A method for using a high temperature forging manipulator
By introducing suction air outlets, suction pumps and condensers into the high-temperature forging robot, combined with gears and telescopic devices, the problems of forgings are not firmly clamped and flue gas emitted are solved, and efficient cooling and environmental improvement are achieved.
Patent Information
- Application Number
- CN202410746190.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-11
- Publication Date
- 2024-12-27
- Estimated Expiration
- 2044-06-11
AI Technical Summary
The existing high-temperature forging robots fail to fully utilize the waste heat of the forgings to cool down during clamping and transfer. The clamping is not firm enough, and the dissipation of high-temperature forgings leads to environmental pollution in the workshop and temperature increase.
A high-temperature forging robot is designed, using a clamping seat with a built-in suction port, suction pump and condenser, which uses condensate water to cycle and reduce the temperature, and improves the clamping force through gears and telescopic devices. The via plate is used for condensate water flow and limit positioning. .
It realizes effective cooling of high-temperature forgings, enhances clamping force, reduces flue gas emission, improves workshop environment, and improves the comfort of the working environment.
Smart Images
Figure CN118403997B_ABST
Abstract
Description
Technical Field
[0001] The invention belongs to the technical field of manipulators, and in particular relates to a method for using a high-temperature forging manipulator. Background Art
[0002] During the forging production process of high-temperature forgings, after high-temperature forging, a high-temperature forging manipulator is used to grab the high-temperature forgings, and then the high-temperature forgings are transferred to the cooling area for cooling. The manipulators of high-temperature forgings in the prior art have the following defects when clamping and transferring high-temperature forgings: 1. When clamping and transferring high-temperature forgings and cooling the high-temperature forgings in the process, the high-temperature flue gas waste heat of the high-temperature forgings is not fully converted and utilized for cooling, resulting in a waste of flue gas; 2. At present, the manipulators of high-temperature forgings only clamp and fix the high-temperature forgings by clamping force, and there is no limit on the side in contact with the high-temperature forgings, and there is no limit blocking effect on the bottom of the high-temperature forgings during the clamping process, which can easily cause the high-temperature forgings to slide down or even fall, resulting in the clamping of the high-temperature forgings not being firm and reliable enough; 3. In the process of clamping the high-temperature forgings, the high-temperature flue gas from the high-temperature forgings is scattered everywhere, which not only easily causes the pollution of the workshop environment, but also easily causes the temperature of the workshop environment to rise, affecting the working environment of the workers. Summary of the invention
[0003] In view of the shortcomings and defects in the prior art, the purpose of the present invention is to provide a method for using a high-temperature forging manipulator, which solves the problem that the method for using a high-temperature forging manipulator in the prior art does not fully convert and utilize the waste heat of flue gas for cooling; the problem that the clamping is not firm enough, and the high-temperature flue gas on the high-temperature forgings cannot be handled, which easily leads to an increase in the temperature of the workshop environment and affects the working environment of the workers.
[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions: a method for using a high-temperature forging manipulator, comprising a manipulator arm, the manipulator arm is connected to a clamping seat, the clamping seat is connected to a first clamping plate and a second clamping plate that are close to or far away from each other through a driving member, an air suction port is provided at the central bottom of the clamping seat, a suction pump and a condenser are provided at the upper part of the air suction port in the clamping seat, a water channel is provided at the water outlet end of the condenser in the clamping seat, and a plurality of water leakage holes are provided at the bottom of the water channel;
[0005] The first clamping plate and the second clamping plate are both provided with mounting grooves on the sides facing each other, and a plurality of gears are rotatably connected in the mounting grooves from top to bottom, and the upper part of each gear is meshed and connected with a first rack, and a first flow channel is provided inside the first rack, and flow holes communicating with the first flow channel are provided above and below the rack;
[0006] A plurality of second flow channels connecting the mounting grooves and the water leakage holes are arranged above the first clamping plate and the second clamping plate, and a through-hole plate is arranged below the clamping seat, and the through-hole plate is used to relatively evenly disperse the condensed water flowing out of the water leakage holes to the high-temperature forgings, and at the same time to block part of the hot air bubbling upwards and condense the hot air into water;
