Automatic feeding and discharging system for forging post-processing

Abstract

The automatic feeding and discharging system is characterized in that a manipulator drives a paw to take or send a forge piece onto a heat treatment frame body on a rotary table device under the guidance of a 3D vision device, and when one side of the heat treatment frame body is filled with the forge piece or the forge piece is taken out, the rotary table device rotates to enable the other side of the heat treatment frame body to rotate to one side of the paw; and the paws repeat the work until all the work is completed. The system can be matched with an RGV, a carrier and the like, so that when the forge piece is subjected to a series of post-treatment processes such as solid solution, aging, cleaning, permeation and darkroom imaging, the post-treatment efficiency of the forge piece can be greatly improved, the labor intensity of workers is reduced, the safety of manual production is improved, and meanwhile, the product quality is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of forging automation, in particular to an automatic loading and unloading system for post-processing of forgings. Background Art

[0002] Forging is a traditional metal processing method, which is a process of heating and cooling metal materials to form them into the desired shape. Traditional forging post-processing methods are mainly manual operations, which are labor-intensive and inefficient. In addition, the forging process produces harmful gases, noise, vibration and other environmental issues that pose a serious threat to the physical and mental health of employees. In addition, with the shortage of labor and the increase in labor costs, the difficulty of forging companies in recruiting workers and the shortage of front-line workers have brought great impacts on the development of the forging industry.

[0003] However, in recent years, with the development of automation technology, forging post-processing is also gradually turning to automation. More and more production line workers are replaced by robots. The application of automation technology improves production efficiency and product quality, reduces labor intensity and danger. For example, automated production lines can reduce manual operations, reduce dependence on workers, and improve production efficiency and product quality. Summary of the invention

[0004] The purpose of the present invention is to provide an automatic loading and unloading system for post-processing of forgings in view of the problems existing in the above-mentioned prior art.

[0005] The technical solution to achieve the purpose of the present invention is: an automatic loading and unloading system for post-processing of forgings, the system comprising a turntable device, a heat treatment frame and a robotic arm installed on a platform, the heat treatment frame is installed on the turntable device, the heat treatment frame is used to load forgings, and the robotic arm is used to grab forgings and load them onto the heat treatment frame; each side of the heat treatment frame can be loaded with forgings, the turntable device drives the heat treatment frame to rotate, so that each side of the heat treatment frame is close to the robotic arm until loading and unloading is completed.

[0006] Furthermore, the turntable device includes a turntable, a slewing support and a turntable; the turntable is mounted on the slewing support, and the slewing support is mounted on the turntable driven by a motor; and the heat treatment frame is mounted on the turntable.

[0007] Furthermore, the heat treatment frame adopts a hanging manner to load the forgings.

[0008] Furthermore, the heat treatment frame includes a frame base, a hanging rod mounting frame, and a plurality of hanging rods and a frame support frame; the frame base is installed on the turntable device; the hanging rod mounting frame is installed on the frame base; the frame support frame is installed on the frame base and the hanging rod mounting frame, so as to enhance the strength and rigidity of the entire heat treatment frame; one end of the hanging rod is installed on the hanging rod mounting frame, and the other end is used to hang the forging.

[0009] Furthermore, the heat treatment frame also includes a push-pull part installed on the frame base to meet the needs of RGV transportation.

[0010] Furthermore, the heat treatment frame also includes a transporting portion installed on the frame base to meet the transportation needs of a transport vehicle.

[0011] Furthermore, a visual positioning portion is installed at the end of the other end of the hanging rod as a recognition target of the robotic arm; and the cross-sectional area of ​​the visual positioning portion is larger than the cross-sectional area of ​​the hanging rod.

[0012] Furthermore, the heat treatment frame can also reduce the depth of the hanging rod when rotating.

[0013] Furthermore, the robot arm includes a robot arm and a gripper device, wherein the gripper device is installed on the robot arm and can move with the robot arm, and is used for grabbing forgings.

