CN107234207B - Six mould cold mound machines retooling auxiliary machinery hand systems - Google Patents

Abstract

The invention relates to an auxiliary manipulator system for mold changing of a six-mode cold pier machine. It is characterized in that: the auxiliary manipulator system includes a large arm, a small arm, a main gripper, a secondary gripper, a pneumatic wrench, a pneumatic controller and other linking parts. The boom is fixed on the cold pier machine by a nut, and the circular pipe end of the rotating connecting rod is directly sleeved on the middle connecting column to realize the rotation movement in the horizontal plane, and the long and short connecting rods of the boom can swing in the vertical plane; The arm is linked with the boom connecting rod through symmetrically arranged thrust bearings, so that the small arm can perform horizontal rotation relative to the axis of the boom connecting rod. The present invention has reasonable design, compact structure and convenient use.

Description

Auxiliary manipulator system for die change of six-die cold pier machine

technical field

The invention relates to an auxiliary manipulator system for die changing of a six-die cold pier machine.

Background technique

At present, with the rapid development of the national economy, the society's demand for fasteners and special-shaped parts is expanding. Fasteners and special-shaped parts are the basic mechanical components of the national strategy. The cold pier process is the main way to process such parts. Since cold working usually requires tens or hundreds of tons of force, the molds used are usually heavy, and the cold pier parts The structure is complex and the space for mold replacement is narrow, which results in high labor intensity for manual mold replacement, which is easy to damage other related parts of the whole machine. The mold replacement cycle is long, and generally requires more than two skilled workers to cooperate for more than half a day to complete, and due to the technical proficiency of the workers Different effects affect the assembly accuracy, and the workers themselves are also easily injured. For example, the mass of a single die used by the DBP206 cold pier machine is more than 40kg, and the maximum distance between the movable die and the fixed die does not exceed 700mm, and the cold pier machine has a complex structure for the cold pier action part, with more than 1,000 components. And how to achieve low cost, high precision, high efficiency, and safe mold change has always been a problem that plagues the cold pier machine mold change work. At present, there is no manipulator for fast and safe die changing of cold pier machines in China, and there are not many related patents and papers. For example, the journal "Equipment" published a special off-line mold changing device for multi-station cold heading forming machine, which combines the mold and the cavity into one part to realize one-time mold change. However, this structure requires high machining accuracy, and the high-precision machining cost of large parts is high, and the accuracy of the contact surface is also easily damaged, and the installation accuracy of the cold pier machine mold is less than 2 wires, which is difficult to achieve.

SUMMARY OF THE INVENTION

In order to overcome the deficiencies of the technical background, the present invention discloses an auxiliary manipulator system for die changing of a six-die cold pier machine. Not only fast die change, but also high precision and safety. In order to solve the above-mentioned problems, the technical solution adopted by the present invention is: a six-die cold pier machine mold changing auxiliary manipulator system, comprising a large arm arranged on one side of the cold pier machine, an upper end of the big arm and its cantilever end swinging up and down. The forearm, the main gripper that rotates in the horizontal plane and is arranged below the cantilever end of the forearm, and the secondary gripper that is horizontally telescopically arranged on the main gripper and used to clamp the mold; the secondary gripper is located above the cavity of the cold pier machine .

