Transfer robot equipment and method for rapidly clamping and releasing forged workpieces

Abstract

The invention relates to transfer robot equipment and method for rapidly clamping and releasing forged workpieces, and relates to the technical field of transfer robots, the transfer robot equipment comprises a control moving vehicle, a clamping mechanism and a mechanical arm mechanism, and the mechanical arm mechanism is arranged on the control moving vehicle; the clamping mechanism comprises a fixing box, a telescopic rod, a connecting shaft, a fixing piece, an air cylinder, a limiting block and a rotating block assembly, the fixing box is arranged on the clamping mechanism, the fixing piece is arranged on the fixing box, the air cylinder is arranged on the fixing piece, the telescopic rod is arranged on an output shaft of the air cylinder, the limiting block is fixedly arranged on the telescopic rod, and the rotating block assembly is arranged on the rotating block assembly. The connecting shaft is fixedly arranged on the fixing box, the rotating block assembly is rotationally arranged on the connecting shaft, workpieces with different complexity degrees can be conveniently clamped through the clamping mechanism, and the situation that workers are injured due to manual operation is avoided.

Description

Technical Field

[0001] The invention relates to the technical field of handling robots, and in particular to a handling robot device and method for quickly clamping and releasing a forged workpiece. Background Art

[0002] The handling robot equipment for quickly clamping and releasing forging workpieces is a kind of automated equipment specially used for efficiently and safely handling workpieces in forging environments. This type of equipment usually combines advanced robotic arms, clamping devices and control systems, which can realize the rapid clamping, handling and release of high-temperature, heavy or complex-shaped workpieces, and can significantly improve the production efficiency and safety of forging workshops.

[0003] At present, a Chinese invention patent application with a publication date of October 4, 2022 and publication number CN 115140641A proposes a clamping and handling device for a mobile container, comprising a roughly L-shaped frame extending along a longitudinal axis and configured to be connected to a mobile crane, the frame having a distal end provided with at least one hooking device and a proximal end provided with a gripping and clamping platform, the hooking device being configured to engage with a complementary hooking device provided on the container, the gripping and clamping platform comprising: a gripping handle rotatably mounted on the platform, the gripping handle being movable between a first position and a second position; a clamping device translationally mounted on the platform, which is movable between a release position in which the gripping device is disengaged from the container and a clamping position in which the gripping device is configured to engage in the container, the gripping handle and the clamping device being operably connected within the platform so that rotation of the gripping handle from the first position to the second position causes translation of the gripping device from the release position to the clamping position.

[0004] However, the device clamps the workpiece manually. However, for forging workpieces, the workpiece temperature is relatively high, and manual operation is likely to cause injuries to workers. At the same time, the clamped workpiece may be a workpiece with a complex geometric shape, and only using a fixed clamping head may not necessarily meet the clamping conditions.

[0005] Therefore, it is necessary to provide a handling robot device for quickly clamping and releasing forged workpieces to solve the above problems. Summary of the invention

[0006] In order to solve the problem of mismatch between a clamping device and a workpiece, the present invention provides a handling robot device and a method for quickly clamping and releasing a forged workpiece.

[0007] In the first aspect, the present invention provides a handling robot device for quickly clamping and releasing forged workpieces, a handling robot device for quickly clamping and releasing forged workpieces includes a control mobile vehicle, a clamping mechanism and a mechanical arm mechanism, the mechanical arm mechanism is arranged on the control mobile vehicle, the clamping mechanism includes a fixed box, a telescopic rod, a connecting shaft, a fixing part, a cylinder, a limit block and a rotating block assembly, the fixed box is arranged on the clamping mechanism, the fixing part is arranged on the fixed box, the cylinder is arranged on the fixing part, the telescopic rod is arranged on the output shaft of the cylinder, the limit block is fixedly arranged on the telescopic rod, the connecting shaft is fixedly arranged on the fixed box, and the rotating block assembly is rotatably arranged on the connecting shaft.

[0008] The above technical solution in the embodiment of the present application has at least the following technical effects: in the clamping process of the control clamping mechanism, the cylinder is extended and retracted to push the telescopic rod to extend and retract in the same direction, and the telescopic rod is fixedly connected to the limit block, thereby driving the limit block to move together with the telescopic rod, and at the same time, the limit block drives the first rotating plate to rotate along the connecting axis, thereby facilitating the clamping of the object. In this way, through the telescopic movement of the cylinder, the telescopic rod and the limit block can accurately control the clamping position and strength.

