Isothermal forging press intelligent manipulator based on CP0 technology and control system thereof

Abstract

The application discloses an intelligent manipulator of an isothermal forging press based on CP0 technology and a control system thereof, and particularly relates to the field of forging manipulators.The intelligent manipulator comprises a manipulator, the end of the manipulator is provided with an end effector, the manipulator clamps a forging through the end effector, and feeds the forging; the end effector comprises two outer clamping jaws capable of moving in opposite directions synchronously, the outer clamping jaws are provided with stabilizing mechanisms, and the stabilizing mechanisms are used for keeping the forging in a vertical state during forging; the stabilizing mechanisms comprise two inner clamping jaws capable of moving in opposite directions synchronously, and the two inner clamping jaws are arranged on the inner sides of the two outer clamping jaws. The stabilizing mechanisms arranged on the end gripper of the manipulator enable the forging to keep a vertical state during forging, avoid uneven stress distribution of the forging during forging due to the instability of the oblique forging, and influence the forging quality, and meanwhile, the stabilizing mechanisms avoid influencing the subsequent further processing.

Description

Technical Field

[0001] This invention relates to the field of forging and pressing robot technology, and more specifically, to an intelligent robot for isothermal forging press based on CPO technology and its control system. Background Technology

[0002] An isothermal forging press is a type of equipment used to process metal materials. Its working principle is to heat the metal material to a certain temperature and then keep the temperature constant during the forging process. The isothermal forging press can maintain a uniform temperature distribution of the metal material during processing, reduce material stress and deformation, and improve processing accuracy and production efficiency.

[0003] The intelligent robotic arm for isothermal forging presses based on CP0 technology is a robotic arm with intelligent control functions. It adopts CP0 technology (also known as zero-point communication technology) to achieve high-precision position control and motion trajectory planning. In isothermal forging presses, the intelligent robotic arm can automatically complete the forging process according to the pre-set program, improving production efficiency and product quality, while reducing manual operation.

[0004] Currently, to reduce manual labor intensity during the forging process, intelligent robotic arms are used to grip and feed metal forging parts. Before forging, metal forgings typically require high-temperature quenching. During this quenching process, the metal forgings deform under high temperatures. Furthermore, deviations during processing can lead to uneven end faces. Consequently, when the intelligent robotic arm grips the forging and feeds it into the forging press mold, the forging is prone to deformation due to high temperatures or uneven end faces, making it difficult to place the forging horizontally and stably on the forging platform. This can cause the forging to tilt during forging, resulting in uneven stress distribution. Some areas bear excessive stress, while others bear less, reducing forging quality and potentially affecting subsequent processing. Summary of the Invention

[0005] The present invention provides an intelligent robotic arm and its control system for an isothermal forging press based on CPO technology. The problem to be solved is that during the forging process of existing metal forgings, the metal forgings are prone to deformation due to high temperature or uneven end faces, making it difficult to place the metal forgings horizontally and stably on the forging platform. This causes the metal forgings to become skewed during forging, which easily leads to uneven stress distribution in the forgings during the forging process. Some areas bear excessive stress, while other areas bear less stress, which reduces the forging quality and can easily affect subsequent processing.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an intelligent robotic arm for isothermal forging press based on CPO technology, comprising: a robotic arm, wherein an end effector is provided at the end of the robotic arm, the robotic arm gripping the forging through the end effector and feeding the forging;

[0007] The end effector includes two outer jaws that can move synchronously in opposite directions. The outer jaws are equipped with a stabilizing mechanism, which is used to keep the forging in a vertical state during the forging process.

[0008] The stabilizing mechanism includes two inner jaws that can move synchronously in opposite directions. The two inner jaws are respectively located inside the two outer jaws, and there is an interval distance between the outer jaws and the inner jaws on the same side to allow the inner jaws to move. The end effector grips the forging until the robot arm completes the feeding of the forging through the end effector. During this process, the inner sides of the two inner jaws are always in contact with the forging. During forging, the two inner jaws move away from each other.

[0009] In a preferred embodiment, the stabilizing mechanism further includes an elastic element, which is disposed between the outer jaw and the inner jaw. A sliding shaft is slidably disposed inside the outer jaw, one end of which is fixedly connected to the inner jaw, and a side strip is fixedly disposed at the other end of the sliding shaft.