The boom includes a main column installed on the cold pier machine, an intermediate connecting column arranged on the main column, a rotating link whose lower part is rotated or fixed on the upper part of the intermediate connecting column, and two first U columns arranged in parallel on the top of the rotating link. The rotating shaft in the mold seat, and the large arm long link and the big arm short link which are parallel to each other and whose roots are sleeved on the corresponding rotating shaft; the big arm long link is located just above the big arm short link, The root of the long connecting rod is exposed on the first U-shaped seat, the lower end of the root of the long connecting rod of the big arm and the middle connecting column are respectively provided with connecting lugs, and a limit spring is arranged between the two connecting lugs; the small arm includes The connecting rod, the main beam of the forearm arranged horizontally below the connecting rod, and the thrust bearing arranged between the lower end shaft of the connecting rod and the main beam of the forearm; The connecting pin, the connecting pin and the second U-shaped seat are tightly connected by the pin nut; the head of the long arm connecting rod and the head part of the short connecting rod of the big arm are respectively sleeved on the opposite connecting pin shafts; The two intersection points of the rod and the short link of the boom and the two connecting pin shafts, and the two intersection points of the long link of the boom and the short link of the boom and the two rotating shafts, the four intersection points are connected at The vertical plane forms a parallelogram structure; a connecting shaft is arranged at the lower end of the main beam of the forearm, a thrust bearing is arranged between the connecting shaft and the main beam of the forearm, a bearing end cover is arranged above the thrust bearing, and a useful tool is arranged on the upper end of the connecting shaft The shaft fixing nut of the thrust bearing under the back-tightening bearing end cover is installed below the lower end shaft of the connecting rod for the rotating shaft fixing nut for the back-tightening thrust bearing; the connecting rod and the connecting shaft are respectively vertically located at the left and right ends of the main beam of the forearm , and the connecting rod and the connecting shaft are respectively located on the upper and lower sides of the main beam of the forearm. A distribution box is arranged on the boom; a pneumatic wrench is suspended on the main beam of the forearm, and a three-hole button box electrically connected with the distribution box is arranged on the main beam of the forearm; Main gripper pneumatic switch, secondary gripper pneumatic switch, and pneumatic wrench air source switch. The secondary gripper includes a gripper mounting frame connected with the connecting shaft at the upper part; two guide rail supports are arranged at the lower end of the gripper mounting frame, a linear guide rail is horizontally arranged between the two guide rail supports, and a linear guide rail is horizontally slidable on the linear guide rail. The linear bearing fixed seat is connected with an L-shaped connecting plate by fixing nuts on both sides of the linear bearing fixed seat, a rotary clamping cylinder mounting frame is arranged at the lower end of the L-shaped connecting plate, and a horizontally placed The rotary clamping cylinder is connected with the cylinder nut and the rotary clamping cylinder mounting frame through cylinder bolts, the piston rod of the rotary clamping cylinder is connected with a coupling, and the other side of the rotary clamping cylinder mounting frame is provided with a coupling. Two coaxial clamping jaw mounting brackets connected to the coupling are provided with a limiting sleeve between the two coaxial clamping jaw mounting brackets, and the limiting sleeve and the clamping jaw mounting bracket are connected by a nut and Bolt connection; at least three second clamping jaws are distributed in a circular array on the clamping jaw mounting frame; at least three second clamping jaws are used to clamp the mold; between the clamping jaw installation frame and the clamping jaw installation frame, a circular The arc guide plate is provided with a radial bearing between the arc guide plate and the output shaft of the coupling, and at least three arc tracks are distributed in a circumferential array on the arc guide plate. The upper edge of the circular arc guide plate is gradually arranged from the outer circumference of the circle to the shaft center; the roots of the second clamping jaws are respectively located in the corresponding circular arc tracks; Linear guide rails passing through the box body, and bushings arranged in the box body and in contact with the linear guide rails; chain plates are symmetrically arranged on both sides of the box body, and two guide grooves are vertically arranged on the chain plates, and each The inner side of the chain plate is provided with two V-shaped first clamping jaws, the back of the first clamping jaw is connected with bolts passing through the corresponding guide grooves, and the outside of the chain plate is provided with nuts and washers connected with the bolts; A linear bearing is arranged between the chain plate and the two chain plates, a cylindrical shaft parallel to the linear guide is arranged between the two chain plates, a linear bearing sleeved on the cylindrical shaft is arranged in the box body, and a side of the box body is arranged with a linear bearing. A cylinder parallel to the cylinder guide rod and the linear guide rail; the two cylinders are arranged in opposite directions, and the cylinder guide rod of each cylinder is respectively connected with the corresponding chain plate through a fixing nut; the V-shaped first clamping jaw is used for clamping Hold the mold; the axial centerline where the V-shaped first clamping jaw is located is coaxial with the axial centerline where the three second clamping jaws are located. A clamping jaw limit bar is arranged on one side of the first clamping jaw. A main handle is provided on the gripper mounting frame. A secondary handle is arranged on one side of the rotary clamping cylinder mounting frame.

When the cold pier machine is replaced by the above scheme, the auxiliary manipulator system can quickly, safely and reliably realize the die replacement of the cold pier machine, which not only reduces the cost of the die change, but also improves the safety and efficiency of the die change. The circular pipe end of the rotating connecting rod of the present invention is directly sleeved on the middle connecting column, the structure is simple and reliable, and the connection mode of the big arm and the small arm can ensure that the axis of the mold is always kept in a horizontal state, which is convenient for assembly. In the design of special fixtures, the combined use of linear clamping jaws and rotary clamping jaws can not only ensure the clamping strength of heavy-duty molds, but also meet the requirements of mold installation strokes. The introduction of pneumatic wrenches can not only realize the tightening of fast screw nuts, but also control the speed of screws. The pre-tightening force of the nut and the use of multiple thrust bearings can not only successfully realize the rotation of the auxiliary robot arm, but also reduce the assembly size of the arm. The use of limit springs can control the lifting and lowering of the robot arm.

Description of drawings

Figure 1 is a schematic structural diagram of the main gripper of the patent of the present invention.

Figure 2 is a schematic structural diagram of the secondary gripper of the patent of the present invention.

Figure 3 is a schematic diagram of the structure of the patent forearm hand of the present invention.

Figure 4 is a schematic diagram of the structure of the patented arm hand of the present invention.

Figure 5 is a schematic diagram of the hand structure of the auxiliary manipulator system for die changing of the six-die cold pier machine of the patent of the present invention.

FIG. 6 is a schematic diagram of the structure of the patent of the present invention after clamping the mold.