[0009] In some embodiments, the rotating block assembly includes a first rotating plate, a second rotating plate and a third rotating plate, the first rotating plate is rotatably set on the connecting shaft, a first connecting groove is opened on the first rotating plate, the second rotating plate is movably set on the first rotating plate through the first connecting groove, the second rotating plate is opened on the second rotating plate, and the third rotating plate is movably set on the second rotating plate through the second connecting groove.

[0010] In some embodiments, a plurality of abutment holes are provided on the first rotating plate and the second rotating plate, storage grooves are provided on the second rotating plate and the third rotating plate, abutment springs are provided in the storage grooves, and an abutment button is provided at one end of the abutment spring away from the storage groove.

[0011] In some embodiments, a first connecting seat is provided at the end of the telescopic rod away from the cylinder, a first rotating rod is fixedly provided through the first connecting seat, a first roller is movably provided on the first rotating rod, and a second connecting seat is provided at the end of the third rotating plate away from the second connecting groove, a second rotating rod is fixedly provided through the second connecting seat, and a second roller is movably provided on the second rotating rod.

[0012] In some embodiments, a third connecting seat is provided on one end of the first rotating plate away from the first connecting groove, a third rotating rod is fixedly provided through the third connecting seat, a third roller is movably provided on the third rotating rod, a limiting plate is fixedly provided on the limiting block, a limiting groove is provided on the limiting plate, the third rotating rod is movably provided in the limiting groove, and a limiting member is fixedly provided on the fixed box.

[0013] In some embodiments, the robotic arm mechanism includes a first support arm, a second support arm, a first fixed seat, a first rotating axis, a second fixed seat and a second rotating axis. The first fixed seat is arranged on the control mobile vehicle, a first connecting hole is opened on the first fixed seat, and the first rotating axis is rotatably set on the first fixed seat through the first connecting hole. The first support arm is fixedly set on the first rotating axis, the second fixed seat is set on the first support arm, a second fixed seat is opened on the second connecting hole, the second rotating axis is rotatably set on the second fixed seat through the second connecting hole, and the second support arm is fixedly set on the second rotating axis.

[0014] In some embodiments, the first support arm is provided with a first rotation hole and a second rotation hole, through which a first connecting column and a second connecting column are arranged, and the second support arm is provided with a third rotation hole, through which a third connecting column is arranged.

[0015] In some embodiments, a third fixed seat is provided on the control mobile vehicle, a third connecting hole is opened on the third fixed seat, a third rotating shaft is fixedly provided through the third connecting hole, a first connecting block is movably provided on the third rotating shaft, a second connecting block is movably provided on the first connecting column, a first hydraulic rod is provided through the first connecting block, an output shaft of the first hydraulic rod is provided on the second connecting block, a third connecting block is movably provided on the second connecting column, a fourth connecting block is movably provided on the third connecting column, a second hydraulic rod is provided through the third connecting block, and the output shaft of the second hydraulic rod is provided on the fourth connecting block.

[0016] In some embodiments, a rotation axis is disposed on one end of the second bracket arm away from the first bracket arm, and the fixing box is disposed on the rotation axis.

