WO2016190609A1 - Robot à deux mains pour l'ébarbage de patin de chenille et procédé d'automatisation utilisant ce dernier - Google Patents

Robot à deux mains pour l'ébarbage de patin de chenille et procédé d'automatisation utilisant ce dernier Download PDF

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Publication number
WO2016190609A1
WO2016190609A1 PCT/KR2016/005319 KR2016005319W WO2016190609A1 WO 2016190609 A1 WO2016190609 A1 WO 2016190609A1 KR 2016005319 W KR2016005319 W KR 2016005319W WO 2016190609 A1 WO2016190609 A1 WO 2016190609A1
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WO
WIPO (PCT)
Prior art keywords
hand
trimming
robot
track link
dual
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2016/005319
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English (en)
Korean (ko)
Inventor
제갈영진
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Daechang Forging Co Ltd
Original Assignee
Daechang Forging Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Daechang Forging Co Ltd filed Critical Daechang Forging Co Ltd
Priority to CN201680029319.4A priority Critical patent/CN107635690B/zh
Publication of WO2016190609A1 publication Critical patent/WO2016190609A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J5/00—Methods for forging, hammering, or pressing; Special equipment or accessories therefor
    • B21J5/02—Die forging; Trimming by making use of special dies ; Punching during forging
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J13/00—Details of machines for forging, pressing, or hammering
    • B21J13/08—Accessories for handling work or tools
    • B21J13/10—Manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members