FIG. 7 is a schematic structural diagram of the secondary gripper of the present invention from another perspective.

FIG. 8 is a schematic structural diagram of the large arm hand of the present invention from another perspective.

Detailed ways

As shown in Fig. 1-8, as shown in Fig. 1, the auxiliary manipulator system for die changing of the six-die cold pier machine in this embodiment includes a boom 400 arranged on one side of the cold pier machine, a cantilever on the upper end of the boom 400 The forearm 300 that swings up and down at the end, the main gripper 100 that rotates on the horizontal plane and is arranged below the cantilever end of the forearm 300, and the secondary gripper 200 that is horizontally telescopically arranged on the main gripper 100 and used to clamp the mold 211; The secondary gripper 200 is located above the cavity 001 of the cold pier machine. The boom 400 includes a main column 408 installed on the cold pier machine, an intermediate connecting column 407 disposed on the main column 408, a lower rotating or fixed rotating link 403 disposed on the upper part of the intermediate connecting column 407, two parallel connecting The rotating shaft in the first U-shaped seat at the top of the rod 403, and the long arm link 401 and the short arm link 402, which are parallel to each other and whose roots are sleeved on the corresponding rotating shaft; the long arm link 401 is located in the large arm. Just above the short arm link 402, the root of the big arm long link 401 is exposed on the first U-shaped seat, and the lower end of the root of the big arm long link 401 and the middle connecting column 407 are respectively provided with connecting lugs 406. A limit spring 404 is arranged between the two connecting lugs 406; the forearm 300 includes a connecting rod 301, a forearm main beam 306 arranged horizontally below the connecting rod 301, and a lower end shaft of the connecting rod 301 and the forearm main beam 306 The thrust bearing 304 between them; two parallel connecting pins 302 are inserted into the second U-shaped seat of the connecting rod 301, and the connecting pins 302 and the second U-shaped seat are tightly connected through the pin nut 303; The head of the long arm link 401 and the head of the short arm link 402 are respectively sleeved on the opposite connecting pins 302 ; The intersection point and the two intersection points of the boom long link 401 and the boom short link 402 and the two rotation axes, the four intersection points form a parallelogram structure in the vertical plane; a connection is provided at the lower end of the forearm main beam 306 For the rotating shaft 312, a thrust bearing is arranged between the connecting shaft 312 and the main beam 306 of the forearm, a bearing end cover 313 is arranged above the thrust bearing, and a rotating shaft for back-tightening the thrust bearing under the bearing end cover 313 is arranged on the upper end of the connecting shaft 312 A fixing nut 314, a shaft fixing nut 315 for back-tightening the thrust bearing 304 is installed under the lower end shaft of the connecting rod 301; 301 and the connecting shaft 312 are respectively located on the upper and lower sides of the main beam 306 of the forearm. A distribution box 405 is arranged on the boom 400; a pneumatic wrench 305 is suspended on the main beam 306 of the forearm, and a three-hole button box 307 electrically connected to the distribution box 405 is arranged on the main beam 306 of the forearm; The hole button box 307 is provided with a main gripper pneumatic switch 308, a secondary gripper pneumatic switch 309, and a pneumatic wrench air source switch 310, respectively. The secondary gripper 200 includes a gripper mounting frame 202 whose upper part is connected with the connecting shaft 312; two guide rail supports 203 are arranged at the lower end of the gripper mounting frame 202, and a linear guide rail 204 is horizontally arranged between the two guide rail supports 203, A linear bearing fixing seat 219 is slid horizontally on the linear guide 204 , an L-shaped connecting plate 217 is connected on both sides of the linear bearing fixing seat 219 through fixing nuts 218 , and a rotary clamping cylinder mounting frame 220 is arranged at the lower end of the L-shaped connecting plate 217 , a horizontally placed rotary clamping cylinder 208 is arranged on the side of the rotary clamping cylinder mounting frame 220, the rotary clamping cylinder 208 is connected with the cylinder nut 207 and the rotary clamping cylinder mounting frame 220 through the cylinder bolt 206, and the rotary clamping cylinder 208 The piston rod is connected with a coupling 221, and the other side of the rotary clamping cylinder mounting frame 220 is provided with two coaxial clamping jaw mounting frames 213 that are drivingly connected with the coupling 221. A limiting sleeve 216 is arranged in the mounting frame 213, and the limiting sleeve 216 and the clamping jaw mounting frame 213 are connected by nuts 214 and bolts 215; on the clamping jaw mounting frame 213, there are at least three second Clamping jaws 212; at least three second clamping jaws 212 are used to clamp the mold 211; between the clamping jaw mounting frame 213 and the clamping jaw mounting frame 213, a circular arc guide rail plate 210 is fixedly arranged, and the circular arc guide rail plate 210 is connected to the A radial bearing 209 is arranged between the output shafts of the shaft device 221, and at least three arc tracks 2101 are distributed in a circumferential array on the arc guide plate 210. The arc tracks 2101 are on the arc guide plate 210 along the length direction of the track. The main gripper 100 includes a box body 109 arranged on one side of the gripper mounting frame 202, at least two horizontal The linear guide rail 105 passing through the box body 109 and the bushing 107 arranged in the box body 109 and in contact with the linear guide rail 105; the chain plates 101 are symmetrically arranged on both sides of the box body 109, and are vertically arranged on the chain plates 101 There are two guide grooves, and two V-shaped first clamping jaws 114 are provided on the inner side of each chain plate 101 . The back of the first clamping jaws 114 is connected with bolts 104 that pass through the corresponding guide grooves, on the outer side of the chain plate 101 A nut 102 and a washer 103 connected with the bolt 104 are arranged; a linear bearing 106 is arranged between the linear guide 105 and the chain plate 101, and a cylindrical shaft parallel to the linear guide 105 is arranged between the two chain plates 101. A linear bearing 108 sleeved on the cylindrical shaft is arranged in the box body 109, and a cylinder 110 parallel to the cylinder guide rod 111 and the linear guide rail 105 is arranged on one side of the box body 109; the two cylinders 110 are arranged in opposite directions, and each cylinder 110 The cylinder guide rods 111 are respectively connected with the corresponding chain plates 101 through the fixing nuts 112; the V-shaped first clamping jaws 114 are used to clamp the mold 211; the axial centerline of the V-shaped first clamping jaws 114 is connected to the three second The axial centerlines where the jaws 212 are located are coaxial. A clamping jaw limit bar 113 is provided on one side of the first clamping jaw 114 . A main handle 201 is provided on the gripper mount 202 . A secondary handle 205 is provided on the side of the rotary clamping cylinder mounting frame 220 .