[0014] Furthermore, the gripper device includes a flange seat, fingers, a workpiece push plate, a push plate cylinder mounting bracket, a 3D camera mounting bracket, a finger cylinder, a push plate cylinder and a 3D camera; the flange seat is mounted on the robot arm, the 3D camera mounting bracket is mounted on the flange seat, and the 3D camera is mounted on the 3D camera mounting bracket; the push plate cylinder mounting bracket is mounted on the flange seat, the push plate cylinder is mounted on the push plate cylinder mounting bracket, and the workpiece push plate is mounted on the push plate cylinder; the finger cylinder is mounted on the flange seat, and the finger is mounted on the finger cylinder, and the finger, driven by the finger cylinder, places the forging on the heat treatment frame or removes the forging from the heat treatment frame, and the workpiece push plate presses the forging under the drive of the push plate cylinder to stabilize the forging; the 3D camera is used to identify the components on the heat treatment frame used to carry the forging, and guide the robot arm and gripper device to pick up and deliver the forging from the heat treatment frame.

[0015] Compared with the prior art, the present invention has the following significant advantages:

[0016] 1) It reduces the labor intensity, improves the safety of manual production, and greatly improves the post-processing efficiency of forgings.

[0017] 2) It can reduce manual operations, reduce dependence on workers, and improve product quality.

[0018] 3) The system can cooperate with RGV, transport vehicles, etc.

[0019] The present invention is further described in detail below in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 FIG. 1 is a schematic diagram of an automatic loading and unloading system for post-processing of forgings in one embodiment, wherein Figure 1 (a) is a turntable device and a heat treatment frame. Figure 1 (b) in the figure is a robotic arm.

[0021] Figure 2 Schematic diagram of a turntable device in one embodiment.

[0022] Figure 3 Schematic diagram of a heat treatment frame in an embodiment.

[0023] Figure 4 Schematic diagram of a gripper device in one embodiment. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0025] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0026] In one embodiment, an automatic loading and unloading system for post-processing of forgings is provided, the system comprising a turntable device 1, a heat treatment frame 2 and a robotic arm 3 installed on a platform, the heat treatment frame 2 is installed on the turntable device 1, the heat treatment frame 2 is used to load forgings, and the robotic arm 3 is used to grab forgings and load them onto the heat treatment frame 2; each side of the heat treatment frame 2 can be loaded with forgings, the turntable device 1 drives the heat treatment frame 2 to rotate, so that each side of the heat treatment frame 2 is close to the robotic arm 3 until loading and unloading is completed.

[0027] Further, in one embodiment, in combination Figure 2The turntable device 1 includes a turntable 1-1, a rotary support 1-2 and a turntable 1-3; the turntable 1-1 is mounted on the rotary support 1-2, and the rotary support 1-2 is mounted on the turntable 1-3 driven by a motor; the heat treatment frame 2 is mounted on the turntable 1-1.

[0028] Furthermore, in one of the embodiments, the heat treatment frame 2 loads the forgings in a hanging manner.

[0029] Preferably, in some embodiments, combined Figure 3 The heat treatment frame 2 includes a frame base 2-1, a hanging rod mounting frame 2-5, and a plurality of hanging rods 2-4 and a frame support frame 2-6; the frame base 2-1 is installed on the turntable device 1; the hanging rod mounting frame 2-5 is installed on the frame base 2-1; the frame support frame 2-6 is installed on the frame base 2-1 and the hanging rod mounting frame 2-5, and is used to enhance the strength and rigidity of the entire heat treatment frame 2; one end of the hanging rod 2-4 is installed on the hanging rod mounting frame 2-5, and the other end is used to hang the forging.

[0030] Preferably, in some embodiments, the heat treatment frame 2 further includes a push-pull portion 2-2, which is installed on the frame base 2-1 to meet the needs of RGV transportation.

[0031] Preferably, in some embodiments, the heat treatment frame 2 further includes a transport portion 2-3 installed on the frame base 2-1 to meet the needs of transportation by a transport vehicle.

[0032] It should be noted here that in order to adapt to different needs, corresponding matching components can also be customized and assembled.

[0033] Preferably, in some embodiments, a visual positioning unit 2-4-1 is installed at the end of the other end of the hanging rod 2-4 as a recognition target of the robot arm 3. Here, the type of the visual positioning unit 2-4-1 is not specifically described.

[0034] By adopting the solution of this embodiment, even if the hanging rods 2-4 are slightly deformed after repeated use, the robot arm 3 can be smoothly guided to recognize the features, thereby accurately picking up and placing the forgings.