[0007] A first telescopic device is provided at the bottom of the first clamping plate, an insertion hole is provided on the second clamping plate, a telescopic rod of the first telescopic device extends into the insertion hole, a plurality of leakage holes are provided on the telescopic rod of the first telescopic device, a second rack is meshed and connected below the gear at the bottom of the second clamping plate, a telescopic limit rod is provided at the bottom of the second rack, a limit hole corresponding to the limit rod is provided on the telescopic rod of the first telescopic device, and after the first telescopic device is extended, it is used to block, limit and support the high-temperature forging, and when the high-temperature forging slides down, it is used to tighten the bottom of the first clamping plate and the second clamping plate; a stepping motor that can drive it to slide is provided on the first rack;
[0008] The method of using the high temperature forging manipulator includes the following steps:
[0009] (1) Clamping: Separate the first clamping plate and the second clamping plate outward, extend the first clamping plate and the second clamping plate to both sides of the high-temperature forging, and control the first clamping plate and the second clamping plate to approach each other until the high-temperature forging is clamped; then, the telescopic rod of the first telescopic device extends and is inserted into the insertion hole; the limiting rod extends downward and is inserted into the limiting hole on the first telescopic device;
[0010] (2) Clamping transfer and preliminary cooling: The robot arm controls the clamping seat to transfer the high-temperature forging into the coolant. During the transfer process, the condenser and the suction pump are turned on, and the suction pump absorbs the hot air from the high-temperature forging upward. The condenser condenses the absorbed hot air into condensed water, and flows from the water channel, the leaking hole, the second flow channel, the first flow channel to the high-temperature forging or from the water channel, the leaking hole, and the perforated plate to the high-temperature forging for cooling. In the process of cooling the high-temperature forging, the condensed water is gradually vaporized into gas due to heat, and the vaporized gas enters the suction pump upward and condenses into water again, forming a liquefaction and gasification cycle. In the process of vaporization on the high-temperature forging, the condensed water can absorb heat and take away heat, further cooling the high-temperature forging. If the high-temperature forging slides down to a certain extent, the sliding high-temperature forging drives the lower side of the gear to rotate toward the side away from the high-temperature forging. After the gear rotates, it will drive the first rack to clamp the high-temperature forging, thereby increasing the reinforcement force on the high-temperature forging.
[0011] (3) Heat dissipation in the coolant and detection of the surface hardness of high-temperature forgings: The robotic arm drives the clamping seat to continuously swing the high-temperature forging in the coolant to cool the high-temperature forging; then, the telescopic rod of the first telescopic device retracts, and the first clamping plate and the second clamping plate are adjusted to separate, thereby loosening the high-temperature forging; then, the stepper motor is turned on, and the stepper motor drives the first rack to move back and forth continuously. While the first rack moves back and forth, it drives the gear to rotate back and forth continuously, thereby stirring the coolant, making it easier to dissipate the hot air in the coolant and promote the cooling and heat dissipation of the high-temperature forging; then, the driving member is controlled to move the first clamping plate , make the gear on the first clamping plate contact with the high-temperature forging, then control the mechanical arm to continuously move the clamping seat up and down, and the gear moves up and down while rotating, so as to bring the heat out of the liquid surface. In this process, the suction pump can absorb the heat brought out by the coolant and convert it into condensed water to flow into the coolant, promoting the cooling of the high-temperature forging. At the same time, the process of the gear constantly moving back and forth and rotating on the high-temperature forging can remove the dust adhering to the high-temperature forging, and the surface hardness of the high-temperature forging can be preliminarily detected by observing whether there are scratches on the high-temperature forging; then turn off the stepper motor, suction pump and condenser;
[0012] (4) Repeat step (1) to clamp the high-temperature forging. Then, the robotic arm drives the clamping seat to remove the high-temperature forging from the coolant and then transfer it to the destination.
[0013] As a further improvement of the present invention, the first flow channel is arranged to be gradually inclined downward from a side away from the high-temperature forging to a side close to the high-temperature forging.
[0014] As a further improvement of the present invention, the through-hole plate is connected to the bottom of the clamping seat through a support rod, and the first clamping plate and the second clamping plate are provided with avoidance holes for avoiding the through-hole plate.
[0015] As a further improvement of the present invention, the cross-sectional shape of the middle portion of the via plate is an arc shape that bends from top to bottom.
[0016] As a further improvement of the present invention, the first clamping plate and the second clamping plate are both slidably connected to the clamping seat, and the driving member is an electric push rod for driving the first clamping plate and the second clamping plate to move.
[0017] As a further improvement of the present invention, the first rack is slidably connected to the first clamping plate or the second clamping plate.
[0018] As a further improvement of the present invention, the limiting rod is an electric push rod.
