Feeding manipulator device of cold header

Abstract

The utility model discloses a feeding manipulator device of a cold header, which belongs to the technical field of feeding equipment of the cold header and comprises a feeding mechanical arm for conveying materials and the cold header positioned on one side of the feeding mechanical arm and used for processing bars. According to the feeding device, during feeding, the annular frame can be arranged on a bar material in a sleeving mode through the feeding mechanical arm, the first clamping plate and the second clamping plate are located on the periphery of the material, at the moment, the gap between the first clamping plate and the second clamping plate which are arranged in a crossed mode can be shrunk by starting the double-shaft motor, and then rubber pads on the periphery are driven to be pressed on the bar material to fix the bar material; the clamping effect is achieved, the multiple rubber pads are adopted for multi-point fixing, the stability of bar clamping can be improved, the clamping gap between the first clamping plate and the second clamping plate can be adjusted according to the size diameter of the bars, the contact effect of the rubber pads and the bars cannot be affected, and therefore the bars of different sizes can be conveyed; and clamps with corresponding sizes do not need to be frequently replaced.

Description

Technical Field

[0001] The utility model relates to the technical field of cold heading machine feeding equipment, and particularly relates to a cold heading machine feeding manipulator device. Background Art

[0002] A cold heading machine is a mechanical device specifically used for processing cold heading parts, mainly used for pushing metal materials, such as round steel and bars, into a set die hole at room temperature, and using the shape of the die to cause plastic deformation of the material, so as to process parts of a specific shape.

[0003] The cold heading machine feeding mechanism is a mechanical device specifically used for feeding the cold heading machine, and its main function is to automatically and accurately feed metal materials into the working area of the cold heading machine for subsequent processing operations.

[0004] In the prior art, when feeding a cold heading machine, it is usually necessary to use a fixture on the robotic arm to clamp the bar and send it to the processing area. However, the bar is cylindrical. In order to ensure the stability of clamping, the fixture usually needs to be set in a shape matching the cylindrical size, resulting in poor tightness between the fixture and cylindrical bars of different sizes when clamping, reducing the stability of clamping. Content of the Utility Model

[0005] Aiming at the above existing technical deficiencies, the purpose of the utility model is to provide a cold heading machine feeding manipulator device, which can realize the clamping of cylindrical bars of different sizes and does not affect the contact tightness between the fixture and the cylindrical bars.

[0006] To solve the above technical problems, the utility model adopts the following technical solutions:

[0007] A cold heading machine feeding manipulator device includes:

[0008] A feeding robotic arm for conveying materials;

[0009] A cold heading machine located on one side of the feeding robotic arm for processing bars;

[0010] A connecting arm arranged on the feeding robotic arm;

[0011] An annular frame arranged on the connecting arm;

[0012] A clamping structure arranged on the annular frame for clamping and positioning materials;

[0013] A linkage structure arranged on the connecting arm and the clamping structure for controlling the clamping structure;

[0014] A protection structure arranged on the connecting arm for blocking the bottom of the clamping structure to prevent materials from falling.

[0015] Preferably, two sets of the clamping structures are arranged, and each set of clamping structure includes:

[0016] A connecting ring rotatably installed on the annular frame;

[0017] Two first movable shafts and two second movable shafts, both arranged on one side of the connecting ring for providing pivots for rotation;

[0018] Two first clamping plates respectively rotatably installed on the two first movable shafts;

[0019] Two second clamping plates respectively rotatably installed on the two second movable shafts, and the two second clamping plates and the two first clamping plates are arranged in a crosswise manner;

[0020] Four guiding blocks respectively slidably installed on the two first clamping plates and the two second clamping plates;

[0021] Two first fixed shafts and two second fixed shafts respectively rotatably installed on the four guiding blocks, and the two first fixed shafts and the two second fixed shafts are both arranged on one side of the annular frame;

[0022] A plurality of guiding assemblies arranged on the corresponding guiding blocks for restricting the moving direction of the first clamping plate.