[0010] In a preferred embodiment, the outer jaws are provided with an expansion mechanism, which is used to allow the two inner jaws to move automatically away from each other during forging.

[0011] In a preferred embodiment, the expansion mechanism includes a pressure plate, an inner cavity on the outer gripper, the pressure plate being slidably disposed within the inner cavity, and an elastic element II being disposed at the bottom end of the pressure plate. A push rod is hinged to the bottom of the pressure plate, and a torsion spring is disposed at the hinge point of the push rod. A side plate is fixedly disposed on the side strip, and a plurality of abutment teeth are fixedly disposed on the side plate. The end of the push rod is movably abutting against the abutment teeth.

[0012] In a preferred embodiment, a limit block is fixedly provided at the bottom of the pressure plate, and the limit block movably abuts against the push rod.

[0013] In a preferred embodiment, the inner jaws are provided with an air blowing mechanism for blowing air onto the forging before clamping it.

[0014] In a preferred embodiment, the blowing mechanism has an air inlet and several air outlets. The air inlet end of the air inlet is connected to an air inlet component through a pipe. An air delivery chamber is provided inside the inner clamp. The air inlet and several air outlets are all connected to the air delivery chamber, and the air outlet ends of the several air outlets all point towards the forging.

[0015] In a preferred embodiment, the end effector further includes a transmission mechanism for driving the two outer grippers to move synchronously and in opposite directions.

[0016] In a preferred embodiment, the transmission mechanism includes a drive shaft rotatably mounted on an end effector. A gear 1 is fixedly mounted on the outer side of the drive shaft. The end effector is hinged with two sets of hinge members, each including a first hinge arm and a second hinge arm. A gear 2 is fixedly mounted at the hinge point of each of the two first hinge arms. The gear 1 meshes with one of the gear 2, and the two gear 2s mesh together. The two sets of hinge members are hinged to corresponding external grippers.

[0017] A control system for an intelligent robotic arm of an isothermal forging press based on CP0 technology includes:

[0018] The controller is used to receive feedback information and generate control commands;

[0019] The visual inspection unit, whose output is connected to the input of the controller, is used to monitor and locate the forging in real time.

[0020] The safety control unit, whose output is connected to the input of the controller, is used to monitor and ensure the safety of the robot during operation in real time.

[0021] The torque control unit connects its output to the input of the controller to achieve precise control of the force or torque applied by the robot arm.

[0022] The motion control unit, whose output is connected to the input of the controller, is used to control the various joints and actuators of the robotic arm.

[0023] The beneficial effects of this invention are as follows:

[0024] This invention provides a stabilizing mechanism on the end effector of a robotic arm, ensuring that the forging remains vertical during forging. This avoids uneven stress distribution caused by the forging's tilt and instability, which affects forging quality and also prevents impacts on subsequent processing.

[0025] This invention, by setting an expansion mechanism, allows the two inner jaws to automatically move away from each other during the forging process. This avoids the inner jaws and elastic element applying pressure to both sides of the forging during the forging process, thereby preventing unnecessary deformation on both sides of the forging and ensuring its forging quality. Attached Figure Description

[0026] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0027] Figure 2 This is a schematic diagram of the transmission mechanism and stabilizing mechanism of the present invention.

[0028] Figure 3 This is a schematic diagram of the expansion mechanism of the present invention.

[0029] Figure 4 This is a schematic diagram of the state structure for clamping forgings according to the present invention. Figure 1 .

[0030] Figure 5 This is a schematic diagram of the state structure for clamping forgings according to the present invention. Figure 2 .

[0031] Figure 6 This is a schematic diagram of the working state of the expansion mechanism of the present invention. Figure 1 .

[0032] Figure 7 This is a schematic diagram of the working state of the expansion mechanism of the present invention. Figure 2 .

[0033] Figure 8 This is a schematic diagram of the air blowing mechanism of the present invention.

[0034] Figure 9 This is a schematic diagram of the control system of the present invention.

