802 is opened on one side of the top of the forging die base 801, and a positioning groove 803 is opened at the center of the bottom of the forming groove 802. After the metal forging falls into the forming groove 802 opened on one side of the top of the forging die base 801, the manipulator drives the forging and forming mechanism 8 to move directly below the bottom of the stamping head of the forging machine, and the stamping head punches down to complete the shaping of the metal forging.

[0048] As Figure 7 shown, a ejecting mechanism 9 is installed at the center of one side of the bottom of the forging and forming mechanism 8. The ejecting mechanism 9 includes an installation groove 901 which is opened on one side of the bottom of the forging die base 801. An ejecting cylinder 902 is installed in the forging die base 801. The top end of the piston rod of the ejecting cylinder 902 is fixedly connected with an ejecting block 903 which is positioned at the center of the positioning groove 803. After the forging and shaping of the metal forging is completed, the flipping mechanism 5 drives the clamping mechanism 6 to complete a 180-degree flip, and the manipulator moves the forging die base 801 to the blanking position. At this time, the ejecting cylinder 902 works, and the piston rod of the ejecting cylinder 902 drives the ejecting block 903 to move, so as to eject the formed metal part out of the forming groove 802 to complete the blanking.

[0049] Working principle: The rotation mechanism 2, the lifting adjustment mechanism 3, and the lateral telescopic mechanism 4 execute the set running trajectory according to the program set by the computer, thereby further driving the flipping mechanism 5, the clamping mechanism 6, the fixed fixture 7, and the forging and forming mechanism 8 to complete the clamping and fixing, feeding, positioning, processing, and blanking operations at the specified positions. When the fixed fixture 7 moves to the metal forging clamping position, the two movable clamping arms 603 move towards each other, and the two arc-shaped clamping plates 703 will clamp the metal forging. Before the manipulator drives the metal forging to move to the forging position, the flipping mechanism 5 will drive the clamping mechanism 6 to complete a 180-degree flip. After the flip is completed, the two movable clamping arms 603 move in the reverse direction, and the two arc-shaped clamping plates 703 will release the metal forging. The metal forging will automatically fall into the forming groove 802 opened on one side of the top of the forging die base 801. The manipulator drives the forging and forming mechanism 8 to move directly below the bottom of the stamping head of the forging machine, and the stamping head punches downward to complete the shaping of the metal forging. Then, the manipulator drives the processed metal part to move to the blanking position, and the flipping mechanism 5 will also drive the clamping mechanism 6 to complete a 180-degree flip during the movement. After reaching the blanking position, the ejecting cylinder 902 works, and the piston rod of the ejecting cylinder 902 drives the ejecting block 903 to move, thereby ejecting the formed metal part out of the forming groove 802 to complete the blanking.

[0050] Although the embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A manipulator of a forging manipulator, comprising a machine base (1), characterized in that: A rotating mechanism (2) is arranged at the center of the top of the machine base (1), a lifting and adjusting mechanism (3) is fixedly connected to the top of the rotating mechanism (2), and a transverse telescopic mechanism (4) is slidably installed at the front end of the lifting and adjusting mechanism (3); One end of the transverse telescopic mechanism (4) far away from the machine base (1) is fixedly connected with a flipping mechanism (5). The flipping mechanism (5) includes a fixed frame (501). The output end of the flipping mechanism (5) is fixedly connected with a clamping mechanism (6). The clamping mechanism (6) includes a fixed clamping seat (601). The fixed clamping seat (601) is fixed on one side of the outer wall of the fixed frame (501). A clamping cylinder (602) is installed on one side of the center of the fixed clamping seat (601) close to the fixed frame (501). The front and rear ends on one side of the center of the fixed clamping seat (601) are both slidably connected with movable clamping arms (603). A guiding chute (604) corresponding to the two movable clamping arms (603) is opened on the fixed clamping seat (601). One end of the piston rod of the clamping cylinder (602) is fixedly connected with a telescopic adjusting block (605) corresponding to the two movable clamping arms (603). Orientation chutes (606) corresponding to the telescopic adjusting block (605) are opened on the inner sides of the two movable clamping arms (603); One end of the clamping mechanism (6) is fixedly connected with a fixed fixture (7). The fixed fixture (7) includes two fixed seats (701). The two fixed seats (701) are respectively fixedly connected to the outer sides of the two movable clamping arms (603). Connecting blocks (702) are fixedly connected to the outer sides of the two fixed seats (701). Arc-shaped clamping plates (703) are fixedly connected to the inner sides of the two connecting blocks (702); The bottom of the clamping mechanism (6) is fixedly connected with a forging and forming mechanism (8) corresponding to the fixed fixture (7). The forging and forming mechanism (8) includes a forging die base (801). The forging die base (801) is fixed to the bottom of the fixed clamping seat (601). A forming groove (802) is opened on one side of the top of the forging die base (801). A positioning groove (803) is opened at the center of the bottom of the forming groove (802); A ejecting mechanism (9) is installed at the center of one side of the bottom of the forging and forming mechanism (8). The ejecting mechanism (9) includes an installation groove (901). The installation groove (901) is opened on one side of the bottom of the forging die base (801). An ejecting cylinder (902) is installed in the forging die base (801). The top end of the piston rod of the ejecting cylinder (902) is fixedly connected with an ejecting block (903). The ejecting block (903) is positioned at the center of the positioning groove (803).

2. The manipulator of a forging manipulator according to claim 1, characterized in that: The rotating mechanism (2) includes a driving motor (201). The driving motor (201) is installed at the center of the top of the machine base (1), and the top end of the output shaft of the driving motor (201) is fixedly connected with a rotating connection disk (202).

3. The manipulator of a forging manipulator according to claim 2, characterized in that: The lifting and adjusting mechanism (3) includes a lifting seat (301) and a lifting motor. The lifting seat (301) is fixedly connected to the top of the rotary connection disk (202). Both sides of the front end of the lifting seat (301) are fixedly connected with lifting guide rails (302). The center of the front end of the lifting seat (301) is fixedly connected with a first fixed rack (303). The lifting motor is installed in the horizontal telescopic mechanism (4). The output end of the lifting motor is fixedly connected with a first transmission gear, and the first transmission gear meshes with the first fixed rack (303).

4. The manipulator of a forging manipulator according to claim 3, characterized in that: The horizontal telescopic mechanism (4) includes a main fixed arm (401). The main fixed arm (401) is slidably connected between the two lifting guide rails (302). The center of one end of the main fixed arm (401) is slidably connected with a telescopic arm (402). Both the front and rear ends of the inner wall of the main fixed arm (401) are fixedly connected with limit slide rails (403). The center of both the front and rear ends of the telescopic arm (402) is provided with limit sliding grooves (404). The center of the top of the telescopic arm (402) is fixedly connected with a second fixed rack (405). A telescopic motor is installed on the side of the main fixed arm (401) away from the machine base (1). The output end of the telescopic motor is fixedly connected with a second transmission gear, and the second transmission gear meshes with the second fixed rack (405).

5. The manipulator of a forging manipulator according to claim 4, characterized in that: The fixing frame (501) is fixed to one end of the telescopic arm (402). A flipping motor (502) is installed on one side of the inner wall of the fixing frame (501).

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