普通整径工序都是手工操作，圆柱形的锻件放入凹模时，容易歪斜，造成整径后存在较大的圆柱度和垂直差。为了改变这一状况，减轻工人的劳动强度，设计了一套自动送料装置，见图1。其动作过程如下：压力机滑块上行时，机械手将待整径的锻件推入整径凹模上面放置的夹爪内，夹爪将 Ordinarily the entire diameter of the process are manual operation, cylindrical forgings into the die, easy skew, resulting in a larger diameter after the full diameter and vertical difference. In order to change this situation and reduce the labor intensity of workers, an automatic feeding device was designed as shown in Figure 1. The action process is as follows: When the press slide up, the robot will be forging the diameter of the forging pushed into the diameter of the die placed above the jaws, the jaws will be