Definitions

  • the present invention is a dual hand robot and an automated track link trimming process using the same. More specifically, the track link forged in the trimming process using the dual hand robot in the process of forging a track link used in a tracked vehicle.
  • the present invention relates to a dual hand robot for trimming tracklinks and to an automated process using the same so that the discharge of the burrs can be continuously and quickly performed.
  • the track track is widely used as a driving device for heavy equipment, and the track track allows a plurality of track links to be connected to each other through a shoe.
  • the track link is primarily molded by forging to near the finished product, and is then finished as a final product after a trimming process and a post-processing such as milling, drilling, and angle cutting.
  • the present invention is to increase the productivity while reducing the production cost of the product through the automation of the forging process by using a dual hand robot in the trimming process in the process of manufacturing the track link, the purpose is to increase the productivity have.
  • the worker places the product on the trimming die with the tongs, and after trimming, the worker lifts the product and barley separated by the trimmers into the tongs and discharges them to the product transfer conveyor.
  • the accident rate of the worker is high and productivity is lowered due to the working environment that must work in a dangerous environment, and recently, a method and apparatus for transferring condensation using a robot in the press process of a forging product in the Republic of Korea Patent Publication 10-2013-0072636
  • the trimmed products and trimmed burrs are sequentially lifted and processed by one general robot instead of the worker, or the products and burrs are alternately lifted by using two robots.
  • the productivity was low, and there was a limit to dramatically reducing the cost per unit time.
  • the present invention to solve the above problems of the prior art was to create a new technology, the first forged track link after the trimming operation, the forging and barley can be taken out from the mold at the same time and discharged to the next process double By suggesting a hand robot, it prevents workers' safety accidents such as burn injury accidents and enables faster work.
  • the tongs tool of the second hand part forms a lower jaw at the bottom to stably pick up a thin barley
  • the first and second robot arms 11 and 21 in which the first and second cylinders 12 and 22 are installed are formed inside the first and second robots.
  • the first and second operating holes 13 are coupled to ends of the rods 12a and 22a of the two cylinders 12 and 22, respectively, and have a pair of grooves in which the first and second outer links 15 and 25 are engaged.
  • a first and second hinge shafts 15a positioned above and below each of the first and second operating ports 13 and 23, and the first and second outer links 15 and 25 rotate.
  • first and second inner links 16 and 26 engage the first and second hand bodies 14 and 24 formed with the first and second body hinges 16a and 26a, respectively, One end is caught in the grooves of the first and second operating ports 13 and 23 and is centered on the first and second hinge shafts 15a and 25a by the linear movement of the first and second cylinder rods 12a and 22a.
  • a pair of first and second outer links 15 and 25 formed to face each other in angular motion is formed, and one end of the first and second hand links 14 into the first and second outer links 15 and 25 are formed.
  • First and second body hinges of (24) A pair of first and second inner links 16 and 26 formed to face each other are pivotally coupled to (16a) and 26a, and the first and second outer links 15 and 25 and the first and second inner links are formed. (16) (26) to form a pair of first and second tongs (17) and (27) that are pinned to the ends, and are coupled to the first and second tongs (17) and (27) to directly pick up the forged product.
  • the first and second hand robots 10 and 20, which are composed of a pair of first and second clamp tools 18 and 28, are attached to the mounting plate 2 installed at the end of the handling robot A. Provide a dual hand robot.
  • the second jaw tool 28 of the second hand portion 20 is formed with a lower jaw (28a) at the bottom is configured to reliably pick up a thin bar (B2).
  • the configuration and operation of the first hand portion and the second hand portion are almost the same, it is easy to manufacture, thereby reducing the manufacturing cost, and easy to maintain and low frequency of maintenance.
  • the lower end of the second tong tool of the second hand part is formed an inner jaw to be able to stably handle the thin barley, which can help to reduce the malfunction rate in the forging manufacturing process, the invention is a great invention. .
  • FIG. 1 is a perspective view showing a preferred embodiment of a dual hand robot for trimming the track link provided in the present invention
  • Figure 2 is a plan sectional view showing an operating state of the first hand part in the present invention
  • FIG. 3 is a plan sectional view showing an operating state of the second hand part in the present invention.
  • FIG. 4 is a front view showing a flowchart of an automated process using a dual hand robot for trimming the track link provided by the present invention.
  • FIG. 5 is a plan view showing a flowchart of an automated process using a dual hand robot for trimming the track link provided by the present invention.
  • FIG. 6 is a block flow diagram of a tracklink trimming automation process.
  • FIG. 1 is a perspective view showing a preferred embodiment of the dual hand robot for track link trimming provided in the present invention