[0023] Preferably, the guiding assembly includes:

[0024] A guiding hole opened on the inner wall of the guiding block, and the first clamping plate is slidably installed in the guiding hole.

[0025] Preferably, rubber pads for increasing the clamping friction are further arranged on the first clamping plate and the second clamping plate, and the two rubber pads are arranged in a crosswise manner.

[0026] Preferably, the linkage structure includes:

[0027] Two toothed rings respectively arranged on the two connecting rings;

[0028] Two gears respectively rotatably installed on both sides of the connecting arm, and the two gears are respectively meshed with the two toothed rings for transmission;

[0029] A driving assembly arranged on the two gears for driving the two gears to rotate;

[0030] A limiting assembly arranged on the connecting ring for restricting the rotating position of the connecting ring.

[0031] Preferably, the driving assembly includes:

[0032] A double-shaft motor arranged on the inner wall of the connecting arm, and the two output ends of the double-shaft motor penetrate through the connecting arm and are respectively arranged on the two gears.

[0033] Preferably, the limiting component includes:

[0034] An annular groove is formed on the inner wall of the connecting ring;

[0035] A limiting ring is arranged on the annular frame, and the limiting ring is rotatably installed in the annular groove.

[0036] Preferably, the protection structure includes:

[0037] Two auxiliary motors are respectively arranged on both sides of the connecting arm;

[0038] Two connecting rods are respectively arranged on the output ends of the two auxiliary motors;

[0039] Two protection baffles are respectively arranged on the two connecting rods. Both of the two protection baffles are located at the bottom side of the annular frame and are used to block the materials.

[0040] The beneficial effects of the present utility model are as follows:

[0041] In the present utility model, during feeding, the annular frame can be sleeved on the bar material by using the feeding robotic arm, so that the first clamping plate and the second clamping plate are respectively located around the material. At this time, when the double-shaft motor is turned on, the gap between the cross-set first clamping plate and the second clamping plate can be narrowed, thereby driving the surrounding rubber pads to press on the bar, fixing the bar, and achieving the clamping effect. By using multiple rubber pads for multi-point fixing, the clamping stability of the bar can be improved, and the clamping gap between the first clamping plate and the second clamping plate can be adjusted according to the diameter of the bar size, which will not affect the contact effect between the rubber pad and the bar, so as to be able to convey bars of different sizes without the need to frequently replace the corresponding size fixtures.

[0042] In the present utility model, during the process of conveying the bar material, by turning on the auxiliary motors on both sides, the protection baffles can be rotated to block and support the bottom of the bar, thereby preventing the bar from falling off during the feeding process and further improving the feeding stability of the bar. Description of the Drawings

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0044] Figure 1 It is a schematic structural diagram of a feeding manipulator device for a cold heading machine provided by an embodiment of the present utility model;

[0045] Figure 2Partial structural schematic diagram of a feeding manipulator device for a cold heading machine provided by an embodiment of the present utility model;

[0046] Figure 3 Schematic diagram of a protective baffle structure of a feeding manipulator device for a cold heading machine provided by an embodiment of the present utility model;

[0047] Figure 4 Schematic diagram of an annular frame structure of a feeding manipulator device for a cold heading machine provided by an embodiment of the present utility model;

[0048] Figure 5 Schematic diagram of a clamping plate structure of a feeding manipulator device for a cold heading machine provided by an embodiment of the present utility model;

[0049] Figure 6 Schematic diagram of a sectional view of a guide block of a feeding manipulator device for a cold heading machine provided by an embodiment of the present utility model;

[0050] Figure 7 Schematic diagram of a sectional view of a connecting ring of a feeding manipulator device for a cold heading machine provided by an embodiment of the present utility model.