[0035] The attached figures are labeled as follows: 100, forging; 1, robotic arm; 2, end effector; 21, external gripper; 3, transmission mechanism; 31, drive shaft; 32, gear one; 33, gear two; 34, first articulated arm; 35, second articulated arm; 4, stabilizing mechanism; 41, internal gripper; 42, elastic element one; 43, sliding shaft; 44, side bar; 5, expansion mechanism; 51, pressure plate; 52, inner cavity; 53, elastic element two; 54, push rod; 55, torsion spring; 56, limiting block; 57, side plate; 58, abutment tooth; 6, air blowing mechanism; 61, air inlet; 62, air delivery chamber; 63, air outlet. Detailed Implementation

[0036] The present application will now be described in further detail with reference to the accompanying drawings. It should be noted that the following specific embodiments are only used to further illustrate the present application and should not be construed as limiting the scope of protection of the present application. Those skilled in the art can make some non-essential improvements and adjustments to the present application based on the above application content.

[0037] Refer to the instruction manual appendix Figures 1 to 2 A smart robotic arm for isothermal forging press based on CPO technology includes: a robotic arm 1, with an end effector 2 at the end of the robotic arm 1. The robotic arm 1 uses the end effector 2 to grip the forging 100 and feed the forging 100.

[0038] The end effector 2 includes two outer jaws 21 that can move synchronously and in opposite directions. A stabilizing mechanism 4 is provided on the outer jaws 21. The stabilizing mechanism 4 is used to keep the forging 100 in a vertical state during the forging process.

[0039] The stabilizing mechanism 4 includes two inner jaws 41 that can move synchronously in opposite directions. The two inner jaws 41 are respectively located inside the two outer jaws 21, and there is an interval distance between the outer jaws 21 and the inner jaws 41 on the same side for the inner jaws 41 to move. The end effector 2 grips the forging 100 until the robot arm 1 finishes feeding the forging 100 through the end effector 2. During this process, the inner sides of the two inner jaws 41 are always in contact with the forging 100. During forging, the two inner jaws 41 move away from each other.

[0040] It should be noted that the robotic arm 1 clamps the forging 100 via the end effector 2, allowing the two inner jaws 41 to contact and hold the forging 100 in place. Then, the robotic arm 1 is controlled to feed the forging 100 onto the forging platform of the isothermal forging press. At this point, the end effector 2 is not controlled to release the forging 100, ensuring that the forging 100 remains vertical after feeding. The isothermal forging press is then controlled to perform forging processing on the forging 100. Since the forging process involves upsetting the forging 100... The design alters the shape and dimensions of the forging 100, allowing the two inner jaws 41 to move away from each other during forging. This ensures that the forging 100 is always held firmly during forging, avoiding the problem of instability and skewness in the forging 100 when it is placed for forging after feeding, as is common in existing technologies. This ensures that the forging 100 is forged in a horizontal and stable state, preventing uneven stress distribution during forging caused by instability and skewness, which can affect forging quality.

[0041] The stabilizing mechanism 4 also includes an elastic element 42, which is disposed between the outer jaw 21 and the inner jaw 41. A sliding shaft 43 is slidably disposed inside the outer jaw 21. One end of the sliding shaft 43 is fixedly connected to the inner jaw 41, and a side strip 44 is fixedly disposed at the other end of the sliding shaft 43.

[0042] It should be noted that the elastic element 42 is a spring. When the robotic arm 1 clamps the forging 100 through the end effector 2, it causes the two outer grippers 21 to move closer together, simultaneously driving the two inner grippers 41 to move closer together to clamp and fix the forging 100. Figure 4As shown, the arrows indicate the movement directions of the outer jaw 21 and inner jaw 41 located on the same side, respectively. At this time, the elastic element 42 is in a compressed state, and can compress the spring while clamping and fixing. When the forging 100 is fed onto the forging platform of the isothermal forging press by the robot arm 1, the forging 100 is in a horizontal state. Then, the end effector 2 controls the two outer jaws 21 to gradually move away from each other. Under the action of the spring, the two inner jaws 41 remain in contact with the forging 100, ensuring the horizontal stability of the forging 100. When the two outer jaws 21 move to the point where the spring is about to disengage from the compressed state but has not yet disengaged, the movement of the two outer jaws 21 is stopped. Figure 5 As shown, the arrows indicate the movement directions of the two outer jaws 21, and the spring is in a compressed state. Under the action of the spring, the two inner jaws 41 remain in contact with the forging 100, and the forging 100 remains in a horizontal and stable state. Then, the isothermal forging press is controlled to forge the forging 100. During the forging process, as the forging 100 is upset and its shape changes, the two inner jaws 41 are pushed away from each other as the shape of the forging 100 changes. This ensures that the forging 100 remains in a horizontal and stable state during the forging process, avoiding uneven stress distribution caused by the forging 100's tilt and instability, which would affect the forging quality.