  • Figure 2b is a plan sectional view showing the operating state of the first and second hand robot in the present invention It is shown.
  • the present invention is a dual hand robot (1) installed at the arm end of the handling robot (A) used to handle the material or product in the forging product production line, as shown in Figure 1 at the handling robot (A) arm end
  • the mounting plate 2 is configured, and the first hand part 10 is formed on the upper part of the mounting plate 2, and the second hand part 20 is disposed adjacent to the lower part of the first hand part 10. It is completed by attaching and constructing to the board
  • the first hand part 10 formed on the upper portion forms a first robot arm 11 in which the first cylinder 12 is inwardly installed in the front of the installation plate 2, and the first cylinder 12 of the first cylinder 12 is formed.
  • the rod end is provided with a first operating port 13 having a pair of grooves open to both sides to engage the outer link.
  • first hand main body 14 provided with a hinge shaft for rotating the link, and one end of the first operating port 13 is locked in the groove of the first operating port 13.
  • (12) constitute a pair of first outer links 15 configured to face each other to angularly move about the hinge axis of the first hand body 14 by a linear movement of the rod, and the inner side of the first outer links 15.
  • One end is composed of a pair of first inner links 16 configured to face each other so as to rotate about the first body hinge 16a of the first hand body 14.
  • the first outer link 15 opens when the first tongs 17 are pinned to the ends of the first outer link 15 and the first inner link 16 so that the first cylinder 12a is pulled out. 1
  • a pair of tongs facing each other is configured to be always parallel.
  • the pair of first tongs 17 are bolted to the first tongs tool 18 for clamping and transporting the object directly to the pair of first tongs 17 due to frequent contact with the hot track forged out of the first type forging.
  • When deformed and worn of the tongs tool 18 is configured to be replaced by only replacement.
  • the second hand part 20 having the same configuration is installed adjacent to the lower side of the first hand part 10 configured as described above, and the separation between the first hand part 10 and the second hand part 20 is a trimming die ( After trimming the track link settled in 3), it is natural to adjust the clamping of the forged product and the barrier B2 dropped to the barrier 5 to an optimal position to stably.
  • the first hand An example in which the inner and outer links of the part 10 are inclined toward the second hand part 20 is illustrated.
  • a lower jaw 28a is formed at the lower end of the clamping tool 28 so as to stably lift the thin bari B2.
  • the first hand part 10 which has to clamp a heavy and thick track link with strong gripping force, so that the second hand part 20 has a strong grip force that can be clamped, causing the bar B2 to be bent or twisted to fall or drop off during transport.
  • the lower jaw (28a) is supported at the bottom of the second tongs tool (28) to prevent the bar (B2) from falling down due to weak holding force (28a).
  • FIG. 4 is a view showing the sequence of the track link trimming automation process using the dual hand robot 1 according to the present invention from the front, and FIG. 5.
  • 6 is a flow chart showing the sequence of FIG. 6, and FIG. 6 is a flowchart showing the overall sequence of the tracklink trimming automation process.
  • FIG. 4 shows steps 1) through 5) of the following procedure in front, and in FIG. 5, the steps of steps 5) through 7) are shown in plan view.
  • the track link B1 which is a representative forging product, has been described as an example, but it is obvious that the present invention can be applied when producing forged parts other than the track link B1.
  • the primary forging (B) having completed the overall forging is seated on the trimming die (3).
  • the inner and outer bars B2 of the forging are cut.
  • the inner barrier is discharged through the die discharge port installed inside the trimming die 3 and the outer barrier B2 falls to the upper bari die 5.
  • the bari B2 cut by the upper die 4 is raised to a position where the second hand part 20 can be clamped.
  • the handling robot A in which the track link B1 and the bar B2 are clamped at the same time, moves to the upper part of the barley conveying conveyor 7 which discharges only the bar B2, and then pushes the second cylinder rod 22a out. Since the two links open to the outside bari (B2) falls to the barrier conveyor (7) and bari (B2) is gathered in one place through the conveyor.
  • the handling robot A which has dropped the bar B2, moves to the upper part of the forged product conveying conveyor 8 so that the first links 15 and 16 are externally driven by the forward operation of the rod 12a of the first cylinder 12.
  • the track link (B1) falls and is gathered in one place through the forged product conveying conveyor (8).
  • the handling robot (A) that discharged the forging is to proceed to the continuous operation by returning to the initial position until the next material is seated and trimmed.
  • the first hand part 10 and the second hand part 20 are individually operated by the first and second cylinders operated by pneumatic or hydraulic pressure.
  • the above-mentioned forging trimming automation process is stably and continuously made, and the conventional forging bari (B2) is processed by an operator or a single robot and the forging and the bari (B2).
  • the production time and manufacturing cost can be dramatically reduced simultaneously.
  • the present invention relates to a dual hand robot and an automated process used in the process of forging a track link used in a crawler vehicle, it can be industrially used.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Forging (AREA)
  • Manipulator (AREA)