1-8, as a detailed description, the present invention mainly includes a main gripper 100, a secondary gripper 200, a small arm 300, a large arm 400, a pneumatic wrench 305, a pneumatic controller and other components. One end of the big arm 400 is connected to the cold pier machine, the other end of the big arm 400 is connected to the small arm 300 , and the lower end of the other end of the small arm 300 is connected to the secondary gripper 200 . The pneumatic controller is installed on the main beam 306 of the forearm, and the pneumatic wrench 305 is placed on the side of the main beam 306 of the forearm.

The main gripper 100 includes a chain plate 101, a horizontally arranged linear guide 105, a linear bearing 106, a bushing 107, a linear bearing 108, a box body 109, a cylinder 110, a cylinder guide rod 111, a guide rod fixing nut 112, and a clamping jaw limit The strip 113 and the first clamping jaw 114 . The first clamping jaw 114 is connected to the chain plate 101 through the nut 102, the washer 103 and the bolt 104. The chain plate 101 is connected to the linear guide rail 105 through the linear bearing 106. The chain plate 101 is symmetrically arranged on the front and rear sides of the box body 109; the linear guide rail 105 It is connected with the box body 109 through the bushing 107; the cylinder 110 is symmetrically arranged on the left and right sides of the box body 109, and the chain plate 101 is connected with the cylinder 109 through the cylinder guide rod 111 and the guide rod fixing nut 112. When the cylinder 110 is telescopic, it drives the box The front and rear side chain plates 101 of the body 109 move synchronously.

The position of the clamping jaw on the chain plate can be adjusted within a certain range; the clamping jaw limit bar 113 is connected to the clamping jaw through a number of nuts, a number of washers and a number of bolts, and one side of the clamping jaw stop strip 113 is connected to the clamping jaw. A measuring surface contact.

In the present invention, when the mold is clamped, the relative position of the first clamping jaw 114 and the mold 211 is adjusted first, so that the symmetry line of the first clamping jaw 114 and the axis of the mold 211 are coincident, and the pneumatic switch 308 of the main gripper is pressed, and the cylinder 110 is symmetrically arranged to drive the The cylinder guide rod 111 performs a retracting motion, and the implicated link plate 101 moves toward each other along the linear guide 105 , and the distance between the two link plates 101 is reduced, thereby implicated the first clamping jaw 114 to clamp the mold 211 . When releasing the mold, press the main gripper pneumatic switch 308, the symmetrical arrangement of the cylinders 110 drives the cylinder guide rods 111 to stretch, and the chain plates 101 are involved in reverse movement along the linear guide 105, and the distance between the two connecting plates 101 increases. is large, thereby involving the first jaw 114 to release the mold 211 .