[0035] Preferably, in some embodiments, the cross-sectional area of ​​the visual positioning portion 2-4-1 is larger than the cross-sectional area of ​​the hanging rod 2-4.

[0036] The solution of this embodiment can effectively prevent the forging from falling off the hanging rod 2-4.

[0037] Preferably, in some embodiments, the hanging rod mounting frame 2-5 is a rectangular frame structure, and a plurality of hanging rods 2-4 and a frame support frame 2-6 are installed on both side surfaces thereof.

[0038] Preferably, in some embodiments, the rectangular frame structure is composed of a plurality of vertical columns and horizontal columns.

[0039] Preferably, in some embodiments, the plurality of hanging rods 2-4 are arranged in an array and are customizable.

[0040] Preferably, in some embodiments, the heat treatment frame 2 will also reduce the depth of the hanging rods 2-4 when rotating.

[0041] The solution of this embodiment can reduce the difficulty of picking up and placing by the robot arm 3 and improve production efficiency.

[0042] It should be noted here that it is not limited to the above-mentioned hanging rod structure, and other components that can store forgings can be used.

[0043] Furthermore, in one of the embodiments, the robot arm 3 includes a robot arm 3-1 and a gripper device 3-2. The gripper device 3-2 is installed on the robot arm 3-1 and can move with the robot arm 3-1 for grabbing forgings.

[0044] Preferably, in some embodiments, combined Figure 4 The gripper device 3-2 includes a flange seat 3-2-1, a finger 3-2-2, a workpiece push plate 3-2-3, a push plate cylinder mounting bracket 3-2-4, a 3D camera mounting bracket 3-2-5, a finger cylinder 3-2-6, a push plate cylinder 3-2-7 and a 3D camera 3-2-8; the flange seat 3-2-1 is mounted on the robot hand 3-1, the 3D camera mounting bracket 3-2-5 is mounted on the flange seat 3-2-1, and the 3D camera 3-2-8 is mounted on the 3D camera mounting bracket 3-2-5; the push plate cylinder mounting bracket 3-2-4 is mounted on the flange seat 3-2-1, and the push plate cylinder 3-2-7 is mounted on the push plate cylinder mounting bracket 3-2-4 The workpiece push plate 3-2-3 is installed on the push plate cylinder 3-2-7; the finger cylinder 3-2-6 is installed on the flange seat 3-2-1, and the finger 3-2-2 is installed on the finger cylinder 3-2-6. The finger 3-2-2 is driven by the finger cylinder 3-2-6 to place the forging on the heat treatment frame 2 or remove the forging from the heat treatment frame 2. The workpiece push plate 3-2-3 is driven by the push plate cylinder 3-2-7 to press the forging to stabilize the forging; the 3D camera 3-2-8 is used to identify the parts on the heat treatment frame 2 used to carry the forgings, and guide the robot 3-1 and the gripper device 3-2 to pick up and deliver the forgings from the heat treatment frame.

[0045] It should be noted here that the recognition is not limited to the use of a 3D camera, and the specific structure of each component in the gripper device 3-2 is not particularly limited. As long as it is the same as the principle of the present invention, it falls within the protection scope of the present invention.

[0046] The present invention uses a robot arm to drive a gripper to take or send forgings to a heat treatment frame on a turntable device under the guidance of a 3D vision device. When one side of the heat treatment frame is filled with or the forgings are taken out, the turntable device rotates to turn the other side of the heat treatment frame to the gripper side, and the gripper repeats the above work until all is completed.

[0047] The system of the present invention can cooperate with RGV, transport vehicles, etc., so that when the forgings undergo a series of post-processing processes such as solid solution, aging, cleaning, penetration, darkroom imaging, etc., the post-processing efficiency of the forgings can be greatly improved, the labor intensity can be reduced, the manual production safety can be improved, and the product quality can be improved at the same time.

[0048] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic loading and unloading system for post-processing of forgings, characterized in that: The system comprises a turntable device (1), a heat treatment frame (2) and a mechanical arm (3) installed on a platform; the heat treatment frame (2) is installed on the turntable device (1); the heat treatment frame (2) is used to load forgings; the mechanical arm (3) is used to grab forgings and load them onto the heat treatment frame (2); each side of the heat treatment frame (2) can be loaded with forgings; the turntable device (1) drives the heat treatment frame (2) to rotate so that each side of the heat treatment frame (2) is close to the mechanical arm (3) until loading and unloading is completed.