[0019] Compared with the prior art, the present invention has the following advantages:
[0020] 1. By arranging an air suction port on the clamping seat, arranging a suction pump and a condenser in the clamping seat, arranging a waterway and a leakage hole in the clamping seat, arranging a mounting groove on the first clamping plate and the second clamping plate, and arranging a gear and a first rack meshing with the gear in the mounting groove; when clamping the high-temperature forging, the first clamping plate and the second clamping plate are driven close to each other, and the high-temperature forging is clamped, and then the telescopic rod of the first telescopic device is inserted into the insertion hole, and the limit rod is inserted downward into the limit hole; in the process of clamping the high-temperature forging, the suction pump can absorb the high-temperature flue gas on the high-temperature forging upward, and the condenser condenses the high-temperature flue gas into condensed water, and the condensed water flows from the waterway to the leakage hole, and the leakage hole Part of the condensed water flows from the second flow channel, the flow hole, and the first flow channel to the high-temperature forging, and the other part flows through the perforated plate to the high-temperature forging. The condensed water can cool the high-temperature forging, and in the process of contact and cooling between the condensed water and the high-temperature forging, it is continuously heated and vaporized. The vaporized high-temperature gas is then adsorbed upward into the suction pump and converted into condensed water and finally flows down to cool the high-temperature forging, thereby forming a gasification and liquefaction cycle, continuously reciprocatingly cooling the high-temperature forging, fully converting and utilizing the waste heat of the flue gas for cooling, and in the process of gasification of the condensed water on the high-temperature forging, the gasification absorbs the heat on the high-temperature forging, and the cooling effect on the high-temperature forging is better;
[0021] In addition, the suction pump absorbs the high-temperature flue gas of the high-temperature forgings. In addition to the above-mentioned absorption of heat to condense and liquefy the hot gas to cool the high-temperature forgings, and then the condensed water is re-gasified to form a cycle, and the upward suction force on the high-temperature forgings is generated to prevent the high-temperature forgings from sliding down, the suction pump absorbs the high-temperature hot gas and can also reduce the smoke on the high-temperature forgings from floating around, causing overall environmental pollution or heat in the workshop, and improve the comfort of the working environment. In addition, when cooling high-temperature forgings in coolant, the suction pump can also absorb the heat and flue gas from the coolant in time to avoid the rapid increase in the coolant temperature, thereby improving the cooling effect on the high-temperature forgings.
[0022] In addition, the setting of the gears is that the gear teeth are equivalent to limit blocks, which are used to clamp the high-temperature forgings. For example, the gear teeth are inserted into the recessed parts of the high-temperature forgings, and the protruding parts of the high-temperature forgings are inserted into the gaps between the adjacent teeth of the gears, thereby clamping the high-temperature forgings and avoiding the problem of sliding caused by clamping the high-temperature forgings only by relying on surface friction, and the clamping firmness is relatively high. Second, when the high-temperature forging slides down, the high-temperature forging drives the lower side of the gear to rotate toward the side away from the high-temperature forging, and the upper side of the gear drives the first rack close to the high-temperature forging, so that the first rack further clamps the high-temperature forging, that is, the sliding force of the high-temperature forging is used to reverse the conversion of the gear to prevent the high-temperature forging from sliding down; third, the gear and the first telescopic device cooperate with each other through the second rack, and after the high-temperature forging slides down and causes the gear to rotate, the gear drives the first telescopic device to pull toward the side close to the second clamping plate through the second rack, that is, when the high-temperature forging slides down, the gear converts the sliding force into a pulling force to pull the bottom of the first clamping plate and the second clamping plate closer or have a tendency to approach each other, so as to better clamp and fix the high-temperature forging, avoid the bottom of the first clamping plate and the second clamping plate from deforming outward and diverging, and further clamp and fix the high-temperature forging. Fourth, in the coolant, the gear is equivalent to a stirring wheel, thereby stirring and stirring the coolant, which is convenient for dissipating the heat in the coolant; fifth, the high-temperature forging can be scratched to detect the hardness quality of the surface of the high-temperature forging.
[0023] As for the first telescopic device, the first telescopic device can also provide a certain limit support for the high-temperature forging at the bottom to prevent the high-temperature forging from falling. In addition, when the high-temperature forging presses down on the first telescopic device, the middle part of the first telescopic device is slightly deformed by the downward pressure, which will pull the first clamping plate and the second clamping plate on both sides toward the middle to increase the clamping force.
[0024] As for the perforated plate, firstly, it plays a role in dispersing and guiding the condensed water, thereby dispersing and guiding part of the condensed water flowing down from the leaking hole to the middle of the high-temperature forging, so as to evenly cool the high-temperature forging; secondly, when the hot flue gas rises under the suction of the suction pump and encounters the perforated plate, a small part of the hot gas directly encounters the low-temperature perforated plate and condenses into condensed water, which will drip directly onto the high-temperature forging, accelerating the condensation and liquefaction efficiency, thereby improving the cooling efficiency of the high-temperature forging. Thirdly, the perforated plate can act as a filter plate to prevent external impurities and dust from entering the suction pump and condenser, improving the purity of the condensed water while reducing damage to the suction pump and condenser.