The secondary gripper 200 includes a main handle 201, a gripper mounting frame 202, a guide rail support 203, a linear guide 204, a secondary handle 205, a cylinder bolt 206, a cylinder nut 207, a rotary clamping cylinder 208, a radial bearing 209, a circular The arc guide plate 210 , the second clamping jaw 212 , the clamping jaw mounting frame 213 , the nut 214 , the bolt 215 , the limit sleeve 216 , the L-shaped connecting plate 217 , the fixing nut 218 , and the linear bearing fixing seat 219 . The main handle 201 is connected with the gripper mounting frame 202 , the guide rail support 203 is symmetrically mounted on the gripper mounting frame 202 , the linear guide rail 204 is in interference fit with the guide rail support 203 , and the L-shaped connecting plate 217 passes through the linear bearing fixing seat 219 . The guide rail 204 slides, the secondary handle 205 is welded on the L-shaped connecting plate 217 , the rotary clamping cylinder mounting frame 220 is welded with the L-shaped connecting plate 217 , and the arc track of the arc guide plate 210 is tangent to the cylindrical surface of the second clamping jaw 212 , the clamping jaw mounting frame 213 is connected with the rotary clamping cylinder 208 through the limiting sleeve 216 , and the second clamping jaw 212 and the clamping jaw mounting frame 213 are in clearance fit.

The secondary gripper is welded with the connecting shaft through the gripper mounting frame, and the main handle is connected with the gripper mounting frame by bolts; several linear guide rails are axially matched with the linear bearing fixing seat; Fixed nut connection, in which several L-shaped connecting plates are symmetrically arranged on both sides of the linear bearing fixed seat, and several L-shaped connecting plates are welded with the rotary clamping cylinder mounting frame; the rotary clamping cylinder is connected to the rotary clamping cylinder frame through a number of nuts and bolts. Connection; the arc guide plate is connected with the rotary clamping cylinder frame through radial bearings, and is connected with the rotary clamping cylinder through the coupling; the clamping jaw mounting frame is connected with the rotary clamping cylinder through several nuts, several bolts and several limit sleeves The limit sleeves are arranged at equal intervals around the circumference; the shoulder planes of several clamping jaws are in clearance fit with the linear tracks on the clamping jaw mounting frame, and the clamping jaws are arranged at equal intervals around the circumference.

The rotary clamping cylinder mounting frame 220 is welded with the L-shaped connecting plate 217, the rotary clamping cylinder 208 is mounted on the rotary clamping cylinder mounting frame 220, and the arc guide plate 210 is connected with the rotating shaft of the rotary clamping cylinder 208 through the coupling 221, The arc track 2101 of the arc guide plate 210 is inscribed with the cylindrical guide end of the root of the second clamping jaw 212 , the clamping jaw mounting frame 213 is connected to the rotary clamping cylinder 208 through the limit sleeve 216 , and the second clamping jaw 212 Clearly fit with the moving pair of the jaw mounting bracket 213 . The cylindrical guide end of the second clamping jaw 212 moves close to or away from the axis of the rotary clamping cylinder 208 in the circular arc track 2101 .

When clamping the mold, after the main gripper 100 clamps the mold 211, the secondary gripper 205 is pulled, and the second gripper 212 and the mold 211 are horizontally in a suitable clamping position, and the secondary gripper pneumatic switch 309 is pressed to rotate the clamping cylinder. 208 rotates counterclockwise, and drives the arc guide plate 210 to rotate on a fixed axis through the coupling 221, thereby driving the second jaw 212 to perform a centripetal contraction motion along the straight track of the jaw mounting frame 213, thereby clamping the mold.

When releasing the mold, after the main gripper 100 releases the mold 211, press the pneumatic switch 309 of the next gripper, the rotary clamp release cylinder 208 rotates clockwise, and the arc guide plate 210 is driven by the coupling 221 as a fixed axis Rotate, thereby driving the second gripper 212 to expand outward along the straight track of the gripper mounting frame 213, thereby releasing the mold, and then pulling the secondary gripper to a horizontal relative appropriate distance by pulling the secondary handle 205.

The forearm 300 includes a connecting rod 301 , a connecting pin 302 , a pin nut 303 , a thrust bearing 304 , a main beam 306 of the forearm, a connecting shaft 312 , a bearing end cover 313 , and rotating shaft fixing nuts 314 and 315 . One side of the connecting rod 301 passes through a number of connecting pins 302, and the lower end shaft of the connecting rod 301 is connected to the main beam 306 of the forearm through a thrust bearing 304, a thrust bearing, a bearing end cover, a rotating shaft fixing nut 314, a rotating shaft fixing nut 315, and a pin nut 303 , during the movement process, the upper plane of the main beam 306 of the forearm is always kept perpendicular to the axis of the coupling shaft of the connecting rod 301, and the connecting shaft 312 is connected by the shaft fixing nut 314, the thrust bearing, the bearing end cover 313 and the main beam 306 of the forearm; The axis of the rotating shaft 312 is always perpendicular to the upper plane of the main beam 306 of the forearm, thereby ensuring that the axis of the mold is always kept parallel to the upper plane of the main beam 306 of the forearm in the clamped state. The bearing end cover 313 and the pin nut 303 are used together to control the mold and the small The height difference of the arm main beam 306 is always constant.

In the process of realizing the space transfer of the mold, under the pulling of the main handle 201, the turning hand is pulled to move, thereby pulling the connecting shaft 312 to make a circular movement, and at the same time pulling the main beam of the forearm to make a space movement.