2. The automatic loading and unloading system for post-processing of forgings according to claim 1 is characterized in that: The turntable device (1) comprises a turntable (1-1), a slewing support (1-2) and a turntable (1-3); the turntable (1-1) is mounted on the slewing support (1-2), and the slewing support (1-2) is mounted on the turntable (1-3) driven by a motor; and the heat treatment frame (2) is mounted on the turntable (1-1).

3. The automatic loading and unloading system for forging post-processing according to claim 1 is characterized in that: The heat treatment frame (2) loads the forgings in a hanging manner.

4. The automatic loading and unloading system for post-processing of forgings according to claim 2 or 3, characterized in that: The heat treatment frame (2) comprises a frame base (2-1), a hanging rod mounting frame (2-5), a plurality of hanging rods (2-4) and a frame support frame (2-6); the frame base (2-1) is mounted on the turntable device (1); the hanging rod mounting frame (2-5) is mounted on the frame base (2-1); the frame support frame (2-6) is mounted on the frame base (2-1) and the hanging rod mounting frame (2-5) to enhance the strength and rigidity of the entire heat treatment frame (2); one end of the hanging rod (2-4) is mounted on the hanging rod mounting frame (2-5), and the other end is used to suspend the forging.

5. The automatic loading and unloading system for post-processing of forgings according to claim 4 is characterized in that: The heat treatment frame (2) also includes a push-pull portion (2-2) mounted on the frame base (2-1) to meet the needs of RGV transportation.

6. The automatic loading and unloading system for post-processing of forgings according to claim 5 is characterized in that: The heat treatment frame (2) also includes a transport portion (2-3) mounted on the frame base (2-1) to meet the needs of transportation by a transport vehicle.

7. The automatic loading and unloading system for post-processing of forgings according to claim 4 is characterized in that: A visual positioning portion (2-4-1) is installed at the end of the other end of the hanging rod (2-4) as a recognition target of the mechanical arm (3); and the cross-sectional area of ​​the visual positioning portion (2-4-1) is larger than the cross-sectional area of ​​the hanging rod (2-4).

8. The automatic loading and unloading system for post-processing of forgings according to claim 4 is characterized in that: The heat treatment frame (2) can also reduce the depth of the hanging rod (2-4) when rotating.

9. The automatic loading and unloading system for post-processing of forgings according to claim 1 is characterized in that: The robot arm (3) comprises a robot hand (3-1) and a gripper device (3-2); the gripper device (3-2) is installed on the robot hand (3-1) and can move with the robot hand (3-1) and is used for grabbing forgings.

10. The automatic loading and unloading system for post-processing of forgings according to claim 9, characterized in that: The gripper device (3-2) comprises a flange seat (3-2-1), a finger (3-2-2), a workpiece push plate (3-2-3), a push plate cylinder mounting bracket (3-2-4), a 3D camera mounting bracket (3-2-5), a finger cylinder (3-2-6), a push plate cylinder (3-2-7) and a 3D camera (3-2-8); the flange seat (3-2-1) is mounted on the robot hand (3-1), the 3D camera mounting bracket (3-2-5) is mounted on the flange seat (3-2-1), and the 3D camera (3-2-8) is mounted on the 3D camera mounting bracket (3-2-5); the push plate cylinder mounting bracket (3-2-4) is mounted on the flange seat (3-2-1), and the push plate cylinder (3-2-7) is mounted on the push plate cylinder mounting bracket (3-2- 4), the workpiece push plate (3-2-3) is installed on the push plate cylinder (3-2-7); the finger cylinder (3-2-6) is installed on the flange seat (3-2-1), and the finger (3-2-2) is installed on the finger cylinder (3-2-6); the finger (3-2-2) is driven by the finger cylinder (3-2-6) to place the forging on the heat treatment frame (2) or remove the forging from the heat treatment frame (2); the workpiece push plate (3-2-3) is driven by the push plate cylinder (3-2-7) to press the forging to stabilize the forging; the 3D camera (3-2-8) is used to identify the parts on the heat treatment frame (2) used to carry the forging, and guide the robot arm (3-1) and the gripper device (3-2) to pick up and deliver the forging from the heat treatment frame.

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