Full-automatic hot forging forming workpiece flash punching system

Abstract

The invention discloses an automatic edge cutting solution (system) for workpieces subjected to hot extrusion forming (hot forging), the automatic edge cutting solution (system) replaces manual feeding and discharging of the workpieces, and the automatic edge cutting solution (system) comprises an elevator, a horizontal conveying system, a conveying line, a visual robot system, a horizontal moving and positioning clamp, a feeding mechanical arm, a discharging and detecting system and a master control system. The elevator and the horizontal conveying system are mainly used for lifting scattered workpieces to a horizontal conveying mechanism, and the workpieces are conveyed out as one by one as possible by adopting a horizontal vibration conveying method. The main function of the conveying line is to receive workpieces conveyed out from the flat vibration device, and every time one workpiece falls, the conveying line moves forwards by a certain distance and conveys the workpieces to a visual detectable range. The visual robot system comprises an industrial robot (such as an SCARA robot), a clamp and a visual detection system, and has the functions of identifying workpieces on the conveying line and clamping the workpieces by the industrial robot according to the posture of the workpieces; the translation and positioning clamp is used for placing the workpiece clamped by the industrial robot on the clamp, positioning the workpiece again and then conveying the workpiece to the front of the machine tool for the feeding manipulator to take the workpiece; the feeding manipulator is responsible for clamping the workpieces conveyed by the translation mechanism and then conveying the workpieces into a machine tool die; the discharging and detecting system ensures that workpieces can be punched off every time, no residue is left on the die, and continuous and stable production is ensured; and the master control system ensures linkage of all the systems and ensures stable operation of the whole production process.

Description

Technical Field

[0001] The invention relates to automated production equipment replacing manual loading and unloading, and in particular to loading and unloading work of flash removal of workpieces with flash after hot forging. Background Art

[0002] Hot extrusion (hot forging) forming is the fastest and most cost-effective process to obtain more complex shapes, but most workpieces after hot forming have flash, which generally requires a punch and a die to punch out the flash. This is the most convenient and common processing method. Since the workpiece has been formed, has a complex shape, and has irregular flash, the traditional material sorting methods (elevator, vibrating plate feeding) are ineffective and cannot be sorted to a certain regular state. Traditional robot automation technology cannot be used. With the improvement of people's material living standards, the labor cost of this repetitive production will continue to increase. Therefore, automation is an inevitable trend. After various types of trial production and exploration, we have found a more common solution for automatic punching of flash after forging and forming. We have transformed the punch on the basis of the company's original punch and die, and adopted a fully automatic hot forging workpiece flash punching system, which can realize a general solution for fully automatic trimming production in addition to feeding and taking finished products. Summary of the invention

[0003] The purpose of the present invention is to adopt automatic feeding, automatic identification and automatic loading to replace manual work to complete the automatic loading action of workpieces with flash, so as to achieve the automation of single-station trimming production and liberate manual labor.

[0004] The present invention is realized through the following technical scheme: a fully automatic hot forging workpiece flash punching system, including a hoist and horizontal feeding system, a conveyor line, a visual robot system, a translation and positioning fixture, a loading manipulator, a discharging and detection system, and a master control system.

[0005] The main function of the elevator and horizontal conveying system is to lift a certain amount of workpieces manually poured into the elevator silo, about 10-20 each time, to the horizontal conveying system. The horizontal conveying system adopts a trough structure and is installed on a horizontal vibration conveyor. Of course, other conveying principles can also be used. The purpose is to deliver the workpieces in a single manner; the conveyor line receives the workpieces sent out from the horizontal conveying system, and under the control of the control logic, they will be sent to the visual inspection area in turn for the visual robot to grasp; the visual robot system includes a detection system, a robot and a fixture. The visual detection system determines the grasping posture of the workpiece based on the image obtained, and the visual robot determines the position of the workpiece based on the position output by the visual system. and posture information to clamp the workpiece; the function of the translation and positioning fixture is that after the visual robot clamps the workpiece, it puts the workpiece into the fixture, the fixture positions and clamps the workpiece to ensure the correct position, and then the translation mechanism moves the workpiece to the front of the machine tool mold for the loading robot to grab; the loading robot takes out the workpiece sent to the edge of the mold on the translation mechanism fixture, and then sends the workpiece to the machine tool mold. After the robot returns, the machine tool completes the trimming; the discharging and detection system uses air blowing or pushing to blow the workpiece or flash out of the mold, and determines whether the mold is empty through detection; the master control system is a set of control programs to achieve stable operation of the above systems.

