阅读说明：本技术 一种自动化送料装置 (Automatic change material feeding unit ) 是由 刘辰 章建军 杨程 庄晓伟 文杰 于 2019-12-25 设计创作，主要内容包括：本发明涉及锻压装备技术领域,尤其涉及一种自动化送料装置,包括固定在主机架上由伺服电机驱动的直线运动模块,一端固定连接到所述直线运动模块,另一端固定连接到所述主夹持气动手爪的主竖直运动气缸模块,固定在辅助机架上的辅助滑台,一端固定连接到所述辅助滑台,另一端固定连接到所述副夹持气动手爪的副竖直运动气缸模块,所述夹持气动手爪的两个爪分别连接第一夹持梁和第二夹持梁的一端,在所述第一夹持梁和所述第二夹持梁上设置有多个工位夹器。有益效果：本发明通过伺服电机水平移动、气缸模块竖直移动、配合夹持气动手爪及工位夹器,实现物料不同工位间的传送,本装置具有结构简单,运动速度快、承载力强、精度高的优点。(The invention relates to the technical field of forging equipment, in particular to an automatic feeding device which comprises a linear motion module, a main vertical motion cylinder module, an auxiliary sliding table, an auxiliary vertical motion cylinder module, an auxiliary clamping pneumatic claw and a plurality of station clamps, wherein the linear motion module is fixed on a main frame and driven by a servo motor, one end of the main vertical motion cylinder module is fixedly connected to the linear motion module, the other end of the main vertical motion cylinder module is fixedly connected to the main clamping pneumatic claw, the auxiliary sliding table is fixed on an auxiliary frame, one end of the auxiliary vertical motion cylinder module is fixedly connected to the auxiliary sliding table, the other end of the auxiliary vertical motion cylinder module is fixedly connected to the auxiliary clamping pneumatic claw, two claws of the clamping pneumatic claw are respectively connected with one ends of a first clamping beam. Has the advantages that: according to the invention, the servo motor moves horizontally, the air cylinder module moves vertically, and the clamping pneumatic paw and the station clamp are matched to realize the transmission of materials among different stations.)

1. The utility model provides an automatic change material feeding unit, contains main frame (1-1), auxiliary frame (1-2), linear motion module (2), servo motor (3), supplementary slip table (14), main vertical motion cylinder module (8-1), vice vertical motion cylinder module (8-2), main pneumatic gripper (10-1), vice pneumatic gripper (10-2), first centre gripping roof beam (11-1), second centre gripping roof beam (11-2), station one owner presss from both sides (12-1), station one vice clamp (12-2), station two owner presss from both sides (13-1), station two vice clamps (13-2), its characterized in that:

the linear motion module (2) is arranged on the main frame (1-1), the servo motor (3) drives the linear motion module (2), one end of the main vertical movement air cylinder module (8-1) is fixedly connected to the linear movement module (2), the other end is fixedly connected to the main clamping pneumatic paw (10-1), two claws of the main clamping pneumatic paw (10-1) are respectively connected with one end of a first clamping beam (11-1) and one end of a second clamping beam (11-2), a first station main clamp (12-1) and a second station main clamp (13-1) are arranged on the first clamping beam (11-1), a first auxiliary clamp (12-2) and a second auxiliary clamp (13-2) are arranged on the second clamping beam (11-2);

the auxiliary frame (1-2) is provided with the auxiliary sliding table (14), one end of the auxiliary vertical movement cylinder module (8-2) is fixedly connected to the auxiliary sliding table (14), the other end of the auxiliary vertical movement cylinder module is fixedly connected to the auxiliary clamping pneumatic paw (10-2), and two paws of the auxiliary clamping pneumatic paw (10-2) are respectively connected with the other ends of the first clamping beam (11-1) and the second clamping beam (11-2).