[0051] Explanation of reference numerals:

[0052] 1. Feeding robotic arm; 2. Cold heading machine; 3. Connecting arm; 4. Annular frame; 5. Connecting ring; 501. First movable shaft; 502. Second movable shaft; 503. First clamping plate; 504. Second clamping plate; 505. Guide block; 506. First fixed shaft; 507. Second fixed shaft; 508. Rubber pad; 509. Guide hole; 6. Tooth ring; 601. Gear; 602. Biaxial motor; 603. Annular groove; 604. Limiting ring; 7. Auxiliary motor; 701. Connecting rod; 702. Protective baffle. Detailed implementation manners

[0053] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0054] Embodiment 1:

[0055] As Figures 1 to 7 shown, the present utility model provides a feeding manipulator device for a cold heading machine, including: a feeding robotic arm 1 for conveying materials, a cold heading machine 2 located on one side of the feeding robotic arm 1 for processing bars, a connecting arm 3 arranged on the feeding robotic arm 1, and an annular frame 4 arranged on the connecting arm 3.

[0056] In order to enable the feeding robotic arm 1 to clamp bars of different sizes and achieve the transportation and processing of bars of different sizes, a clamping structure for clamping and positioning the material is arranged on the annular frame 4, and a linkage structure for controlling the clamping structure is arranged on the connecting arm 3 and the clamping structure.

[0057] Among them, two groups of clamping structures are arranged. Each group of clamping structures includes a connecting ring 5 rotatably installed on the annular frame 4, two first movable shafts 501 and two second movable shafts 502 arranged on one side of the connecting ring 5 to provide a rotation fulcrum, two first clamping plates 503 rotatably installed on the two first movable shafts 501, two second clamping plates 504 rotatably installed on the two second movable shafts 502. The two second clamping plates 504 and the two first clamping plates 503 are arranged in a cross manner. Four guide blocks 505 are slidably installed on the two first clamping plates 503 and the two second clamping plates 504. Two first fixed shafts 506 and two second fixed shafts 507 are rotatably installed on the four guide blocks 505. The two first fixed shafts 506 and the two second fixed shafts 507 are both arranged on one side of the annular frame 4. A plurality of guide components arranged on the corresponding guide blocks 505 to limit the moving direction of the first clamping plate 503. During the rotation of the connecting ring 5, the space between the cross - arranged first clamping plate 503 and the second clamping plate 504 can be reduced. By controlling the double - shaft motor 602 to drive the gear 601 to rotate in the reverse direction, the space between the first clamping plate 503 and the second clamping plate 504 can be increased, so as to be adjusted as needed. In the case of continuous reduction of the space, the first clamping plate 503 and the second clamping plate 504 can drive the corresponding rubber pads 508 to squeeze on the bar, clamping the bar.

[0058] Among them, the guide component includes a guide hole 509 opened on the inner wall of the guide block 505. The first clamping plate 503 is slidably installed in the guide hole 509. During the movement of the first clamping plate 503 and the second clamping plate 504, they can slide in the guide hole 509 on the corresponding guide block 505, avoiding the deviation of the first clamping plate 503 and the second clamping plate 504.

[0059] Among them, rubber pads 508 for increasing the clamping friction are arranged on the first clamping plate 503 and the second clamping plate 504. The two rubber pads 508 are arranged in a cross manner. By setting the rubber pads 508, the friction can be increased when contacting the bar, making the clamping of the first clamping plate 503 and the second clamping plate 504 more stable.

[0060] Among them, the linkage structure includes two toothed rings 6 arranged on two connecting rings 5, two gears 601 rotatably installed on both sides of the connecting arm 3 for transmission, the two gears 601 are respectively meshed with the two toothed rings 6, a driving assembly arranged on the two gears 601 for driving the two gears 601 to rotate, a limiting assembly arranged on the connecting ring 5 for limiting the rotation position of the connecting ring 5, and the rotating gear 601 can drive the connecting ring 5 to rotate through meshing with the toothed ring 6.

[0061] Among them, the driving assembly is a dual-axis motor 602 arranged on the inner wall of the connecting arm 3. The two output ends of the dual-axis motor 602 penetrate through the connecting arm 3 and are respectively arranged on the two gears 601. When the dual-axis motor 602 is turned on, the two output ends of the dual-axis motor 602 can drive the two gears 601 to rotate respectively.