[0025] Through the use method of the high-temperature forging manipulator, in the process of clamping and transferring the high-temperature forgings, not only the clamping force of the high-temperature forgings can be improved in many aspects, but also the high-temperature forgings can be circulated and cooled, and smoke overflow can be avoided to avoid pollution or heat in the workshop environment; in addition, when the high-temperature forgings are cooled in the coolant, the coolant can be stirred to dissipate the heat in the coolant in time. At the same time, on the outside of the coolant, the suction pump can absorb the generated smoke and heat, reduce the temperature rise of the coolant in many aspects, so as to improve the cooling of the high-temperature forgings, and the surface hardness quality of the high-temperature forgings can be detected by sliding the clamping seat, and multiple functions can be completed using one device and fewer steps.
[0026] 2. The first flow channel is gradually tilted downward from the side away from the high-temperature forging to the side close to the high-temperature forging, so as to facilitate the flow of condensed water to the high-temperature forging.
[0027] 3. By making the cross-section of the middle part of the through-hole plate into an arc shape that bends from top to bottom, it is convenient to transfer the condensed water to the middle part. BRIEF DESCRIPTION OF THE DRAWINGS
[0028] The present invention will be further described below in conjunction with the accompanying drawings:
[0029] Figure 1 It is a structural schematic diagram of the present invention;
[0030] Figure 2 for Figure 1 AA section view;
[0031] Figure 3 It is a schematic diagram of the structure of the via plate;
[0032] Figure 4 for Figure 1 Enlarged view at B;
[0033] Figure 5 for Figure 1 Enlarged view at C;
[0034] In the figure: 1. Robotic arm; 2. Clamping seat; 3. First clamping plate; 4. Second clamping plate; 5. Air suction port; 6. Suction pump; 7. Condenser; 8. Water channel; 9. Leakage hole; 10. Mounting groove; 11. Gear; 12. First rack; 13. First flow channel; 14. Flow hole; 15. Second flow channel; 16. Through-hole plate; 17. First telescopic device; 18. Insertion hole; 19. Leakage hole; 20. Second rack; 21. Limit rod; 22. Limit hole; 23. Stepper motor; 24. Driving member; 25. Support rod; 26. Support bar; 27. Slide bar; 28. Slide groove; 29. Slide rail groove. DETAILED DESCRIPTION
[0035] The following is combined with Figure 1-5 The present invention is further described in detail. For a clearer illustration, only the structures related to the invention point of the present invention are shown in the figure. In addition, the high temperature forgings in this application generally refer to forgings at a temperature of 80-400 degrees Celsius.
[0036] For the convenience of description, the coordinate system is defined as Figure 1 As shown, the left-right direction is the horizontal direction, the front-back direction is the longitudinal direction, and the up-down direction is the vertical direction.
[0037] The embodiment of the present invention discloses a method for using a high temperature forging manipulator. Figure 1 and Figure 2 A method for using a high-temperature forging manipulator includes a manipulator arm 1, which is connected to a clamping seat 2. The clamping seat 2 is connected to a first clamping plate 3 and a second clamping plate 4 that are close to or far away from each other through a driving member 24. Specifically, the first clamping plate 3 and the second clamping plate 4 are both slidably connected to the clamping seat 2. For example, a sliding bar 27 can be provided on the upper part of the first clamping plate 3 and the second clamping plate, and a sliding groove 28 slidably connected to the sliding bar 27 is provided on the clamping seat 2. The driving member 24 is an electric push rod that drives the first clamping plate 3 and the second clamping plate 4 to move.
[0038] like Figure 1 and Figure 2 As shown, a suction port 5 is provided at the central bottom of the clamping seat 2, a suction pump 6 and a condenser 7 are provided above the suction port 5 inside the clamping seat 2, a water channel 8 is provided at the water outlet end of the condenser 7 inside the clamping seat 2, and a plurality of leakage holes 9 are provided at the bottom of the water channel 8.
[0039] like Figure 1 and Figure 4 As shown, the first clamping plate 3 and the second clamping plate 4 are provided with a mounting groove 10 on the side facing each other, and a plurality of gears 11 are connected to rotate from top to bottom in the mounting groove 10, and each gear 11 is meshed and connected with a first rack 12 on the upper part, and the first rack 12 is slidably connected with the first clamping plate 3 or the second clamping plate 4, such as a slider (not shown in the figure) is provided on the first clamping plate 3, a slide rail groove 29 is provided on the first clamping plate 3, and a stepping motor 23 capable of driving the first rack 12 to slide is provided. A first flow channel 13 is provided inside the first rack 12, and the first flow channel 13 is gradually tilted downward from the side away from the high-temperature forging to the side close to the high-temperature forging, and the rack is provided with flow holes 14 communicating with the first flow channel 13 above and below, so as to facilitate the flow of condensed water to the high-temperature forging.