[0043] In the above technical solution, by keeping the two inner jaws 41 in contact with the forging 100 during the forging process, the forging 100 is kept in a horizontal and stable state. However, during the forging process, the deformation of the forging 100 pushes the two inner jaws 41 to move away from each other. At this time, the forging 100 is in a high temperature state and is prone to deformation. Under the action of the elastic element 42, as the two inner jaws 41 move away from each other, the pressure on both sides of the forging 100 increases, which can easily cause deformation on both sides of the forging 100 during the forging process, affecting the forging quality of the forging 100. Therefore, the present invention proposes an expansion mechanism 5 so that the two inner jaws 41 can automatically move away from each other during the forging process.

[0044] Further, please refer to the appendix to the instruction manual. Figures 3 to 7 An expansion mechanism 5 is provided on the outer jaw 21. The expansion mechanism 5 is used to make the two inner jaws 41 move away from each other automatically during forging.

[0045] For details, please refer to the instruction manual appendix. Figures 3 to 7The expansion mechanism 5 includes a pressure plate 51, an inner cavity 52 on the outer gripper 21, the pressure plate 51 is slidably disposed in the inner cavity 52, and an elastic element 53 is provided at the bottom end of the pressure plate 51. A push rod 54 is hinged to the bottom of the pressure plate 51, and a torsion spring 55 is provided at the hinge point of the push rod 54. A side plate 57 is fixedly disposed on the side strip 44, and a number of abutting teeth 58 are fixedly disposed on the side plate 57. The end of the push rod 54 is in movable contact with the abutting teeth 58.

[0046] It should be noted that the elastic element 53 is a spring. In the initial state, the lower plane of the pressure plate 51 is higher than the top plane of the forging 100. Then, the robot arm 1 clamps the forging 100 through the end effector 2. Subsequently, the end effector 2 controls the two outer jaws 21 to gradually move away from each other until the two outer jaws 21 move to the point where the elastic element 42 is about to disengage from the compressed state. Then, the isothermal forging press controls the workpiece used for forging to move downward to forge the forging 100. The workpiece used for forging first contacts the upper plane of the pressure plate 51, and continues to drive the workpiece used for forging to move downward, so that the pressure plate 51 can move downward. Figure 6 As shown, the arrow points in the direction of movement of the pressure plate 51, driving the push rod 54 downward. When the workpiece for forging contacts the top end face of the forging 100, the push rod 54 abuts against the abutting tooth 58. The workpiece continues to move downward, forging the forging 100, while simultaneously driving the pressure plate 51 downward. During this downward movement, the pressure plate 51 pushes the abutting tooth 58 via the push rod 54, causing the side plate 57 to move laterally. This allows the side plate 57 to move laterally via the side strip 44 and the sliding shaft 43, thus driving the inner jaw 41 to move laterally. Figure 7 As shown, the arrows indicate the movement directions of the two inner jaws 41, which allows the two inner jaws 41 to automatically move away from each other during the forging process of the forging 100, instead of moving away from each other due to the deformation of the forging 100 when it is being forged. This avoids the inner jaws 41 and the elastic element 42 applying pressure to both sides of the forging 100 during the forging process, thus preventing unnecessary deformation on both sides of the forging 100 during the forging process and ensuring its forging quality.

[0047] Further, please refer to the appendix to the instruction manual. Figure 3 A limit block 56 is fixedly installed at the bottom of the pressure plate 51, and the limit block 56 is in movable contact with the push rod 54.

[0048] It should be noted that the limit block 56 can limit the push rod 54.