[0017] In a second aspect, the present invention provides a method for using a handling robot device for quickly clamping and releasing a forged workpiece. The method for using a handling robot device for quickly clamping and releasing a forged workpiece comprises the following steps: S1: The operator first sets a program for the handling robot to control the running trajectory of the handling robot for fast clamping and releasing of forged workpieces; S2: The operator determines the size of the workpiece to be transported, thereby adjusting the length of the rotating block, and uses a long tool to press the abutment button on the second rotating plate, so that the abutment button compresses the abutment spring, so that the abutment button is disengaged from the abutment hole, and the second rotating plate is extended and retracted in the first connecting groove. At the same time, the operator uses a long tool to press the abutment button on the third rotating plate, so that the abutment button compresses the abutment spring, so that the abutment button is disengaged from the abutment hole, and the third rotating plate is extended and retracted in the second connecting groove, thereby controlling the length of the rotating block, so as to better adapt to workpieces of different degrees of complexity; S3: Control the mobile vehicle to start and move to the position where the workpiece needs to be transported. The first hydraulic rod extends, and the first hydraulic rod drives the first connecting column to extend. The first connecting block and the second connecting block rotate to facilitate the angle adjustment of the first hydraulic rod, thereby driving the first bracket arm to rotate along the first rotating axis. At the same time, the second hydraulic rod extends, and the second hydraulic rod abuts against the second connecting column to drive the third connecting column to extend. The third connecting block and the fourth connecting block rotate to facilitate the angle adjustment of the second hydraulic rod, thereby driving the second bracket arm to rotate along the second rotating axis, thereby controlling the height and angle of the fixed box; S4: Control the clamping mechanism. During the clamping process, the cylinder is extended and retracted to push the telescopic rod to be limited in the same direction by the limiter. The telescopic rod is fixedly connected to the limit block and the limit plate, thereby driving the limit block and the limit plate to move together with the telescopic rod. At the same time, the third rotating rod drives the first rotating plate to rotate along the connecting axis through the telescopic movement of the limit plate, thereby clamping the object. S5: The first roller on the telescopic rod and the second roller on the third rotating plate reduce friction and energy loss by rolling during the clamping process, and extend the service life of the clamping block and the clamped object. At the same time, the rollers evenly disperse the clamping force; S6: After clamping the object, the fixed box is rolled by rotating the axis, which is convenient for controlling the forging direction and position of the forged workpiece during the forging process, and achieving rapid clamping and release after rolling. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the overall structure of a handling robot device and method for quickly clamping and releasing a forged workpiece according to an embodiment of the present application; Figure 2 It is a schematic diagram of the exploded structure of the robot arm mechanism of the application embodiment; Figure 3 It is a schematic diagram of the overall structure of the clamping mechanism of the application embodiment; Figure 4 A schematic diagram of the internal structure of the clamping mechanism of the application embodiment; Figure 5 It is a schematic diagram of the exploded structure of the rotating block assembly of the application embodiment.

[0019] Among them, the reference numerals in the figure are: 1. Control mobile vehicle; 2. Clamping mechanism; 21. Fixed box; 211. Telescopic rod; 212. Connecting shaft; 213. Fixed piece; 214. Cylinder; 215. Limit block; 216. Limit plate; 217. Limit groove; 22. Rotating block assembly; 221. First rotating plate; 222. Second rotating plate; 223. Third rotating plate; 224. First connecting groove; 225. Second connecting groove; 23. Abutting spring; 231. Abutting button; 232. Abutting hole; 233. Storage groove; 24. First connecting seat; 241. First rotating rod; 242. First roller; 25. Second connecting seat; 251. Second rotating rod; 252. Second roller; 26. Third Connecting seat; 261, third rotating rod; 262, third roller; 27, limiter; 3, mechanical arm mechanism; 31, first bracket arm; 311, second bracket arm; 312, first fixed seat; 313, first rotating shaft; 314, first connecting hole; 315, second fixed seat; 316, second rotating shaft; 317, second connecting hole; 32, first hydraulic rod; 33, second hydraulic rod; 34, first connecting column; 341, second connecting column; 342, third connecting column; 343, third fixed seat; 344, third rotating shaft; 345, first connecting block; 346, second connecting block; 347, third connecting block; 348, fourth connecting block; 4, rotating shaft. DETAILED DESCRIPTION

[0020] In order to solve the problem of mismatch between the clamping device and the workpiece, the embodiment of the present application provides the following solution.

[0021] Example 1: Please refer to Figures 1 to 5 An embodiment of the present application provides a handling robot device for quickly clamping and releasing forged workpieces. The handling robot device for quickly clamping and releasing forged workpieces includes a control mobile vehicle 1, a clamping mechanism 2, and a robotic arm mechanism 3. The robotic arm mechanism 3 is arranged on the control mobile vehicle 1, and the clamping mechanism 2 is arranged on the robotic arm mechanism 3.