Further, the forearm is connected to the boom through a connecting rod, a number of connecting pins and a number of pin nuts; the other side of the connecting rod is connected to the main beam of the forearm through a number of thrust bearings, bearing end covers and rotating shaft fixing nuts, wherein the thrust The bearings are symmetrically arranged on both ends of the forearm main beam with the shaft to realize the circular horizontal movement of the forearm main beam around the shaft end of the connecting rod. The cooperation of the bearing end cover and the rotating shaft fixing nut limits the vertical height of the forearm main beam relative to the connecting rod; The thrust bearing at the other end of the main beam of the forearm, the bearing end cover and the fixing nut of the rotating shaft are connected with the connecting shaft to realize the horizontal movement of the connecting shaft around the main beam of the forearm. The use of the bearing end cover and the fixing nut of the rotating shaft limits the relatively small size of the connecting shaft The vertical height of the main beam of the arm; the connecting shaft and the gripper mounting frame are welded together.

The boom 400 includes a long boom link 401 , a short boom link 402 , a rotation link 403 , a limit spring 404 , a distribution box 405 , a connection lug 406 , an intermediate connection post 407 , and a main column 408 .

The boom long link 401 and the boom short link 402 are connected in parallel to the rotating link 403 and the connecting rod 301 , and the upper end surface of the rotating link 403 and the upper end surface of the connecting rod 301 are always kept parallel when the boom swings.

One end of the big arm 400 is connected to the small arm 300 , the other end of the small arm 300 is connected to the secondary gripper 200 , and the primary gripper is installed on the secondary gripper mounting frame. During the movement process, the supply of the air source is disconnected by pressing different pneumatic switches, the large-distance space movement of the manipulator is realized by the traction motion of the main handle, and the mold is loaded into and pulled out of the cavity by the traction motion of the secondary handle. .

The main column 408 is connected with the cold pier machine bolt, the main column 408 and the middle connecting column 407 are coaxially welded, the rotating connecting rod 403 is coaxially sleeved on the middle connecting column 407, the big arm long connecting rod 401, the big arm short connecting rod 402 The connecting pin 302 and the pin nut 303 are connected to the rotating link 403 , and the limit spring 404 connects the boom long link 401 and the rotating link 403 . Under the traction motion of the forearm 300 , the big arm 400 performs circular motion around the axis of the middle connecting column 407 and swings about the axis of the connecting pin 302 , and the swing angle of the big arm 400 is limited by the limit spring 404 .

The air wrench is connected to the air source switch of the air wrench through the air inlet pipeline. When the pneumatic wrench is idle, place it on the holding rack on one side of the main beam of the forearm.

The pneumatic controller includes a three-hole button box, a main gripper pneumatic switch, a secondary gripper pneumatic switch, a pneumatic wrench air source switch and several other pneumatic components. The main gripper pneumatic switch is connected to the main gripper cylinder through the air intake pipeline; the secondary gripper pneumatic switch is connected to the rotary clamping cylinder through the air intake pipeline; the air source switch of the pneumatic wrench is connected to the pneumatic wrench through the intake pipeline; the three-hole button box It is connected with one end of the main beam of the forearm by bolts

The mold changing process of the cold pier machine is divided into two steps. The first step is to remove the mold on the cold pier machine and put it aside, and the second step is to load the spare mold into the cold pier machine. The specific operation process is as follows:

The first step is to remove the mold from the cold block machine. Remove the pneumatic wrench 305 from the side of the main beam 306 of the forearm, press the pneumatic wrench air source switch 310, use the pneumatic wrench 305 to loosen the set screw used to fix the mold on the mold cavity of the cold pier machine by a suitable stroke, and then put the mold The limit block and the limit block set screw are loosened and removed, and then the pneumatic wrench 305 is placed on the side of the main beam 306 of the forearm. Pull the secondary gripper 200 to an appropriate position by pulling the primary gripper 201, finely adjust the proper clamping distance between the second gripper 212 and the mold 211 through the secondary gripper 205, press the secondary gripper pneumatic switch 309, and rotate the clamping cylinder 208 to drive The circular arc guide plate 210 makes a counterclockwise circular motion, which involves the second jaw 212 to perform a centripetal contraction motion along the straight track of the jaw mounting frame 213, thereby clamping the mold 211, and pulling the secondary gripper 205 to perform a linear motion, so as to make the mold larger. Partially pull out the cold pier machine cavity, press the main gripper pneumatic switch 308, symmetrically arrange the cylinders 110 to drive the cylinder guide rods 111 to perform a first contraction movement, and implicate the chain plate 101 to move toward each other along the linear guide 105, and the two connecting plates 101 The distance between them is reduced, the clamping jaws 114 are involved to clamp the mold 211, the mold is completely pulled out of the cold pier type cavity 001, the main handle 201 is pulled to transfer the mold to the holding rack, the main gripper pneumatic switch 308 is pressed, and the cylinders are arranged symmetrically. 110 drives the cylinder guide rod 111 to stretch, and the chain plate 101 is involved in reverse movement along the linear guide 105, and the distance between the two connection plates 101 increases, thereby implicated the first jaw 114 to release the mold 211. After the main gripper 100 releases the mold 211, press the secondary gripper pneumatic switch 309, the rotary clamp release cylinder 208 rotates clockwise, and the arc guide plate 210 is driven by the coupling 221 to rotate as a fixed axis, thereby driving the second gripper 210 to rotate. The gripper 212 moves outward along the straight track of the gripper mounting frame 213 to release the mold, and then pulls the secondary gripper to a horizontally appropriate distance by pulling the secondary handle 205 to complete the mask removal action.