[0049] In the above technical solution, before forging, the forging 100 needs to undergo high-temperature quenching. However, during the high-temperature quenching process, a layer of oxide scale usually forms on the outer side of the forging 100 due to the high temperature. Then, the forging 100 is conveyed to a fixed position by a conveying mechanism so that the robot arm 1 can control the end effector 2 to grip and feed it. However, due to the oxide scale on the surface of the forging 100, the oxide scale may fall off during the conveying process due to vibration. In this process, there is a possibility that the oxide scale may not fall off completely. The problem is that if the oxide scale is not completely removed, some areas of the forging 100 will still have oxide scale. When the forging 100 is clamped by the end effector 2, the oxide scale will obstruct the forging 100, causing it to be in a non-horizontal and stable state. To address this, the present invention proposes an air blowing mechanism 6 to blow air onto the forging 100 before clamping it, thereby blowing off the residual oxide scale and preventing the forging 100 from being clamped to a horizontal and stable state.

[0050] Further, please refer to the appendix to the instruction manual. Figure 8 An air blowing mechanism 6 is provided on the inner jaw 41. The air blowing mechanism 6 is used to blow air onto the forging 100 before clamping the forging 100.

[0051] For details, please refer to the instruction manual appendix. Figure 8 The blowing mechanism 6 has an air inlet 61 and several air outlets 63. The air inlet end of the air inlet 61 is connected to an air inlet component through a pipe. The inner gripper 41 has an air delivery chamber 62. The air inlet 61 and several air outlets 63 are all connected to the air delivery chamber 62, and the air outlet ends of the several air outlets 63 all point towards the forging 100.

[0052] It should be noted that the air intake assembly is a miniature air pump, which can be installed on the end effector 2. Before clamping the forging 100, the robot arm 1 controls the two inner grippers 41 to be located on the side of the forging 100. Then, the miniature air pump delivers air into the air delivery chamber 62 through the pipe and the air inlet 61, so that the air is blown out from several air outlets 63 and blown towards the forging 100, so that it blows off the residual oxide scale on the outside of the forging 100, so as to avoid the problem that the forging 100 is not clamped to a horizontal and stable state when clamping the forging 100.

[0053] Further, please refer to the appendix to the instruction manual. Figure 2 The end effector 2 also includes a transmission mechanism 3, which is used to drive the two outer grippers 21 to move synchronously in opposite directions.

[0054] For details, please refer to the instruction manual appendix. Figure 2The transmission mechanism 3 includes a drive shaft 31, which is rotatably mounted on the end effector 2. A gear 32 is fixedly mounted on the outer side of the drive shaft 31. The end effector 2 is hinged with two sets of hinge members, each of which includes a first hinge arm 34 and a second hinge arm 35. A gear 33 is fixedly mounted at the hinge point of each of the two first hinge arms 34. The gear 32 meshes with one of the gears 33, and the two gears 33 mesh together. The two sets of hinge members are hinged to the corresponding outer jaws 21.

[0055] It should be noted that the drive shaft 31 can be driven by a motor, which in turn drives the gear 32 to rotate. Through the cooperation of the gear 32 and the two gears 33, the two external grippers 21 can be driven to move synchronously and in opposite directions through two sets of hinges, thus realizing the gripping operation.

[0056] Refer to the instruction manual appendix Figure 9 A control system for an intelligent robotic arm of an isothermal forging press based on CPO technology, comprising:

[0057] The controller is used to receive feedback information and generate control commands;

[0058] The visual inspection unit, whose output is connected to the input of the controller, is used to monitor and position the forging 100 in real time.

[0059] The safety control unit, whose output is connected to the input of the controller, is used to monitor and ensure the safety of the robot 1 during operation in real time.

[0060] The torque control unit has its output connected to the input of the controller and is used to precisely control the force or torque applied to the robot arm 1.

[0061] The motion control unit, whose output is connected to the input of the controller, is used to control the joints and actuators of the robot arm 1.

[0062] It should be noted that the controller can be a PLC controller, which continuously acquires feedback information and generates control commands in real time according to the preset control algorithm to guide the motion control unit to control the robot arm 1 to complete the corresponding actions;

[0063] The visual inspection unit may include a camera, image processing algorithms and a recognition system, which can realize real-time monitoring and positioning of the forging 100;

[0064] The safety control unit may include safety devices such as collision detection sensors, emergency stop buttons, and safety light curtains, as well as corresponding safety logic and control algorithms, to detect and respond to potential safety risks in a timely manner.

