Linkage type feeding and discharging manipulator for forging machine

Abstract

The utility model discloses a linkage type feeding and discharging manipulator for a forging machine, which relates to the technical field of feeding and discharging manipulators and comprises a machine body, a discharging port, a feeding port and a control mechanism are arranged on two sides of the machine body, a forging mechanism and a displacement unit are arranged in the machine body, and a support frame is mounted on the displacement unit. A telescopic unit and a mounting frame are mounted on the supporting frame, the telescopic unit is connected with the mounting frame, a clamping unit is mounted on the mounting frame, and conveying mechanisms are arranged in the feeding port and the discharging port. The device has the beneficial effects that the positions of the clamping seats are adjusted through the motor, the lead screw and the telescopic air cylinder, the air cylinder, the movable frame, the guide rod, the limiting frame, the linkage rod, the driving half gear and the driving half gear drive the mounting rod and the clamping seats to be in linkage, the clamping seats at the two ends of the mounting frame can clamp and loosen a workpiece at the same time, driving loss is reduced, and the working efficiency is improved. The synchronous action of feeding and discharging is achieved, the feeding and discharging waiting time and cost are reduced, and the feeding and discharging efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of loading and unloading manipulators, in particular to a linkage loading and unloading manipulator for a forging machine. Background Art

[0002] A forging machine is a forging device that processes workpieces through a forging mechanism. In order to improve safety during loading and unloading, robots are now commonly used instead of manual labor to load and unload materials. Robots improve the efficiency of workpiece processing.

[0003] After searching, the patent application with Chinese patent publication number CN219233876U discloses an integrated rotary forging equipment with precise tracing and automatic loading and unloading device, which mainly uses an articulated manipulator to load and unload the workpiece, reducing the burden on the operator and facilitating the grasping of workpieces of different sizes.

[0004] Compared with the existing technologies in related fields, it can be seen that when the existing manipulator is loading and unloading, it is necessary to first place the processed workpiece to the unloading position, and then move to the loading position to clamp the workpiece and then load it, which increases the waiting time and affects the efficiency of workpiece processing. Utility Model Content

[0005] The purpose of the present utility model is to provide a linkage loading and unloading manipulator for a forging machine in order to solve the above problems.

[0006] The utility model achieves the above-mentioned purpose through the following technical solutions:

[0007] A linkage loading and unloading manipulator for a forging machine comprises a body, with a discharge port, a feed port, and a control mechanism provided on both sides of the body, a forging mechanism and a displacement unit provided inside the body, a support frame provided on the displacement unit, a telescopic unit and a mounting frame provided on the support frame, the telescopic unit connected to the mounting frame, a clamping unit provided on the mounting frame, and a feeding mechanism provided inside the feed port and the discharge port;

[0008] The clamping unit on the mounting frame includes a first cylinder and a linkage rod. The first cylinder is installed on the mounting frame. The telescopic end of the first cylinder is connected to the transmission rod. Guide components are provided on both sides of the transmission rod. A slide groove is provided on the transmission rod. The guide component is connected to the mounting frame. A driving half gear and a driven half gear are rotatably installed on both sides of the upper surface of the mounting frame. The driving half gear and the driven half gear on the same side of the mounting frame are meshed and connected. Mounting rods are installed on the driving half gear and the driven half gear. A clamping seat is installed on the mounting rod, and an auxiliary unit is installed on the clamping seat. The linkage rods are respectively rotatably connected to the mounting rods on the driving half gear. A traction rod is installed in the middle of the linkage rod, and the traction rod is slidably connected in the slide groove.

[0009] Furthermore, the guide components on both sides of the transmission rod include guide rods and limit frames. There are two guide rods and two limit frames, which are respectively arranged on both sides of the transmission rod. The guide rods are slidably connected to the limit frames.

[0010] Furthermore, the chute is a long arc-shaped chute.

[0011] Furthermore, the auxiliary unit on the clamping seat includes a mounting groove and a movable block. An elastic pad is provided in the mounting groove. The inner sides of the mounting groove are rotatably connected to the eccentric positions of the two movable rods. The ends of the two movable rods in the mounting groove are respectively movably connected to the two sides of the movable block, and the movable block and the elastic pad correspond to each other.

[0012] Furthermore, the displacement unit in the support frame includes a motor and a screw rod. The motor is installed on the side of the body, the screw rod is rotatably installed in the body, the end of the screw rod is connected to the output shaft of the motor, and the screw rod is threadedly connected to the support frame.

[0013] Furthermore, the telescopic unit in the support frame includes two second cylinders, and both are installed in the support frame, and the telescopic ends of the two second cylinders are connected to the mounting frame.