In the second step, the main gripper 100 is pulled to an appropriate position by pulling the main gripper 201 , the pneumatic switch 308 of the main gripper is pressed, the first gripper 114 is involved to clamp the mold 211 , and the second gripper is fine-tuned and adjusted by the secondary gripper 205 212 and the appropriate clamping distance of the mold 211, press the pneumatic switch 309 of the next gripper to clamp the mold 211, pull the main handle 201 to transfer the mold to a suitable distance from the cavity of the cold pier machine, and adjust the spatial position of the mold 211 to make it The axis coincides with the axis of the cavity, slowly pull the main handle 201 to install the mold part into the cold pier machine cavity, press the main gripper pneumatic switch 308 to implicate the first gripper 114 to release the mold 211, and pull the secondary gripper 205 to make a linear motion , put the mold into the cavity of the cold pier machine at a suitable distance, press the pneumatic switch 309 of the secondary gripper to release the mold 211, and then pull the secondary gripper to a horizontal relative appropriate distance by pulling the secondary handle 205, from the side of the main beam 306 of the forearm Remove the pneumatic wrench 305, press the pneumatic wrench air source switch 310, use the pneumatic wrench 305 to tighten the set screw used to fix the mold on the mold cavity of the cold pier machine to an appropriate stroke, and then tighten the mold limit block and limit block. Loosen the set screw and put it into the cold pier machine, and then put the pneumatic wrench 305 on the side of the main beam 306 of the forearm to complete the mold assembly.

Claims (6)