[0040] like Figure 1 and Figure 4 As shown, a plurality of second flow channels 15 are provided above the first clamping plate 3 and the second clamping plate 4 to connect the mounting grooves 10 and the water leakage holes 9, and a through-hole plate 16 is provided below the clamping seat 2. Figure 1 and Figure 3As shown, the through-hole plate 16 is connected to the bottom of the clamping seat 2 through a support rod 25, and a plurality of separate support bars 26 are provided on the left and right sides of the through-hole plate 16, and avoidance holes for avoiding the support bars 26 of the through-hole plate 16 are provided on the first clamping plate 3 and the second clamping plate 4. The through-hole plate 16 is used to disperse the condensed water flowing out of the leakage hole 9 relatively evenly to the high-temperature forging, that is, it can make part of the condensed water flowing out of the leakage hole 9 flow toward the middle, and the through-hole plate 16 also acts as a condensation plate, which is used to block part of the hot air bubbling upward and condense part of the hot air into water; the cross-sectional shape of the middle part of the through-hole plate 16 is an arc bending from top to bottom; thereby facilitating the transition and diversion of the condensed water to the middle. The perforated plate 16 has the following functions: first, it can disperse and guide the condensed water, thereby dispersing and guiding part of the condensed water flowing down from the water leakage hole 9 to the middle of the high-temperature forging, so as to evenly cool the high-temperature forging; second, when the hot flue gas rises under the suction of the suction pump 6 and encounters the perforated plate 16, a small part of the hot gas directly condenses into condensed water when encountering the low-temperature perforated plate 16. This part of the condensed water will directly drip down onto the high-temperature forging, accelerating the condensation and liquefaction efficiency, thereby improving the cooling efficiency of the high-temperature forging. Third, the perforated plate 16 can act as a filter plate to prevent external impurities and dust from entering the suction pump 6 and the condenser 7, thereby improving the purity of the condensed water and reducing the damage to the suction pump 6 and the condenser 7.
[0041] like Figure 1 and Figure 5 As shown, a first telescopic device 17 is provided at the bottom inner of the first clamping plate 3, an insertion hole 18 is provided on the second clamping plate 4, the telescopic rod of the first telescopic device 17 extends into the insertion hole 18, a plurality of leakage holes 19 are provided on the telescopic rod of the first telescopic device 17, a second rack 20 is meshedly connected below the gear 11 at the bottom of the second clamping plate 4, a telescopic limit rod 21 is provided at the bottom of the second rack 20, the limit rod 21 can be an electric push rod, and a limit hole 22 corresponding to the limit rod 21 is provided on the telescopic rod of the first telescopic device 17. After the first telescopic device 17 is extended, it is used to block, limit and support the high-temperature forging, and when the high-temperature forging slides down, it is used to tighten the bottom of the first clamping plate 3 and the second clamping plate 4.
[0042] The present invention provides an air suction port 5 on the clamping seat 2, a suction pump 6 and a condenser 7 in the clamping seat 2, a water channel 8 and a water leakage hole 9 in the clamping seat 2, and a mounting groove 10 on the first clamping plate 3 and the second clamping plate 4, and a gear 11 and a first rack 12 meshing with the gear 11 are provided in the mounting groove 10; when clamping the high-temperature forging, the first clamping plate 3 and the second clamping plate 4 are driven to approach each other and clamp the high-temperature forging, and then the telescopic rod of the first telescopic device 17 is inserted into the insertion hole 18, and the limit rod 21 is inserted downward into the limit hole 22; in the process of clamping the high-temperature forging, the suction pump 6 can absorb the high-temperature flue gas on the high-temperature forging upward, and the condenser 7 condenses the high-temperature flue gas into condensed water, and the condensed water is discharged from the water. The condensed water from the second flow channel 15, the flow hole 14 and the first flow channel 13 flows to the high-temperature forging, and the other part flows to the high-temperature forging through the perforated plate 16. The condensed water can cool the high-temperature forging, and in the process of contact and cooling between the condensed water and the high-temperature forging, it is continuously heated and vaporized. The vaporized high-temperature gas is then adsorbed upward into the suction pump 6 and converted into condensed water and finally flows down to cool the high-temperature forging, thereby forming a cycle of gasification and liquefaction, continuously cooling the high-temperature forging back and forth, and fully converting and utilizing the waste heat of the flue gas for cooling. Moreover, in the process of gasification of the condensed water on the high-temperature forging, the gasification absorbs the heat on the high-temperature forging, which has a better cooling effect on the high-temperature forging.