[0014] Furthermore, a sliding seat is installed on the lower surface of the support frame, and the sliding seat is slidably connected to the body.

[0015] The beneficial effects compared with the prior art are as follows:

[0016] 1. The position of the clamping seat is adjusted by the motor, screw and telescopic cylinder. The mounting rod and the clamping seat are driven to work in conjunction by the cylinder, movable frame, guide rod, limit frame, linkage rod, active half gear and active half gear, so that the clamping seats at both ends of the mounting frame can clamp and release the workpiece at the same time, reducing drive loss, realizing synchronous loading and unloading, reducing the waiting time and cost of loading and unloading, and improving the efficiency of loading and unloading.

[0017] 2. When the workpiece is clamped by the clamping seat, the workpiece moves by pulling the movable rod through the movable block, so that the movable rod is pressed tightly against the workpiece, applying clamping forces at different angles to the workpiece, effectively improving the stability and firmness of the workpiece during the loading and unloading process, and effectively preventing the workpiece from falling during the loading and unloading process and affecting the processing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1This is a schematic diagram of the first axonometric structure of a linkage loading and unloading manipulator for a forging machine according to the utility model;

[0020] Figure 2 This is a second axonometric structural diagram of a linkage loading and unloading manipulator for a forging machine of the utility model;

[0021] Figure 3 This is a schematic diagram of the cross-sectional structure of a linkage loading and unloading manipulator for a forging machine according to the utility model;

[0022] Figure 4 This is a partially enlarged structural diagram of a linkage loading and unloading manipulator for a forging machine of the utility model;

[0023] Figure 5 This utility model is a linkage loading and unloading manipulator for forging machine. Figure 4 A in the middle is an enlarged structural diagram;

[0024] Figure 6 This utility model is a linkage loading and unloading manipulator for forging machine. Figure 4 The enlarged structural diagram at B in the middle;

[0025] Figure 7 This is a schematic diagram of the cross-sectional structure of a clamping seat of a linkage loading and unloading manipulator for a forging machine according to the utility model;

[0026] Figure 8 This is a schematic diagram of the connection structure of the support frame and the sliding seat of a linkage loading and unloading manipulator for a forging machine in the utility model;

[0027] Figure 9 This is a side cross-sectional structural diagram of a linkage loading and unloading manipulator for a forging machine of the utility model;

[0028] Figure 10 This utility model is a linkage loading and unloading manipulator for forging machine. Figure 9 Enlarged structural diagram at point C in the middle.

[0029] The following are the descriptions of the reference numerals:

[0030] 1. Machine body; 2. Forging mechanism; 301. First cylinder; 302. Transmission rod; 303. Guide rod; 304. Limiting frame; 305. Slide groove; 306. Linkage rod; 307. Driving half gear; 308. Driven half gear; 309. Mounting rod; 310. Clamping seat; 311. Drawing rod; 401. Mounting groove; 402. Movable rod; 403. Movable block; 404. Elastic pad; 501. Motor; 502. Screw; 6. Discharge port; 7. Feed port; 8. Control mechanism; 9. Feeding mechanism; 10. Support frame; 11. Sliding seat; 12. Second cylinder; 13. Mounting frame. DETAILED DESCRIPTION

[0031] like Figures 1-10 As shown, a linkage loading and unloading robot for a forging machine includes a body 1, with a discharge port 6, a feed port 7 and a control mechanism 8 on both sides of the body 1, a forging mechanism 2 and a displacement unit are arranged inside the body 1, a support frame 10 is installed on the displacement unit, a telescopic unit and a mounting frame 13 are installed on the support frame 10, the telescopic unit is connected to the mounting frame 13, a clamping unit is installed on the mounting frame 13, a feeding mechanism 9 is arranged in the feed port 7 and the discharge port 6, the forging mechanism 2, the displacement unit, the telescopic unit, the clamping unit and the feeding mechanism 9 are electrically connected to the control mechanism 8, the control mechanism 8, the forging unit and the feeding mechanism 9 work using the existing technology, the feeding mechanism 9 transports the workpiece to be processed into the body 1 through the feed port 7, and drives the support frame 1 through the displacement unit. 0 is moved, and the mounting frame 13 is driven to move by the telescopic unit, so that the clamping unit moves to the loading position, the workpiece is clamped by the clamping unit, and the workpiece is placed on the forging mechanism 2 by the reverse movement of the displacement unit, and the workpiece is processed by the forging mechanism 2. At this time, the clamping unit on the mounting frame 13 corresponds to the loading position and the forging position. After the processing is completed, the processed workpiece is clamped by the clamping unit, and at the same time, the processed workpiece is driven to move to the unloading displacement by the displacement unit, so that the processed workpiece is placed on the feeding mechanism 9, and the feeding mechanism 9 discharges the processed workpiece through the discharge port 6. While unloading, the clamping unit places the new workpiece on the forging mechanism 2 for processing;