[0006] As a preferred implementation of the above technical solution, the elevator and horizontal conveying system, the elevator can adopt a step-type loader, or a chain plate elevator, and the horizontal conveying system adopts a U-shaped groove to store materials. The U-shaped groove is fixed on the vibrator, and the U-shaped groove can have different structural details according to different workpiece types or sizes.

[0007] As a preferred implementation of the above technical solution, the conveyor line can be a belt conveyor line or a chain conveyor line.

[0008] As a preferred implementation of the above technical solution, the visual robot system includes a visual system and a robot system. The visual system uses a 2D industrial camera and a 3D smart camera. The robot is recommended to use a SCARA robot or a parallel robot, or a general four-axis or six-axis industrial robot.

[0009] As a preferred implementation of the above technical solution, the translation and positioning fixture adopts a method in which a clamping cylinder is installed on a translation cylinder. The clamping fingers of the translation cylinder are designed according to the shape of the product, and the translation cylinder can be replaced by a screw or a synchronous belt module. The translation and positioning fixture adopts two groups of the same structure to improve the rhythm. For workpieces that need to be divided into front and back sides, a flipping device is added near the translation line.

[0010] As a preferred implementation of the above technical solution, the feeding manipulator adopts a two-axis servo mechanical structure, that is, the X-axis sends forward, and the Z-axis has an up and down function. The manipulator is equipped with a gripper, and the gripper adopts a rear cylinder clamping. The X-axis of the feeding manipulator is perpendicular to the translation mechanism to ensure that the ends of the two translation mechanisms are within the range of the X-axis.

[0011] As a preferred implementation of the above technical solution, the material discharging and detection system uses a through-beam sensor to determine whether there are workpieces left on the mold, and this determination is performed each time before discharging the material.

[0012] Compared with the prior art, the present invention has the following advantages:

[0013] 1. The fully automatic hot forging workpiece flash punching system provided by the present invention has wide versatility and is suitable for workpieces of various shapes and sizes. Only the clamp needs to be adjusted, and it has good universality.

[0014] 2. The fully automatic hot forging workpiece flash punching system provided by the present invention does not adopt the principle of mechanical material sorting, avoids the limitations of the material sorting machine, and adopts a visual intelligent recognition method to intelligently grab the uncut blanks that come randomly. It can be applied to various products and multiple specifications, and has good versatility.

[0015] 3. The present invention provides a fully automatic hot forging workpiece flash punching system, which adopts two sets of robot systems to complete the identification, grasping and feeding actions respectively. A translation mechanism is used in the middle to avoid interference between the two systems. A positioning fixture is used to avoid the problem of various random errors in identification and grasping that lead to the inability to place it correctly in the mold.

[0016] 4. The present invention provides a fully automatic hot forging workpiece flash punching system, which adopts two sets of translation mechanisms to achieve higher production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention, Figure 2 is the overall structure diagram ( Figure 1 ), with the following numbers: 1 visual recognition system, 2 elevator and horizontal conveying system, 3 conveyor line, 4 visual robot, 5 control operation screen, 6 loading manipulator, 7 translation positioning mechanism, 8 mold, 9 machine tool. Implementation

[0018] The following is a detailed description of an embodiment of the present invention. This embodiment is implemented on the premise of the technical solution of the present invention, and takes a workpiece with trimmed edges that can lie on a plane as an example to provide a detailed implementation method and a specific operation process. However, the protection scope of the present invention is not limited to the following embodiments.