2. The automated feeding device of claim 1, wherein: still include with the first fixing base of the motion slip table fixed connection of linear motion module (2) (4-1), with second fixing base (4-2) that supplementary slip table (14) is connected, first fixing base (4-1) first horizontal structural rod of fixed connection (5-1), second fixing base (4-2) horizontal structural rod of fixed connection second (5-2), the both ends of first horizontal structural rod (5-1), second horizontal structural rod (5-2) are the both ends of first vertical structural rod of fixed connection (6-1) and the vertical structural rod of second (6-2) respectively and constitute a rectangular frame.

3. An automated feeding device according to claim 2, wherein: the first fixing seat (4-1) is fixedly connected with the main vertical movement cylinder module (8-1) through a main vertical connecting plate (7-1), and the second fixing seat (4-2) is fixedly connected with the auxiliary vertical movement cylinder module (8-2) through an auxiliary vertical connecting plate (7-2).

4. The automated feeding device of claim 1, wherein: the main vertical movement cylinder module (8-1) is fixedly connected to the main clamping pneumatic paw (10-1) through a main transition plate (9-1), and the auxiliary vertical movement cylinder module (8-2) is fixedly connected to the auxiliary clamping pneumatic paw (10-2) through an auxiliary transition plate (9-2).

5. The automated feeding device of claim 1, wherein: the linear motion module (2) is structurally characterized in that a screw rod and a sliding block are arranged.

6. The automated feeding device of claim 1, wherein: the structure of the auxiliary sliding table (14) is a structure of a guide rail and a sliding block.

7. The automated feeding device of claim 1, wherein: the first clamping beam (11-1) and the second clamping beam (11-2) can be provided with a plurality of station clamps to adapt to material circulation among multiple stations.

8. The automated feeding device of claim 1, wherein: the main vertical movement cylinder module (8-1) and the auxiliary vertical movement cylinder module (8-2) respectively comprise a cylinder and an upper limiting block and a lower limiting block which are used for determining the movement positions of two ends of the cylinder.

Technical Field

The invention relates to the technical field of forging equipment, in particular to an automatic feeding device.

Background

Forging and pressing equipment is mass production and processing equipment in the production and manufacturing links. Typical forging equipment such as a press and the like can rapidly realize the forming of the appearance of a more complex part by matching with a die, has obvious improvement effect on the micro-grains of the metal part, and is a main means for producing parts with complex appearance and high strength performance requirements. In order to further improve the production efficiency of the press, a loading and unloading device matched with the press is needed, and the electromechanical coupling automatic equipment system naturally becomes the key point and the difficulty point of the research and development of the forging equipment.

At present, two modes of manual feeding and robot feeding are mainly adopted for feeding in a press machine. During manual feeding, a worker is required to take out a workpiece on the die and place the workpiece into the next station when the press slide block is lifted. The drawbacks of this approach are obvious. The work efficiency of workers is slow, the labor intensity is high, and many unsafe factors exist in the working environment of heavy machinery such as a multi-station press. Another way is to use a robot. Robotics has grown to a great extent today. The robots currently applied to the press machine mainly comprise a swing cross bar type manipulator, a parallel four-link type manipulator, a six-degree-of-freedom robot and the like. Most of these robots are complex series structures, which results in poor stiffness and complex motion control. The large size of the moving structure also makes it difficult to increase the working speed. In the movement process of multi-station feeding, which only needs a small amount of freedom, the use of the robots is not efficient. In view of the high maintenance cost of these robots, more simplified equipment is needed to complete the feeding work.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: the problems that when the press machine feeds materials, the work efficiency of workers is low, the labor intensity is high, and potential safety hazards exist in a manual operation mode are solved; the automatic feeding device has the advantages of simple structure, high movement speed, strong bearing capacity and high precision, overcomes the defects of the prior art, and effectively solves the problems of efficiency, cost and safety of manual or robot feeding of a press machine.