Abstract

La présente invention se rapporte à un robot à deux mains pour l'ébarbage d'un patin de chenille et un procédé d'automatisation utilisant ce dernier et, plus particulièrement, à un robot à deux mains pour l'ébarbage d'un patin de chenille et un procédé d'automatisation utilisant ce dernier qui, en ce qui concerne un processus de forgeage d'un patin de chenille utilisé pour un véhicule à chenille, utilisent un robot à deux mains (1) qui a une première partie main et une seconde partie main empilées verticalement et qui est actionné par des vérins séparés, de manière à garantir qu'un processus d'ébarbage suivi d'un processus d'évacuation peut être effectué en continu et rapidement.
PCT/KR2016/005319 2015-05-22 2016-05-19 Robot à deux mains pour l'ébarbage de patin de chenille et procédé d'automatisation utilisant ce dernier Ceased WO2016190609A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201680029319.4A CN107635690B (zh) 2015-05-22 2016-05-19 履带链修剪用双手机器人及利用其的自动化工序

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2015-0072147 2015-05-22
KR1020150072147A KR101666197B1 (ko) 2015-05-22 2015-05-22 트랙링크 트리밍용 2중핸드로봇 및 이를 이용한 자동화공정

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WO2016190609A1 true WO2016190609A1 (fr) 2016-12-01

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KR (1) KR101666197B1 (fr)
CN (1) CN107635690B (fr)
WO (1) WO2016190609A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106694731A (zh) * 2016-12-08 2017-05-24 宁波职业技术学院 冲床机械手双棒料抓取装置
CN110000323A (zh) * 2019-03-20 2019-07-12 余健亭 一种便于进行操作的机械加工用锻造设备

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CN107458869A (zh) * 2017-08-20 2017-12-12 曹学虎 一种纸杯抓取收集装置
KR101877831B1 (ko) * 2018-02-23 2018-07-12 박종갑 다단 트랜스퍼
KR102173202B1 (ko) * 2018-11-01 2020-11-05 (주)용암금속 롱암그리퍼
CN109940647A (zh) * 2019-04-16 2019-06-28 芜湖新兴铸管有限责任公司 铸管生产过程中使用的堵头夹持机械手
CN111908108A (zh) * 2019-05-09 2020-11-10 深圳市绘致未来科技有限公司 一种递盘传菜装置
KR102480005B1 (ko) 2020-12-18 2022-12-22 대창단조 주식회사 트랙링크 가공 자동화 시스템
CN115446520A (zh) * 2022-06-06 2022-12-09 睿信泰智能科技(昆山)有限公司 三爪同步自调心机构夹具
CN115771717B (zh) * 2023-02-10 2023-03-31 广东众智智能装备股份有限公司 一种用于锂电池生产的叠片电芯托盘流转系统

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JPS63286234A (ja) * 1987-05-20 1988-11-22 Sumitomo Metal Ind Ltd 型鍛造品のバリ抱抜き方法
JPS63189449U (fr) * 1987-05-25 1988-12-06
JP2003170239A (ja) * 2001-12-06 2003-06-17 Nissan Motor Co Ltd 鍛造部品のトリミング加工装置
JP2007125635A (ja) * 2005-11-02 2007-05-24 Idec Corp ロボットハンド
JP2010064114A (ja) * 2008-09-11 2010-03-25 Kobe Steel Ltd トリミング装置およびトリミング方法

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SU812571A1 (ru) * 1979-06-25 1981-03-15 Ленинградский Политехническийинститут Им.M.И.Калинина Грузозахватное устройство
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KR20130072636A (ko) 2011-12-22 2013-07-02 (주)영창로보테크 단조제품의 프레스 공정에서 로봇을 이용한 트랜스퍼 병용화 방법 및 장치
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Patent Citations (5)

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Publication number Priority date Publication date Assignee Title
JPS63286234A (ja) * 1987-05-20 1988-11-22 Sumitomo Metal Ind Ltd 型鍛造品のバリ抱抜き方法
JPS63189449U (fr) * 1987-05-25 1988-12-06
JP2003170239A (ja) * 2001-12-06 2003-06-17 Nissan Motor Co Ltd 鍛造部品のトリミング加工装置
JP2007125635A (ja) * 2005-11-02 2007-05-24 Idec Corp ロボットハンド
JP2010064114A (ja) * 2008-09-11 2010-03-25 Kobe Steel Ltd トリミング装置およびトリミング方法

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106694731A (zh) * 2016-12-08 2017-05-24 宁波职业技术学院 冲床机械手双棒料抓取装置
CN106694731B (zh) * 2016-12-08 2018-06-01 宁波职业技术学院 冲床机械手双棒料抓取装置
CN110000323A (zh) * 2019-03-20 2019-07-12 余健亭 一种便于进行操作的机械加工用锻造设备

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CN107635690A (zh) 2018-01-26
CN107635690B (zh) 2019-06-11
KR101666197B1 (ko) 2016-10-24

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