[0022] In some embodiments, please refer to Figure 1 to Figure 2The mechanical arm mechanism 3 includes a first support arm 31, a second support arm 311, a first fixed seat 312, a first rotating shaft 313, a second fixed seat 315 and a second rotating shaft 316. The first fixed seat 312 is arranged on the control moving vehicle 1. The first fixed seat 312 is provided with a first connecting hole 314. The first rotating shaft 313 is rotatably arranged on the first fixed seat 312 through the first connecting hole 314. The first support arm 31 is fixedly arranged on the first rotating shaft 313. The second fixed seat 315 is arranged on the first support arm 31. The second fixed seat 315 is provided with a second connecting hole 317. The second rotating shaft 316 is rotatably arranged on the second fixed seat 315 through the second connecting hole 317. The second support arm 311 is fixedly arranged on the second rotating shaft 316. The first support arm 31 is provided with a first rotating hole and a second rotating hole. The first connecting column 34 and the second connecting column are arranged through the first rotating hole and the second rotating hole. 341, a third rotating hole is provided on the second support arm 311, and a third connecting column 342 is arranged through the third rotating hole, a third fixed seat 343 is provided on the control moving vehicle 1, a third connecting hole is provided on the third fixed seat 343, and a third rotating shaft 344 is fixedly arranged through the third connecting hole, a first connecting block 345 is movably provided on the third rotating shaft 344, a second connecting block 346 is movably provided on the first connecting column 34, a first hydraulic rod 32 is arranged through the first connecting block 345, and the output shaft of the first hydraulic rod 32 is arranged on the second connecting block 346, a third connecting block 347 is movably provided on the second connecting column 341, a fourth connecting block 348 is movably provided on the third connecting column 342, a second hydraulic rod 33 is arranged through the third connecting block 347, and the output shaft of the second hydraulic rod 33 is arranged on the fourth connecting block 348, and a rotating shaft 4 is arranged on the end of the second support arm 311 away from the first support arm 31.

[0023] With such arrangement, the mobile vehicle 1 is controlled to start and move to the position where the workpiece needs to be transported. The first hydraulic rod 32 is extended, and the first hydraulic rod 32 drives the first connecting column 34 to extend. The first connecting block 345 and the second connecting block 346 are rotated to facilitate the angle adjustment of the first hydraulic rod 32, thereby driving the first support arm 31 to rotate along the first rotating shaft 313. At the same time, the second hydraulic rod 33 is extended, and the second hydraulic rod 33 abuts on the second connecting column 341 to drive the third connecting column 342 to extend. The third connecting block 347 and the fourth connecting block 348 are rotated to facilitate the angle adjustment of the second hydraulic rod 33, thereby driving the second support arm 311 to rotate along the second rotating shaft 316. At the same time, the clamping mechanism 2 is rolled through the rotating shaft 4, so that the height and angle of the holding mechanism can be controlled. In this way, the support arm can be adjusted in multiple angles and directions through the coordinated extension and retraction of the first and second hydraulic rods 33 and the rotation of the connecting column and the connecting block. This design enables the clamping mechanism 2 to adapt to the handling requirements of workpieces at different positions, heights and angles, greatly improving the flexibility and versatility of the system. The precise extension and retraction of the hydraulic rod and the rotation design of the connecting block enable the clamping mechanism 2 to achieve high-precision position and angle control. This precise control capability is particularly important for handling tasks that require precise positioning. For example, in the process of precision manufacturing and assembly, the height and angle of the clamping mechanism 2 can be flexibly adjusted through the adjustment of the hydraulic rod and the connecting block. This design enables The clamping mechanism 2 can adapt to the needs of handling workpieces of different shapes and sizes. No matter whether it is a large, heavy workpiece or a small, light workpiece, it can be effectively transported. This design structure is relatively simple. The coordination of the hydraulic rod and the connecting block makes the system easy to maintain and operate. The operator can achieve precise control of the clamping mechanism 2 through a simple control interface, which reduces the difficulty of operation and improves the usability of the system. By controlling the coordinated actions of the mobile vehicle 1 and the hydraulic rod, and the coordination of the connecting block and the rotating shaft 4, this design has significant advantages in flexibility, precise control, stability, adaptability, work efficiency, mechanical wear, safety, energy saving and environmental protection, and ease of use.