[0019] See also Figure 1 The present embodiment discloses a fully automatic hot forging workpiece flash punching system, a visual recognition system 1, an elevator and horizontal conveying system 2, a conveyor line 3, a visual robot 4, a control operation screen 5, a feeding manipulator 6, a translation positioning mechanism 7, a mold 8, and a machine tool 9.

[0020] The fully automatic hot forging workpiece flash punching system disclosed in this embodiment is implemented as follows: The untrimmed raw materials are poured into the silo of the elevator and the horizontal conveying system 2. The elevator lifts the materials into the horizontal conveying system. The horizontal conveying system sends the workpieces into the conveyor line 3 as single pieces as possible. The conveyor line 3 sends the workpieces to the bottom of the visual recognition system 1. According to the workpiece posture output by the visual recognition system 1, the visual robot 4 grabs the workpiece and places the workpiece in the fixture of the translation positioning mechanism 7. The translation positioning mechanism 7 moves the workpiece to the other end, that is, in front of the mold 8 on the machine tool 9. The loading robot 6 grabs the workpiece and sends it to the mold 8. When the conditions are met, the machine tool is started to complete the punching work.

[0021] The above is only an embodiment of the present invention for a certain type of product. The present invention can be applied to situations where the front and back sides of the workpiece need to be distinguished, and can also be applied to products with complex spatial structures. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A fully automatic hot forging workpiece flash punching system, including an elevator and a horizontal conveying system, a conveyor line, a visual robot system, a translation and positioning fixture, a loading manipulator, a discharging and detection system, and a master control system: the elevator and the horizontal conveying system are mainly used to lift the workpieces poured into the elevator bin into the horizontal conveying system in batches, and use horizontal vibration or other principles to send the workpieces out in sequence; the conveyor line receives the material sent out from the horizontal conveying system and sends it to the visual inspection area in sequence for the visual robot to grab; the visual robot system includes a detection system, a robot and a fixture, and the robot clamps the workpiece according to the visually detected posture of the workpiece on the conveyor line; the horizontal conveying system is used to remove the workpieces in batches, and the workpieces are sent out in sequence. The function of the shifting and positioning fixture is that after the visual robot clamps the material, it is placed in the fixture, the fixture is positioned to ensure the correct position, and then the translation mechanism moves the workpiece to the front of the machine tool mold for the loading robot to grab; the loading robot takes out the workpiece sent to the edge of the mold on the translation mechanism fixture, and then sends the workpiece to the machine tool mold. After the robot returns, the machine tool completes the trimming; the discharging and detection system uses air blowing or pushing to blow the workpiece or flash out of the mold, and determines whether the mold is empty through detection; the master control system connects the above system with the machine tool mold on site of the enterprise according to a certain logic to ensure the stable operation of the entire production process.

2. A fully automatic hot forging workpiece flash punching system as claimed in claim 1, characterized in that: A visual robot is used to identify and grab the workpiece in a random state, and then another set of loading robots is used to deliver the workpiece to the mold. The visual robot is not used directly to deliver the workpiece to the mold.

3. A fully automatic hot forging workpiece flash punching system as claimed in claim 2, characterized in that: The translation and positioning fixture is used to position the parts taken by the vision robot and then send them between the loading robot and the mold. The purpose of this is to ensure that the posture of the workpiece is the same as that of the mold when loading. The reason is that when the vision robot takes the material, the workpiece is not positioned, and various factors may cause the position taken to be different from the established position, or the position may be offset due to the influence of the flash state. If the workpiece is directly sent to the mold by the vision robot, a large number of workpieces will not be placed correctly in the mold, which will cause the workpiece to be cut incorrectly or damage the mold.

4. A fully automatic hot forging workpiece flash punching system as claimed in claim 3, characterized in that: Two identical translation and positioning mechanisms are used to achieve faster production speed.

Images