[0065] The torque control unit can be a feedback closed-loop system composed of an electric actuator and a force sensor. The electric actuator applies torque, and the connected force sensor monitors the torque applied to the forging 100 in real time. The control algorithm adjusts the output of the electric actuator based on the data fed back by the sensor to achieve precise control of the torque.

[0066] The motion control unit may include components such as servo controllers, drivers, and encoders to control the various joints and actuators of the robot 1, enabling it to move along a predetermined trajectory and speed, thereby achieving high-precision and high-speed motion control.

[0067] The specific implementation scenario is as follows: Before the robotic arm 1 clamps the forging 100 via the end effector 2, the robotic arm 1 controls the two inner grippers 41 to be positioned on the side of the forging 100. Then, air is supplied to the air delivery chamber 62 through the air inlet 61, causing the air to be blown out from several air outlets 63 and directed towards the forging 100. This blows off the residual oxide scale on the outside of the forging 100, preventing the forging 100 from not being clamped to a horizontal and stable state during clamping. Then, the transmission mechanism 3 drives the two outer grippers 21 to bring the two inner grippers 41 into contact with the forging 100, clamping and fixing the forging 100. Finally, the control mechanism... The robotic arm 1 feeds the forging workpiece 100 onto the forging platform of the isothermal forging press. Then, the end effector 2 controls the two outer grippers 21 to gradually move away from each other. During this time, under the action of the springs, the two inner grippers 41 remain in contact with the forging workpiece 100, ensuring its horizontal stability. When the two outer grippers 21 move to the point where the springs are about to disengage but have not yet disengaged, the movement of the two outer grippers 21 is stopped. At this point, under the action of the springs, the two inner grippers 41 remain in contact with the forging workpiece 100, and the forging workpiece 100 remains in a horizontal and stable state. Then, the isothermal forging press controls the workpiece to move downwards to press the forging workpiece 100. In the forging process, the workpiece first contacts the upper surface of the pressure plate 51. The workpiece continues to move downwards, allowing the pressure plate 51 to move downwards and driving the push rod 54 downwards. At this point, when the workpiece contacts the top end face of the forging 100, the push rod 54 abuts against the abutting tooth 58. The workpiece continues to move downwards, forging the forging 100, while simultaneously driving the pressure plate 51 downwards. During this downward movement, the pressure plate 51 pushes the abutting tooth 58 via the push rod 54, causing the side plate 57 to move laterally and compressing the torsion spring 55. This allows the side plate 57 to move during its movement. The inner jaws 41 move laterally via the side bar 44 and the sliding shaft 43, so that the two inner jaws 41 automatically move away from each other during the forging process of the forging 100, instead of moving away from each other due to the deformation of the forging 100 when it is being forged. This avoids the pressure applied to both sides of the forging 100 by the inner jaws 41 and the elastic element 1 42 during the forging process, thus completing the forging process of the forging 100. After the forging is completed, the stabilizing mechanism 4 and the expanding mechanism 5 can be reset under the action of the elastic element 1 42, the elastic element 2 53 and the torsion spring 55, so as to facilitate the feeding and forging process of the next forging 100.