1. A six-mode cold pier machine die-changing auxiliary manipulator system is characterized in that: it comprises a large arm (400) arranged on one side of the cold pier machine, a small arm (400) arranged on the upper end of the big arm (400) and its cantilever end swings up and down. An arm (300), a primary gripper (100) that rotates in a horizontal plane and is arranged below the cantilever end of the small arm (300), and a secondary gripper (100) that is horizontally telescopically arranged on the primary gripper (100) and used to clamp the mold (211) The gripper (200); the secondary gripper (200) is located above the cold pier machine cavity (001), and the boom (400) includes a main column (408) installed on the cold pier machine, a main column (408) arranged on the main column (408) An intermediate connecting column (407), a rotating link (403) whose lower part is rotated or fixedly arranged on the upper part of the intermediate connecting column (407), and two rotating shafts arranged in parallel in the first U-shaped seat at the top of the rotating link (403) , and a long arm link (401) and a short arm link (402) that are parallel to each other and whose roots are sleeved on the corresponding rotating shafts; The long boom link (401) is located just above the short boom link (402), and the root of the boom long link (401) is exposed on the first U-shaped seat, and is at the root of the boom long link (401). The lower end and the middle connecting column (407) are respectively provided with connecting lugs (406), and a limiting spring (404) is arranged between the two connecting lugs (406); The forearm (300) includes a connecting rod (301), a forearm main beam (306) horizontally arranged below the connecting rod (301), and a forearm main beam (306) disposed between the lower end shaft of the connecting rod (301) and the forearm main beam (306) thrust bearing (304); Two parallel connecting pins (302) are inserted into the second U-shaped seat of the connecting rod (301), and the connecting pins (302) and the second U-shaped seat are back-tightly connected through a pin nut (303); The head of the long boom link (401) and the head of the short boom link (402) are respectively sleeved on the opposite connecting pins (302); Two points of intersection between the long boom link (401) and the short boom link (402) and the two connecting pins (302), and the long boom link (401) and the short boom link (402) with the two intersection points of the two rotation axes, the connecting lines of the four intersection points form a parallelogram structure in the vertical plane; A connecting shaft (312) is arranged at the lower end of the main beam (306) of the forearm, a thrust bearing is arranged between the connecting shaft (312) and the main beam (306) of the forearm, and a bearing end cover (313) is arranged above the thrust bearing , a rotating shaft fixing nut (314) for back-tightening the thrust bearing under the bearing end cover (313) is arranged on the upper end of the connecting shaft (312), and a thrust bearing (304) for back-tightening the lower end shaft of the connecting rod (301) is installed under the connecting rod (301) the shaft fixing nut (315); The connecting rod (301) and the connecting shaft (312) are respectively vertically positioned at the left and right ends of the forearm main beam (306), and the connecting rod (301) and the connecting shaft (312) are respectively positioned on the upper and lower sides of the forearm main beam (306). sides. 2. six-die cold pier machine die-changing auxiliary manipulator system according to claim 1, is characterized in that: be provided with distribution box (405) on boom (400); Suspend on forearm main beam (306) There is a pneumatic wrench (305), and a three-hole button box (307) electrically connected to the power distribution box (405) is arranged on the main beam of the forearm (306); the three-hole button box (307) is respectively provided with a main gripper A hand pneumatic switch (308), a secondary gripper pneumatic switch (309), and a pneumatic wrench air source switch (310). 3. The auxiliary manipulator system for die changing of six-die cold pier machine according to claim 1, is characterized in that: the secondary gripper (200) comprises the gripper mounting frame (202) that the upper part is connected with the connecting shaft (312); The lower end of the hand mounting frame (202) is provided with two guide rail supports (203), a linear guide rail (204) is horizontally arranged between the two guide rail supports (203), and a linear bearing is provided horizontally sliding on the linear guide rail (204) The fixed seat (219) is connected with an L-shaped connecting plate (217) through fixing nuts (218) on both sides of the linear bearing fixed seat (219), and a rotary clamping cylinder mounting frame ( 220), a horizontally placed rotary clamping cylinder (208) is arranged on one side of the rotary clamping cylinder mounting frame (220), and the rotary clamping cylinder (208) is connected through the cylinder bolt (206) and the cylinder nut (207) and the rotary clamp The tightening cylinder mounting frame (220) is connected, the piston rod of the rotating clamping cylinder (208) is connected with a coupling (221), and the other side of the rotating clamping cylinder mounting frame (220) is provided with a coupling (221) Two coaxial clamping jaw mounting brackets (213) connected by transmission, a limiting sleeve (216) is arranged between the two coaxial clamping jaw mounting brackets (213), and the limiting sleeve (216) connected with the clamping jaw mounting frame (213) through nuts (214) and bolts (215); at least three second clamping jaws (212) are distributed in a circumferential array on the clamping jaw installation frame (213); at least three second clamping jaws (212) The jaws (212) are used to hold the mold (211); A circular arc guide rail plate (210) is fixedly arranged between the clamping jaw mounting bracket (213) and the clamping jaw installation frame (213), and is arranged between the circular arc guiding rail plate (210) and the output shaft of the coupling (221). There are radial bearings (209), at least three arc tracks (2101) are distributed in a circumferential array on the arc guide plate (210), and the arc tracks (2101) are arranged on the arc guide plate (210) along the length of the track. The upper edge is gradually arranged from the outer circumference of the circle to the axis; the roots of the second clamping jaws (212) are respectively located in the corresponding circular arc tracks (2101); The main gripper (100) comprises a box body (109) arranged on one side of the gripper mounting frame (202), at least two linear guide rails (105) horizontally passing through the box body (109), and a box body (109) arranged on the side of the box body (109) ) inside the bushing (107) and in contact with the linear guide rail (105); chain plates (101) are symmetrically arranged on both sides of the box body (109), and two guide grooves are vertically arranged on the chain plates (101). , two V-shaped first jaws (114) are arranged on the inner side of each chain plate (101), and the back of the first jaws (114) is connected with bolts (104) that pass through the corresponding guide grooves. A nut (102) and a washer (103) connected with the bolt (104) are arranged on the outer side of the plate (101); a linear bearing (106) is arranged between the linear guide rail (105) and the chain plate (101), in the A cylindrical shaft parallel to the linear guide rail (105) is arranged between the two chain plates (101), a linear bearing (108) sleeved on the cylindrical shaft is arranged in the box body (109), and a linear bearing (108) sleeved on the cylindrical shaft is arranged in the box (109). A cylinder (110) parallel to the cylinder guide rod (111) and the linear guide rail (105) is arranged on the side; the two cylinders (110) are arranged in opposite directions, and the cylinder guide rod (111) of each cylinder (110) is respectively connected with the cylinder guide rod (111). Corresponding chain plates (101) are connected by fixing nuts (112); The V-shaped first clamping jaw (114) is used for clamping the mold (211); The axial centerline where the V-shaped first clamping jaws (114) are located is coaxial with the axial centerline where the three second clamping jaws (212) are located. 4. The auxiliary manipulator system for die changing of a six-die cold pier machine according to claim 3, characterized in that: a clamping jaw limiting strip (113) is provided on one side of the first clamping jaw (114). 5. The auxiliary manipulator system for die changing of a six-die cold pier machine according to claim 3, characterized in that: a main handle (201) is provided on the gripper mounting frame (202). 6. The auxiliary manipulator system for die-changing of six-die cold pier machine according to claim 5, characterized in that: a secondary handle (205) is provided on one side of the rotary clamping cylinder mounting frame (220).

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