[0062] Among them, the limiting assembly includes an annular groove 603 opened on the inner wall of the connecting ring 5 and a limiting ring 604 arranged on the annular frame 4. The limiting ring 604 is rotatably installed in the annular groove 603. During the rotation of the connecting ring 5, the connecting ring 5 can rotate on the limiting ring 604 through the annular groove 603, thereby avoiding the offset of the connecting ring 5 during the rotation process.

[0063] Embodiment 2:

[0064] On the basis of Embodiment 1, in order to prevent the bar material from falling off from below during the conveying process, a protective structure for shielding the bottom of the clamping structure to prevent the material from falling is arranged on the connecting arm 3, which can shield and support the lower part of the bar material.

[0065] Among them, the protective structure includes two auxiliary motors 7 respectively arranged on both sides of the connecting arm 3, two connecting rods 701 respectively arranged on the output ends of the two auxiliary motors 7, and two protective baffles 702 respectively arranged on the two connecting rods 701 for shielding the material. The two protective baffles 702 are both located at the bottom side of the annular frame 4. When clamping the material, the material can be placed at the edge of the material table. Thus, when clamping the material, it can be avoided that the protective baffle 702 contacts the material table or the material, so that the protective baffle 702 can be lower than the position of the material. After picking up the bar material, the auxiliary motor 7 can be turned on to make its output end rotate in the reverse direction, driving the two protective baffles 702 to flip and reset, and shielding and supporting the bottom of the bar material.

[0066] Working principle: When clamping bar materials, the auxiliary motors 7 on both sides can be turned on, so that the output ends of the auxiliary motors 7 drive the connecting rods 701 to flip. The flipped connecting rods 701 can drive the protective baffles 702 to flip and move away from the bottom side of the annular frame 4, disengaging the shielding of the annular frame 4. At this time, the positions of the connecting arm 3 and the annular frame 4 can be moved by controlling the feeding robotic arm 1. The bar material can be vertically placed on the material table, and the annular frame 4 can be sleeved on the material from top to bottom. At the same time, the first clamping plate 503 and the second clamping plate 504 are distributed around the material. At this time, the dual-axis motor 602 can be turned on. The two output ends of the dual-axis motor 602 can drive the two gears 601 to rotate respectively. The rotating gears 601 can drive the connecting ring 5 to rotate through meshing with the toothed ring 6. The continuously rotating connecting ring 5 can drive a plurality of first movable shafts 501 and a plurality of second movable shafts 502 to perform circular motion, so that the first movable shafts 501 and the second movable shafts 502 can drive one end of the first clamping plate 503 and the second clamping plate 504 to flip and perform circular motion respectively. The other ends of the first clamping plate 503 and the second clamping plate 504 slide in the guide holes 509 on the corresponding guide blocks 505, avoiding the deviation of the first clamping plate 503 and the second clamping plate 504. At the same time, the first clamping plate 503 and the second clamping plate 504 can drive the corresponding guide blocks 505 to rotate as the angle changes, so that the guide blocks 505 can rotate on the corresponding first fixed shaft 506 or second fixed shaft 507. During this process, the space between the cross-set first clamping plate 503 and the second clamping plate 504 can be reduced. By controlling the dual-axis motor 602 to drive the gear 601 to rotate in the reverse direction, the space between the first clamping plate 503 and the second clamping plate 504 can be increased, so that it can be adjusted according to needs. When the space is continuously reduced, the first clamping plate 503 and the second clamping plate 504 can drive the corresponding rubber pads 508 to squeeze on the bar, clamping the bar, so as to facilitate transportation by the feeding robotic arm 1. When clamping the material, the material can be placed at the edge of the material table. Thus, when clamping the material, the protective baffle 702 can be prevented from contacting the material table or the material, making the protective baffle 702 lower than the position of the material. After picking up the bar, the auxiliary motor 7 can be turned on to make its output end rotate in the reverse direction, driving the two protective baffles 702 to flip back to their original positions, covering and supporting the bottom of the bar to improve stability.