The technical scheme adopted by the invention for solving the technical problems is as follows: an automatic feeding device comprises a main frame, an auxiliary frame, a linear motion module, a servo motor, an auxiliary sliding table, a main vertical motion cylinder module, an auxiliary vertical motion cylinder module, a main clamping pneumatic paw, an auxiliary clamping pneumatic paw, a first clamping beam, a second clamping beam, a station one main clamp, a station one auxiliary clamp, a station two main clamp and a station two auxiliary clamp, the linear motion module is arranged on the main frame, the servo motor drives the linear motion module, one end of the main vertical motion cylinder module is fixedly connected to the linear motion module, the other end of the main vertical motion cylinder module is fixedly connected to the main clamping pneumatic paw, two claws of the main clamping pneumatic paw are respectively connected with one end of a first clamping beam and one end of a second clamping beam, the first clamping beam is provided with a first main station clamp and a second main station clamp, and the second clamping beam is provided with a first auxiliary station clamp and a second auxiliary station clamp; the auxiliary frame is provided with the auxiliary sliding table, one end of the auxiliary vertical movement cylinder module is fixedly connected to the auxiliary sliding table, the other end of the auxiliary vertical movement cylinder module is fixedly connected to the auxiliary clamping pneumatic paw, and the two paws of the auxiliary clamping pneumatic paw are respectively connected with the other ends of the first clamping beam and the second clamping beam. According to the design, the linear motion module is driven by the servo motor to horizontally move, the vertical motion cylinder module controls vertical motion, and the clamping pneumatic paw and the station clamp are matched, so that the materials are conveyed among different stations. The horizontal motion adopts servo motor drive linear motion module, and linear motion module inside is a lead screw, converts servo motor's rotary motion into horizontal linear motion, so the motion position control in the horizontal direction is actually servo motor's the number of turns and position control, and servo motor's encoder and the lead screw drive link of equipment can guarantee the motion accuracy of system horizontal direction. In actual use, firstly, the sliding table is initialized to move to the maximum limit, and then the position of the motor is cleared. Then, the servo motor is driven by manually sending an instruction to enable the sliding table to move to three working positions respectively, and the control system records the three positions respectively. And in the later work, the horizontal movement precision can be ensured only by controlling the servo motor to move to the recorded motor position. The vertical movement is realized by adopting a cylinder module structure, and the cylinder module comprises a cylinder and a limiting block. Because the vertical direction only has the positioning requirements of two heights, in the process of initial adjustment, two working positions can be determined by adjusting the limiting blocks at the upper position and the lower position of the cylinder, and the movement precision is ensured by a mechanical limiting method.

The linear motion module comprises a first fixed seat fixedly connected with a motion sliding table of the linear motion module, and a second fixed seat connected with the auxiliary sliding table, wherein the first transverse structural rod is fixedly connected with the first fixed seat, the second transverse structural rod is fixedly connected with the second fixed seat, and two ends of the first transverse structural rod and the second transverse structural rod are respectively fixedly connected with two ends of the first longitudinal structural rod and two ends of the second longitudinal structural rod to form a rectangular frame. The design ensures that the automatic feeding device has higher reliability, ensures the movement precision in the horizontal direction, is convenient to maintain, and is more flexible and convenient to install and move. The power of the horizontal motion of the automatic feeding device is a linear motion module driven by a servo motor, and the rectangular frame transmits the active motion to the translational support auxiliary sliding table. The translation supporting auxiliary sliding table plays a role in supporting in the vertical direction and plays a role in guiding in the horizontal direction. The rectangular frame is used as a connecting structure of the two horizontal movement part linear movement modules and the translational support auxiliary sliding table, so that a large enough space is formed in the middle part of the equipment for production and processing equipment to work, interference is avoided, and meanwhile, the horizontal movement synchronization precision of the two supporting structures can be ensured by directly and fixedly connecting the rectangular frame.

Specifically, the first fixing seat and the main vertical movement cylinder module are fixedly connected through a main vertical connecting plate, and the second fixing seat and the auxiliary vertical movement cylinder module are fixedly connected through an auxiliary vertical connecting plate. The design enables the connection between the vertical moving cylinder module and the moving module to be more reliable and firm, and the fixed connection mode comprises the modes of screw fastening, welding, riveting and the like.