[0068] The embodiments described above are merely examples of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. An intelligent robotic arm for isothermal forging presses based on CPO technology, characterized in that, include: A robotic arm (1) is provided with an end effector (2) at its end. The robotic arm (1) uses the end effector (2) to grip the forging (100) and feed the forging (100). The end effector (2) includes two outer jaws (21) that can move synchronously in opposite directions. A stabilizing mechanism (4) is provided on the outer jaws (21). The stabilizing mechanism (4) is used to keep the forging (100) in a vertical state during the forging process. The stabilizing mechanism (4) includes two inner jaws (41) that can move synchronously in opposite directions. The two inner jaws (41) are respectively located inside the two outer jaws (21), and there is an interval distance between the outer jaws (21) and the inner jaws (41) located on the same side for the inner jaws (41) to move. The end effector (2) grips the forging (100) until the robot (1) completes the feeding of the forging (100) through the end effector (2). During this process, the inner sides of the two inner jaws (41) are always in contact with the forging (100). During forging, the two inner jaws (41) move away from each other. The stabilizing mechanism (4) further includes an elastic element (42), which is disposed between the outer jaw (21) and the inner jaw (41). A sliding shaft (43) is slidably disposed inside the outer jaw (21). One end of the sliding shaft (43) is fixedly connected to the inner jaw (41), and a side strip (44) is fixedly disposed at the other end of the sliding shaft (43). An expansion mechanism (5) is provided on the outer jaw (21). The expansion mechanism (5) is used to make the two inner jaws (41) move away from each other automatically during forging. The expansion mechanism (5) includes a pressure plate (51), an inner cavity (52) is provided on the outer gripper (21), the pressure plate (51) is slidably disposed in the inner cavity (52), and an elastic element (53) is provided at the bottom end of the pressure plate (51). A push rod (54) is hinged to the bottom of the pressure plate (51), and a torsion spring (55) is provided at the hinge point of the push rod (54). A side plate (57) is fixedly disposed on the side strip (44), and a plurality of abutting teeth (58) are fixedly disposed on the side plate (57). The end of the push rod (54) is in movable contact with the abutting teeth (58). A limiting block (56) is fixedly provided at the bottom of the pressure plate (51), and the limiting block (56) is in movable contact with the push rod (54); In the initial state, the lower plane of the pressure plate (51) is higher than the top plane of the forging (100). The workpiece for forging first contacts the upper plane of the pressure plate (51), and continues to drive the workpiece for forging to move downward, so that the pressure plate (51) moves downward and drives the push rod (54) to move downward. When the workpiece for forging contacts the top end face of the forging (100), the push rod (54) abuts against the abutting tooth (58). The workpiece for forging continues to move downward to forge the forging (100) and at the same time drives the pressure plate (51) to move downward. During the downward movement of the pressure plate (51), the push rod (54) pushes the abutting tooth (58) and drives the side plate (57) to move laterally. During the movement of the side plate (57), the side strip (44) and the sliding shaft (43) drive the inner jaw (41) to move laterally.

2. The intelligent robotic arm for isothermal forging press based on CPO technology according to claim 1, characterized in that: The inner jaw (41) is provided with an air blowing mechanism (6), which is used to blow air onto the forging (100) before clamping the forging (100).

3. The intelligent robotic arm for isothermal forging press based on CPO technology according to claim 2, characterized in that: The blowing mechanism (6) has an air inlet (61) and several air outlets (63). The air inlet end of the air inlet (61) is connected to an air inlet assembly through a pipe. The inner gripper (41) has an air delivery chamber (62). The air inlet (61) and several air outlets (63) are all connected to the air delivery chamber (62), and the air outlet ends of several air outlets (63) all point towards the forging (100).

4. The intelligent robotic arm for isothermal forging press based on CPO technology according to claim 3, characterized in that: The end effector (2) is provided with a transmission mechanism (3), which is used to drive the two outer grippers (21) to move synchronously in opposite directions.

5. The intelligent robotic arm for isothermal forging press based on CPO technology according to claim 4, characterized in that: The transmission mechanism (3) includes a drive shaft (31), which is rotatably mounted on the end effector (2). A gear (32) is fixedly mounted on the outside of the drive shaft (31). The end effector (2) is hinged with two sets of hinge members. The hinge members include a first hinge arm (34) and a second hinge arm (35). A gear (33) is fixedly mounted at the hinge point of each of the two first hinge arms (34). The gear (32) meshes with one of the gears (33). The two gears (33) mesh with each other. The two sets of hinge members are hinged with the corresponding outer jaws (21).

6. A control system for an isothermal forging press intelligent robot based on CPO technology as described in claim 5, characterized in that, include: The controller is used to receive feedback information and generate control commands; A vision inspection unit, the output of which is connected to the input of the controller, is used to monitor and position the forging (100) in real time. The safety control unit is connected to the input of the controller and is used to monitor and ensure the safety of the robot (1) during operation in real time. Torque control unit, the output end of the torque control unit is connected to the input end of the controller, and is used to achieve precise control of the force or torque applied to the robot (1); The motion control unit, whose output is connected to the input of the motion control unit, is used to control the joints and actuators of the robot (1).

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