[0032] like Figure 3-Figure 7As shown, the clamping unit on the mounting frame 13 includes a first cylinder 301 and a linkage rod 306. The first cylinder 301 is installed on the mounting frame 13. The telescopic end of the first cylinder 301 is connected to the transmission rod 302. Guide components are provided on both sides of the transmission rod 302. A slide groove 305 is provided on the transmission rod 302. The guide component is connected to the mounting frame 13. A driving half gear 307 and a driven half gear 308 are rotatably installed on both sides of the upper surface of the mounting frame 13. The driving half gear 307 and the driven half gear 308 on the same side of the mounting frame 13 are meshed and connected. Mounting rods are installed on the driving half gear 307 and the driven half gear 308. 309, a clamping seat 310 is installed on the mounting rod 309, an auxiliary unit is installed on the clamping seat 310, the linkage rod 306 is respectively connected to the mounting rod 309 on the active half gear 307, a traction rod 311 is installed in the middle of the linkage rod 306, the traction rod 311 is slidably connected in the slide 305, the first cylinder 301 and the control mechanism 8 are electrically connected, the first cylinder 301 works using the existing technology, when loading and unloading, the mounting rods 309 and the clamping seat 310 on the active half gear 307 and the driven half gear 308 on both sides of the mounting frame 13 can correspond to the loading position or the unloading position and the forging mechanism 2, and the workpiece is forged. When loading and unloading are completed, the transmission rod 302 is driven to move by the first cylinder 301, and the transmission rod 302 is limited by the guide assembly. The transmission rod 302 drives the linkage rod 306 to move through the slide 305 and the traction rod 311, and the mounting rod 309 on the two driving half gears 307 on both sides of the mounting frame 13 is driven to move synchronously through the linkage rod 306. The transmission rod 302 drives the driven half gear 308 to rotate through the driving half gear 307, so that the mounting rods 309 and the clamping seat 310 on the driving half gear 307 and the driven half gear 308 can all move. 10 and the auxiliary unit synchronously clamp the feeding mechanism 9 in the feed port 7 and the workpiece on the forging mechanism 2, and use the first cylinder 301 to drive the simultaneous loading and unloading clamping, thereby improving the utilization efficiency of the first cylinder 301 and reducing the waste of driving resources. While the support frame 10 drives the mounting frame 13 to move, it can not only place the workpiece on the feeding mechanism 9 in the feed port 7 on the forging mechanism 2, but also move the workpiece processed on the forging mechanism 2 to the feeding mechanism 9 in the discharge port 6, thereby completing the synchronous operation of loading and unloading, reducing waiting time and cost, facilitating rapid loading and unloading of workpieces, and improving the efficiency of loading and unloading.

[0033] like Figure 4 、 Figure 5As shown, the guide components on both sides of the transmission rod 302 include a guide rod 303 and a limit frame 304. There are two guide rods 303 and limit frames 304, which are respectively arranged on both sides of the transmission rod 302. The guide rod 303 is slidably connected to the limit frame 304, and the guide rod 303 is limited and guided by the limit frame 304. When the transmission rod 302 moves, the transmission rod 302 is guided and limited by the guide rod 303 and the limit frame 304, so that the transmission rod 302 can move normally horizontally, avoiding the transmission rod 302 from deflecting during the movement.

[0034] like Figure 6 As shown, the slide groove 305 is a long arc-shaped groove. The long arc-shaped design allows the traction rod 311 to have enough space to move in the slide groove 305, thereby preventing the traction rod 311 from getting stuck.

[0035] like Figure 4 、 Figure 7 As shown, the auxiliary unit on the clamping seat 310 includes a mounting groove 401 and a movable block 403. An elastic pad 404 is provided in the mounting groove 401. The two sides of the interior of the mounting groove 401 are rotatably connected to the eccentric position of the two movable rods 402. The ends of the two movable rods 402 in the mounting groove 401 are movably connected to the two sides of the movable block 403. The movable block 403 corresponds to the elastic pad 404. When the clamping seat 310 drives the movable rod 402 and the movable block 403 to clamp the workpiece, the workpiece presses against the movable block 403. Push in the opposite direction, the movable block 403 pulls the movable rod 402, so that the two ends of the movable rod 402 are pressed tightly against the workpiece, auxiliary clamping of the workpiece in and out, and clamping forces of different angles are applied to the workpiece, effectively improving the stability and firmness of the workpiece clamping during loading and unloading, and effectively avoiding the workpiece falling during the loading and unloading process to affect the processing efficiency. When the movable block 403 moves, it compresses the elastic pad 404. When the clamping seat 310 does not clamp the workpiece, the movable block 403 is reset by the elastic pad 404.