Specifically, the main vertical movement cylinder module is fixedly connected to the main clamping pneumatic paw through a main transition plate, and the auxiliary vertical movement cylinder module is fixedly connected to the auxiliary clamping pneumatic paw through an auxiliary transition plate. The design enables the connection between the vertical movement cylinder module and the clamping pneumatic paw to be more reliable and firm, and the fixed connection mode comprises the mode of not being limited to screw fastening, welding, riveting and the like.

Specifically, the sliding structures of the linear motion module and the auxiliary sliding table include, but are not limited to, a structure of a lead screw and a sliding block, and a structure of a guide rail and a sliding block. By the design, the resistance of horizontal movement is reduced, and the distance control precision and the movement rate of the invention are improved.

Specifically, the first clamping beam and the second clamping beam can be provided with a plurality of station clamps to adapt to material circulation among multiple stations. The design realizes the increase of stations through simple adjustment, has strong expansibility and can realize the synchronous feeding of long-distance and multi-station.

Specifically, the main vertical movement cylinder module and the auxiliary vertical movement cylinder module respectively comprise a cylinder and an upper limiting block and a lower limiting block which are used for determining the movement positions of two ends of the cylinder. The cylinder provides power, and the motion position at cylinder both ends is confirmed to the stopper.

The invention has the beneficial effects that: the invention provides an automatic feeding device which comprises a linear motion module and a main vertical motion cylinder module, wherein the linear motion module is fixed on a main rack and driven by a servo motor, one end of the main vertical motion cylinder module is fixedly connected to the linear motion module, and the other end of the main vertical motion cylinder module is fixedly connected to a main clamping pneumatic paw; the auxiliary sliding table is fixed on the auxiliary rack, one end of the auxiliary sliding table is fixedly connected to the auxiliary sliding table, the other end of the auxiliary sliding table is fixedly connected to the auxiliary vertical movement cylinder module of the auxiliary clamping pneumatic paw, two paws of the clamping pneumatic paw are respectively connected with one end of a first clamping beam and one end of a second clamping beam, and a plurality of station clamps are arranged on the first clamping beam and the second clamping beam. According to the technical scheme, the problems of efficiency, cost and safety existing in two modes of manual feeding or robot feeding of the press are solved, the technical effects of cost and efficiency are achieved, the structure is simple, the movement speed is high, the bearing capacity is strong, and the precision is high; the long-distance multi-station synchronous feeding can be realized; the increase of the stations is realized through simple adjustment, and the expansibility is strong.

Drawings

The invention is further illustrated with reference to the following figures and examples.

Fig. 1 is a schematic diagram of the general structure of the present invention.

Fig. 2 is a connection structure near the first fixing base of the present invention.

In the figure: 1-1 of main frame, 1-2 of auxiliary frame, 2 of linear motion module, 3 of servo motor, 4-1 of first fixed seat, 4-2 of second fixed seat, 5-1 of first transverse structural rod, 5-2 of second transverse structural rod, 6-1 of first connecting longitudinal structural rod, 6-2 of second longitudinal structural rod, 7-1 of main vertical connecting plate, 7-2 of auxiliary vertical connecting plate, 8-1 of main vertical motion cylinder module, 8-2 of auxiliary vertical motion cylinder module, 9-1 of main transition plate, 9-2 of auxiliary transition plate, 10-1 of main clamping pneumatic claw, 10-2 of auxiliary clamping pneumatic claw, 11-1 of first clamping beam, 11-2 of second clamping beam, 12-1 of main clamp, 3 of servo motor, 4-1 of first clamping beam, 4-1 of auxiliary clamping beam, 4-2 of main clamp, 7-2 of auxiliary vertical connection plate, 7-2 of auxiliary clamping pneumatic claw, 11-1 of first clamping beam, 11-2 of second clamping beam, 12-1 of main, 12-2, 13-1, 13-2, 14 and an auxiliary sliding table.

Detailed Description

The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.