[0043] In addition, when the high-temperature forging is clamped, the suction pump 6 absorbs the high-temperature flue gas upward, and the suction pump 6 itself has an upward suction force on the high-temperature forging.
[0044] In addition, the suction pump 6 absorbs the high-temperature flue gas of the high-temperature forgings. In addition to the above-mentioned absorption of heat to condense and liquefy the hot gas to cool the high-temperature forgings, and then the condensed water is re-gasified to form a cycle, and the upward suction force on the high-temperature forgings is generated to prevent the high-temperature forgings from sliding down, the suction pump 6 absorbs the high-temperature hot gas and can also reduce the smoke on the high-temperature forgings from floating around, causing overall environmental pollution or heat in the workshop, and improve the comfort of the working environment. In addition, when cooling the high-temperature forgings in the coolant, the suction pump 6 can also absorb the heat and smoke from the coolant in time to avoid the rapid increase in the coolant temperature, thereby improving the cooling effect on the high-temperature forgings.
[0045] In addition, the setting of the gear 11 is that the gear teeth of the gear 11 are equivalent to limit blocks, which are used to clamp the high-temperature forgings. For example, the gear teeth of the gear 11 are inserted into the recessed parts of the high-temperature forgings, and the protruding parts of the high-temperature forgings are inserted into the gaps between the adjacent gear teeth of the gear 11, so that the high-temperature forgings can be clamped, avoiding the problem of sliding caused by clamping the high-temperature forgings only by relying on surface friction, and the clamping firmness is relatively high. Second, when the high-temperature forging slides down, the high-temperature forging drives the lower side of the gear 11 to rotate toward the side away from the high-temperature forging, and the upper side of the gear 11 drives the first rack 12 to approach the high-temperature forging, so that the first rack 12 further clamps the high-temperature forging, that is, the sliding force of the high-temperature forging is used to reverse the conversion of the gear 11 to prevent the high-temperature forging from sliding down; third, the gear 11 and the first telescopic device 17 cooperate with each other through the second rack 20. After the high-temperature forging slides down and causes the gear 11 to rotate, the gear 11 drives the first telescopic device 17 to be pulled toward the side close to the second clamping plate 4 through the second rack 20, that is, when the high-temperature forging slides down, the gear 11 converts the sliding force into a pulling force to pull the bottom of the first clamping plate 3 and the second clamping plate 4 closer or have a tendency to approach each other, thereby better clamping and fixing the high-temperature forging, avoiding the bottom of the first clamping plate 3 and the second clamping plate 4 from deforming outward and diverging, and further clamping and fixing the high-temperature forging. Fourth, in the coolant, the gear 11 is equivalent to a stirring wheel, thereby stirring the coolant to facilitate the heat in the coolant to be dissipated; fifth, the high-temperature forging can be scratched to detect the hardness quality of the surface of the high-temperature forging.
[0046] As for the first telescopic device 17, the first telescopic device 17 can also provide a certain limit support for the high temperature forging at the bottom to prevent the high temperature forging from falling. In addition, when the high temperature forging presses down the first telescopic device 17, the middle part of the first telescopic device 17 is slightly deformed by the downward pressure, which will pull the first clamping plate 3 and the second clamping plate 4 on both sides toward the middle, thereby increasing the clamping force.
[0047] The method of using the high temperature forging manipulator includes the following steps:
[0048] (1) Clamping: The first clamping plate 3 and the second clamping plate 4 are separated outward, and the first clamping plate 3 and the second clamping plate 4 are extended to both sides of the high-temperature forging, and the first clamping plate 3 and the second clamping plate 4 are controlled to be close to each other until the high-temperature forging is clamped; then, the telescopic rod of the first telescopic device 17 is extended and inserted into the insertion hole 18; the limiting rod 21 is extended downward and inserted into the limiting hole 22 on the first telescopic device 17;
[0049] (2) Clamping transfer and preliminary cooling: The robot arm 1 controls the clamping seat 2 to transfer the high-temperature forging into the coolant. During the transfer process, the condenser 7 and the suction pump 6 are turned on. The suction pump 6 absorbs the hot air from the high-temperature forging upward. The condenser 7 condenses the absorbed hot air into condensed water, which flows from the water channel 8, the leakage hole 9, the second flow channel 15, and the first flow channel 13 to the high-temperature forging or from the water channel 8, the leakage hole 9, and the perforated plate 16 to the high-temperature forging for cooling. In the process of cooling the high-temperature forging, the condensed water is affected by The heat gradually vaporizes into gas, and the vaporized gas enters the suction pump 6 upward and condenses into water again, forming a liquefaction-gasification cycle. In the process of vaporization on the high-temperature forging, the condensed water can absorb heat and take away the heat, further cooling the high-temperature forging. If the high-temperature forging slides down to a certain extent, the sliding high-temperature forging drives the lower side of the gear 11 to rotate toward the side away from the high-temperature forging. After the gear 11 rotates, it will drive the first rack 12 to clamp the high-temperature forging, thereby increasing the reinforcement force on the high-temperature forging.