[0036] like Figure 2 、 Figure 3 As shown, the displacement unit in the support frame 10 includes a motor 501 and a screw rod 502. The motor 501 is installed on the side of the body 1, and the screw rod 502 is rotatably installed in the body 1. The end of the screw rod 502 is connected to the output shaft of the motor 501, and the screw rod 502 is threadedly connected to the support frame 10. The motor 501 and the control mechanism 8 are electrically connected. The motor 501 operates using existing technology. The motor 501 drives the screw rod 502 to rotate, and the screw rod 502 drives the support frame 10 to move in the body 1, and the position of the support frame 10 in the body 1 is adjusted to facilitate loading and unloading.

[0037] like Figure 3 、 Figure 4As shown, the telescopic unit in the support frame 10 includes a second cylinder 12. There are two second cylinders 12, and both are installed in the support frame 10. The telescopic ends of the two second cylinders 12 are connected to the mounting frame 13. The second cylinders 12 and the control mechanism 8 are electrically connected. The second cylinders 12 work using existing technology. During operation, the mounting frame 13 is driven to move by the second cylinder 12, so that the position of the mounting frame 13 on the support frame 10 is adjusted, and the position of the clamping seat 310 can be adjusted, so that the clamping seat 310 can be better loaded and unloaded.

[0038] like Figure 8 、 Figure 10 As shown, a sliding seat 11 is installed on the lower surface of the support frame 10. The sliding seat 11 is slidably connected to the body 1. The sliding seat 11 adopts existing technology, and the supporting frame 10 can move better in the body 1 through the sliding seat 11.

[0039] Working principle: Figure 1 、 Figure 2 、 Figure 9 As shown, the workpiece is processed by the forging mechanism 2, and the feeding mechanism 9 moves the workpiece to be processed into the machine body 1 through the feed port 7. At this time, as shown in FIG. Figure 2 、 Figure 3 As shown, the motor 501 drives the screw rod 502 to rotate, and the screw rod 502 drives the support frame 10 to move in the body 1, and the position of the support frame 10 in the body 1 is adjusted, as shown in FIG. Figure 3 、 Figure 4 As shown, the mounting rods 309 and the clamping seats 310 on the driving half gear 307 and the driven half gear 308 on both sides of the mounting frame 13 correspond to the feeding mechanism 9 and the forging mechanism 2 in the feed port 7 respectively;

[0040] like Figure 3 、 Figure 4 As shown, the second cylinder 12 drives the mounting frame 13 to move, so that the position of the mounting frame 13 on the support frame 10 is adjusted, so that the clamping seat 310 moves to the position of the feeding mechanism 9 and the forging mechanism 2;

[0041] like Figure 3-Figure 7 As shown, the first cylinder 301 drives the transmission rod 302 to move, as shown in FIG. Figure 4 、 Figure 5As shown, the transmission rod 302 is guided and limited by the guide rod 303 and the limit frame 304. The transmission rod 302 drives the linkage rod 306 to move through the slide 305 and the traction rod 311. The linkage rod 306 drives the mounting rods 309 on the two driving half gears 307 on both sides of the mounting frame 13 to move synchronously. The transmission rod 302 drives the linkage rod 306 to move through the slide 305 and the traction rod 311. The linkage rod 306 drives the mounting rods 309 on the two driving half gears 307 on both sides of the mounting frame 13 to move synchronously. The clamping seat 310 synchronously clamps the workpieces on the feeding mechanism 9 and the forging mechanism 2.

[0042] like Figure 4 、 Figure 7 As shown, when the clamping seat 310 drives the movable rod 402 and the movable block 403 to clamp the workpiece, the workpiece pushes the movable block 403 in the opposite direction, and the movable block 403 pulls the movable rod 402, so that the two ends of the movable rod 402 are tightly pressed against the workpiece, assisting the workpiece in and out of the clamping, and improving the firmness and stability of the workpiece when clamping;

[0043] like Figure 3 、 Figure 4 As shown, the second cylinder 12 drives the mounting frame 13 to move, so that the mounting frame 13 moves in the opposite direction on the support frame 10, so that the workpiece is separated from the feeding mechanism 9 and the forging mechanism 2, as shown in FIG. Figure 2 、 Figure 3 As shown, the motor 501 drives the screw rod 502 to rotate, and the screw rod 502 drives the support frame 10 to move in the body 1, and adjusts the position of the clamping seat 310 so that the clamping seat 310 corresponds to the forging mechanism 2 and the feeding mechanism 9 in the discharge port 6;