[0067] Obviously, those skilled in the art can make various modifications and variations to the present utility model without departing from the spirit and scope of the present utility model. Thus, if these modifications and variations of the present utility model fall within the scope of the claims of the present utility model and their equivalent technologies, the present utility model is also intended to include these modifications and variations.

Claims

1. A feeding manipulator device for a cold heading machine, characterized in that: include: A feeding robot arm (1), used for conveying materials; A cold heading machine (2), located on one side of the feeding mechanical arm (1), is used for processing the bar; A connecting arm (3) is arranged on the feeding mechanical arm (1); An annular frame (4) is arranged on the connecting arm (3); A clamping structure, arranged on the annular frame (4), for clamping and positioning the material; A linkage structure, arranged on the connecting arm (3) and the clamping structure, for controlling the clamping structure; The protective structure is arranged on the connecting arm (3) and is used to shield the bottom of the clamping structure to prevent materials from falling.

2. A cold heading machine feeding manipulator device as claimed in claim 1, characterized in that: The clamping structures are arranged in two groups, and each group of clamping structures comprises: A connecting ring (5) is rotatably mounted on the annular frame (4); Two first movable shafts (501) and two second movable shafts (502) are arranged on one side of the connecting ring (5) to provide a fulcrum for rotation; Two first clamping plates (503) are rotatably mounted on the two first movable shafts (501) respectively; Two second clamping plates (504) are rotatably mounted on the two second movable shafts (502) respectively, and the two second clamping plates (504) are arranged crosswise with the two first clamping plates (503); Four guide blocks (505) are slidably mounted on the two first clamping plates (503) and the two second clamping plates (504) respectively; Two first fixed shafts (506) and two second fixed shafts (507) are rotatably mounted on the four guide blocks (505) respectively, and the two first fixed shafts (506) and the two second fixed shafts (507) are both arranged on one side of the annular frame (4); A plurality of guide assemblies are arranged on corresponding guide blocks (505) and are used to limit the moving direction of the first clamping plate (503).

3. A cold heading machine feeding manipulator device as claimed in claim 2, characterized in that: The guide assembly comprises: The guide hole (509) is formed on the inner wall of the guide block (505), and the first clamping plate (503) is slidably mounted in the guide hole (509).

4. A cold heading machine feeding robot device as claimed in claim 2, characterized in that: Rubber pads (508) for increasing the clamping friction force are also arranged on the first clamping plate (503) and the second clamping plate (504), and the two rubber pads (508) are arranged crosswise with each other.

5. A cold heading machine feeding robot device as claimed in claim 1, characterized in that: The linkage structure includes: Two gear rings (6), respectively arranged on the two connecting rings (5); Two gears (601) are rotatably mounted on both sides of the connecting arm (3), and the two gears (601) are respectively meshed with two gear rings (6) for transmission; A driving assembly, arranged on the two gears (601), used for driving the two gears (601) to rotate; The limiting assembly is arranged on the connecting ring (5) and is used to limit the rotational position of the connecting ring (5).

6. A cold heading machine feeding robot device as claimed in claim 5, characterized in that: The drive assembly comprises: The dual-axis motor (602) is arranged on the inner wall of the connecting arm (3); the two output ends of the dual-axis motor (602) both pass through the connecting arm (3) and are respectively arranged on the two gears (601).

7. A cold heading machine feeding robot device as claimed in claim 5, characterized in that: The limiting component comprises: An annular groove (603) is formed on the inner wall of the connecting ring (5); The limiting ring (604) is arranged on the annular frame (4), and the limiting ring (604) is rotatably installed in the annular groove (603).

8. A cold heading machine feeding robot device as claimed in claim 1, characterized in that: The protective structure comprises: Two auxiliary motors (7) are respectively arranged on both sides of the connecting arm (3); Two connecting rods (701) are respectively arranged on the output ends of the two auxiliary motors (7); Two protective baffles (702) are respectively arranged on the two connecting rods (701), and the two protective baffles (702) are both located on the bottom side of the annular frame (4) and are used to shield materials.

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