[0050] (3) Heat dissipation in the coolant and detection of the surface hardness of high-temperature forgings: The robot arm 1 drives the clamping seat 2 to continuously swing the high-temperature forging in the coolant to cool the high-temperature forging; then, the telescopic rod of the first telescopic device 17 retracts, and the first clamping plate 3 and the second clamping plate 4 are adjusted to separate, thereby loosening the high-temperature forging; then, the stepper motor 23 is turned on, and the stepper motor 23 drives the first rack 12 to move back and forth continuously. While the first rack 12 moves back and forth, it drives the gear 11 to rotate back and forth continuously, thereby stirring the coolant, making it easier to dissipate the heat in the coolant and promoting the cooling and heat dissipation of the high-temperature forging; then, the driving member 24 is controlled to move the first clamping seat 2 to move the first rack 12 back and forth. Plate 3, so that the gear 11 on the first clamping plate 3 contacts the high-temperature forging, and then the robot arm 1 is controlled to continuously move the clamping seat 2 up and down, and the gear 11 moves up and down while rotating, so as to bring the heat out of the liquid surface. In this process, the suction pump 6 can absorb the heat brought out of the coolant and convert it into condensed water flowing into the coolant, thereby promoting the cooling of the high-temperature forging. At the same time, the process of the gear 11 continuously moving back and forth and rotating on the high-temperature forging can remove the dust adhering to the high-temperature forging, and the surface hardness of the high-temperature forging can be preliminarily detected by observing whether there are scratches on the high-temperature forging; then the stepper motor 23, the suction pump 6 and the condenser 7 are turned off;
[0051] (4) Repeat step (1) to clamp the high-temperature forging. Then, the robot arm 1 drives the clamping seat 2 to remove the high-temperature forging from the coolant and then transfer it to the destination.
[0052] By using a method of a manipulator for high-temperature forgings, in the process of clamping and transferring the high-temperature forgings, not only can the clamping force of the high-temperature forgings be improved in many aspects, but the high-temperature forgings can also be circulated and cooled, and smoke can be avoided from overflowing, thereby avoiding pollution or heat in the workshop environment; in addition, when the high-temperature forgings are cooled in the coolant, the coolant can be stirred to dissipate the heat in the coolant in time. At the same time, on the outside of the coolant, the suction pump 6 can absorb the generated smoke and heat, thereby reducing the temperature rise of the coolant in many aspects to improve the cooling of the high-temperature forgings. In addition, the surface hardness quality of the high-temperature forgings can be detected by sliding the clamping seat 2, and multiple functions can be completed using one device and fewer steps.
[0053] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. It should be understood that the specific embodiments described herein are only used to understand the present invention and are not used to limit the present invention. All other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.
Claims
1. A method for using a high-temperature forging manipulator, comprising a manipulator arm, the manipulator arm being connected to a clamping seat, the clamping seat being connected to a first clamping plate and a second clamping plate that are close to or far from each other through a driving member, characterized in that: An air suction port is provided at the central bottom of the clamping seat, a suction pump and a condenser are provided at the upper part of the air suction port in the clamping seat, a water channel is provided at the water outlet end of the condenser in the clamping seat, and a plurality of water leakage holes are provided at the bottom of the water channel; The first clamping plate and the second clamping plate are both provided with mounting grooves on the sides facing each other, and a plurality of gears are rotatably connected in the mounting grooves from top to bottom, and the upper part of each gear is meshed and connected with a first rack, and a first flow channel is provided inside the first rack, and flow holes communicating with the first flow channel are provided above and below the rack; A plurality of second flow channels connecting the mounting grooves and the water leakage holes are arranged above the first clamping plate and the second clamping plate, and a through-hole plate is arranged below the clamping seat, and the through-hole plate is used to relatively evenly disperse the condensed water flowing out of the water leakage holes to the high-temperature forgings, and at the same time to block part of the hot air bubbling upwards and condense the hot air into water; A first telescopic device is provided at the bottom of the first clamping plate, an insertion hole is provided on the second clamping plate, a telescopic rod of the first telescopic device extends into the insertion hole, a plurality of leakage holes are provided on the telescopic rod of the first telescopic device, a second rack is meshed and connected below the gear at the bottom of the second clamping plate, a telescopic limit rod is provided at the bottom of the second rack, a limit hole corresponding to the limit rod is provided on the telescopic rod of the first telescopic device, and after the first telescopic device is extended, it is used to block, limit and support the high-temperature