[0044] like Figure 3 、 Figure 4 As shown, the second cylinder 12 drives the mounting frame 13 to move again, so that the clamping seat 310 drives the workpiece to move to the forging mechanism 2 and the feeding mechanism 9 in the discharge port 6, as shown in FIG. Figure 3-Figure 7 As shown, the first cylinder 301 moves in the reverse direction to release the clamping of the workpiece, so that the new workpiece is placed on the forging mechanism 2 and the processed workpiece is placed on the feeding mechanism 9 in the discharge port 6, completing the synchronous loading and unloading of the workpiece, and the feeding mechanism 9 moves the workpiece out through the discharge port 6 for collection.

[0045] 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 to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and improvements may be made to the present invention without departing from the spirit and scope of the present invention, and such changes and improvements shall fall within the scope of the present invention as claimed.

Claims

1. A linkage loading and unloading manipulator for a forging machine, characterized in that: The invention comprises a machine body (1), wherein a discharge port (6), a feed port (7) and a control mechanism (8) are provided on both sides of the machine body (1), a forging mechanism (2) and a displacement unit are provided inside the machine body (1), a support frame (10) is installed on the displacement unit, a telescopic unit and a mounting frame (13) are installed on the support frame (10), the telescopic unit is connected to the mounting frame (13), a clamping unit is installed on the mounting frame (13), and a feeding mechanism (9) is provided inside the feed port (7) and the discharge port (6); The clamping unit on the mounting frame (13) comprises a first cylinder (301) and a linkage rod (306). The first cylinder (301) is mounted on the mounting frame (13). The telescopic end of the first cylinder (301) is connected to a transmission rod (302). Guide assemblies are provided on both sides of the transmission rod (302). A slide groove (305) is provided on the transmission rod (302). The guide assembly is connected to the mounting frame (13). A driving half gear (307) and a driven half gear (308) are rotatably mounted on both sides of the upper surface of the mounting frame (13). The mounting frame (13) is also provided with a driving half gear (307) and a driven half gear (308). The driving half gear (307) and the driven half gear (308) on the side are meshed and connected, and the driving half gear (307) and the driven half gear (308) are both installed with a mounting rod (309), and a clamping seat (310) is installed on the mounting rod (309), and an auxiliary unit is installed on the clamping seat (310), and the linkage rod (306) is respectively rotatably connected to the mounting rod (309) on the driving half gear (307), and a traction rod (311) is installed in the middle of the linkage rod (306), and the traction rod (311) is slidably connected in the slide groove (305).

2. The linkage loading and unloading manipulator for a forging machine according to claim 1, characterized in that: The guide components on both sides of the transmission rod (302) include guide rods (303) and limit frames (304). There are two guide rods (303) and two limit frames (304), which are respectively arranged on both sides of the transmission rod (302). The guide rods (303) are slidably connected to the limit frames (304).

3. The linkage loading and unloading manipulator for a forging machine according to claim 1, characterized in that: The sliding groove (305) is a long arc-shaped groove.

4. The linkage loading and unloading manipulator for a forging machine according to claim 1, characterized in that: The auxiliary unit on the clamping seat (310) includes a mounting groove (401) and a movable block (403), an elastic pad (404) is provided in the mounting groove (401), the inner sides of the mounting groove (401) are rotatably connected to the eccentric positions of two movable rods (402), and the ends of the two movable rods (402) in the mounting groove (401) are movably connected to the two sides of the movable block (403), and the movable block (403) and the elastic pad (404) correspond to each other.

5. The linkage loading and unloading manipulator for a forging machine according to claim 1, characterized in that: The displacement unit in the support frame (10) comprises a motor (501) and a screw rod (502), wherein the motor (501) is mounted on a side of the machine body (1), and the screw rod (502) is rotatably mounted in the machine body (1), and the end of the screw rod (502) is connected to the output shaft of the motor (501), and the screw rod (502) is threadedly connected to the support frame (10).

6. The linkage loading and unloading manipulator for a forging machine according to claim 1, characterized in that: The telescopic unit in the support frame (10) includes a second cylinder (12), there are two second cylinders (12), and both are installed in the support frame (10), and the telescopic ends of the two second cylinders (12) are connected to the mounting frame (13).

7. The linkage loading and unloading robot for a forging machine according to claim 1, characterized in that: A sliding seat (11) is installed on the lower surface of the support frame (10), and the sliding seat (11) is slidably connected to the machine body (1).

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