forging, and when the high-temperature forging slides down, it is used to tighten the bottom of the first clamping plate and the second clamping plate; a stepping motor that can drive it to slide is provided on the first rack; A method for using a manipulator for high temperature forgings, comprising the following steps: (1) Clamping: Separate the first clamping plate and the second clamping plate outward, extend the first clamping plate and the second clamping plate to both sides of the high-temperature forging, and control the first clamping plate and the second clamping plate to approach each other until the high-temperature forging is clamped; then, the telescopic rod of the first telescopic device extends and is inserted into the insertion hole; the limiting rod extends downward and is inserted into the limiting hole on the first telescopic device; (2) Clamping transfer and preliminary cooling: The robot arm controls the clamping seat to transfer the high-temperature forging into the coolant. During the transfer process, the condenser and the suction pump are turned on, and the suction pump absorbs the hot air from the high-temperature forging upward. The condenser condenses the absorbed hot air into condensed water, and flows from the water channel, the leaking hole, the second flow channel, the first flow channel to the high-temperature forging or from the water channel, the leaking hole, and the perforated plate to the high-temperature forging for cooling. In the process of cooling the high-temperature forging, the condensed water is gradually vaporized into gas due to heat, and the vaporized gas enters the suction pump upward and condenses into water again, forming a liquefaction and gasification cycle. In the process of vaporization on the high-temperature forging, the condensed water can absorb heat and take away heat, further cooling the high-temperature forging. If the high-temperature forging slides down to a certain extent, the sliding high-temperature forging drives the lower side of the gear to rotate toward the side away from the high-temperature forging. After the gear rotates, it will drive the first rack to clamp the high-temperature forging, thereby increasing the reinforcement force on the high-temperature forging. (3) Heat dissipation in the coolant and detection of the surface hardness of high-temperature forgings: The robotic arm drives the clamping seat to continuously swing the high-temperature forging in the coolant to cool the high-temperature forging; then, the telescopic rod of the first telescopic device retracts, and the first clamping plate and the second clamping plate are adjusted to separate, thereby loosening the high-temperature forging; then, the stepper motor is turned on, and the stepper motor drives the first rack to move back and forth continuously. While the first rack moves back and forth, it drives the gear to rotate back and forth continuously, thereby stirring the coolant, making it easier to dissipate the hot air in the coolant and promote the cooling and heat dissipation of the high-temperature forging; then, the driving member is controlled to move the first clamping plate , make the gear on the first clamping plate contact with the high-temperature forging, then control the mechanical arm to continuously move the clamping seat up and down, and the gear moves up and down while rotating, so as to bring the heat out of the liquid surface. In this process, the suction pump can absorb the heat brought out by the coolant and convert it into condensed water to flow into the coolant, promoting the cooling of the high-temperature forging. At the same time, the process of the gear constantly moving back and forth and rotating on the high-temperature forging can remove the dust adhering to the high-temperature forging, and the surface hardness of the high-temperature forging can be preliminarily detected by observing whether there are scratches on the high-temperature forging; then turn off the stepper motor, suction pump and condenser; (4) Repeat step (1) to clamp the high-temperature forging. Then, the robotic arm drives the clamping seat to remove the high-temperature forging from the coolant and then transfer it to the destination.
2. The method for using a high temperature forging manipulator according to claim 1, characterized in that: The first flow channel is arranged to be gradually inclined downward from a side away from the high-temperature forging to a side close to the high-temperature forging.
3. The method for using a high temperature forging manipulator according to claim 1, characterized in that: The through-hole plate is connected to the bottom of the clamping seat through a support rod, and the first clamping plate and the second clamping plate are provided with avoidance holes for avoiding the through-hole plate.
4. The method for using a high temperature forging manipulator according to claim 1, characterized in that: The cross-sectional shape of the middle portion of the via plate is an arc shape bending from top to bottom.
5. The method for using a high temperature forging manipulator according to claim 1, characterized in that: The first clamping plate and the second clamping plate are both slidably connected to the clamping seat, and the driving member is an electric push rod for driving the first clamping plate and the second clamping plate to move.
6. The method for using a high temperature forging manipulator according to claim 1, characterized in that: The first rack is slidably connected to the first clamping plate or the second clamping plate.
7. The method for using a high temperature forging manipulator according to claim 1, characterized in that: The limiting rod is an electric push rod.