[0024] In some embodiments, please refer to Figures 3 to 5The clamping mechanism 2 includes a fixed box 21, a telescopic rod 211, a connecting shaft 212, a fixing member 213, a cylinder 214, a limit block 215 and a rotating block assembly 22. The fixed box 21 is arranged on the rotating shaft 4, the fixing member 213 is arranged on the fixed box 21, the cylinder 214 is arranged on the fixing member 213, the telescopic rod 211 is arranged on the output shaft of the cylinder 214, the limit block 215 is fixedly arranged on the telescopic rod 211, the connecting shaft 212 is fixedly arranged on the fixed box 21, and the The rotating block assembly 22 includes a first rotating plate 221, a second rotating plate 222 and a third rotating plate 223. The first rotating plate 221 is rotatably arranged on the connecting shaft 212. The first rotating plate 221 is provided with a first connecting groove 224. The second rotating plate 222 is movably arranged on the first rotating plate 221 through the first connecting groove 224. The second rotating plate 222 is provided with a second connecting groove 225. The third rotating plate 223 is movably arranged on the second rotating plate 222 through the second connecting groove 225. A plurality of abutment holes 232 are formed on the first rotating plate 221 and the second rotating plate 222, and a storage slot 233 is formed on the second rotating plate 222 and the third rotating plate 223. Abutment springs 23 are disposed in the storage slots 233, and an abutment button 231 is disposed at one end of the abutment spring 23 away from the storage slots 233. A first connecting seat 24 is provided at one end of the telescopic rod 211 away from the cylinder 214, a first rotating rod 241 is fixedly provided through the first connecting seat 24, a first roller 242 is movably provided on the first rotating rod 241, a second connecting seat 25 is provided at one end of the third rotating plate 223 away from the second connecting groove 225, a second rotating rod 251 is fixedly provided through the second connecting seat 25, a second roller 252 is movably provided on the second rotating rod 251, a third connecting seat 26 is provided at one end of the first rotating plate 221 away from the first connecting groove 224, a third rotating rod 261 is fixedly provided through the third connecting seat 26, a third roller 262 is movably provided on the third rotating rod 261, a limiting plate 216 is fixedly provided on the limiting block 215, a limiting groove 217 is provided on the limiting plate 216, the third rotating rod 261 is movably provided in the limiting groove 217, and a limiting member 27 is fixedly provided on the fixed box 21.

[0025] With such arrangement, the operator can adjust the length of the rotating block by determining the size of the workpiece to be transported, and by using a long tool to press the abutment button 231 on the second rotating plate 222, so that the abutment button 231 compresses the abutment spring 23, so that the abutment button 231 is disengaged from the abutment hole 232, and the second rotating plate 222 is extended and retracted in the first connecting groove 224. At the same time, the abutment button 231 on the third rotating plate 223 can be pressed by using a long tool, so that the abutment button 231 compresses the abutment spring 23, so that the abutment button 231 is disengaged from the abutment hole 232, and the third rotating plate 223 is extended and retracted in the second connecting groove 225, thereby controlling the length of the rotating block, thereby better adapting to workpieces of different degrees of complexity, and controlling the clamping mechanism 2 to extend and retract the cylinder 214 during the clamping process. The telescopic rod 211 is pushed to be limited by the limit piece 27 to be extended and retracted in the same direction. The telescopic rod 211 is fixedly connected to the limit block 215 and the limit plate 216, thereby driving the limit block 215 and the limit plate 216 to move together with the telescopic rod 211. At the same time, the third rotating rod 261 drives the first rotating plate 221 to rotate along the connecting shaft 212 through the telescopic movement of the limit plate 216, so as to clamp the object. The first roller 242 on the telescopic rod 211 and the second roller 252 on the third rotating plate 223 reduce friction and energy loss by rolling during the clamping process. After clamping the object, the fixed box 21 is rolled by the rotating shaft 4, which is convenient for controlling the required forging direction and position of the forged workpiece during the forging process, so as to achieve rapid clamping and release after rolling. In this way, the operator can adjust the length of the rotating block according to the size of the workpiece to be transported. This design enables the clamping mechanism 2 to adapt to workpieces of different sizes, thereby improving the flexibility and applicability of clamping. By using a long tool to press the abutment button 231, the abutment button 231 can be disengaged from the abutment hole 232, thereby extending and retracting the second and third rotating plates 223 in the connecting groove. This design further enhances the adaptability of the clamping mechanism 2 to complex workpieces. The extension and retraction of the cylinder 214 is limited in the same direction by the limiter 27, ensuring the precise movement of the telescopic rod 211. This design improves the stability and accuracy of the clamping process, avoids shaking and deviation during the clamping process, and the telescopic rod 2 11 is fixedly connected to the limit block 215 and the limit plate 216, ensuring that they can be telescopically moved synchronously. This design enables the clamping mechanism 2 to achieve high-precision position control. The first roller 242 on the telescopic rod 211 and the second roller 252 on the third rotating plate 223 reduce friction by rolling during the clamping process. This design reduces energy loss, improves clamping efficiency, and extends the service life of the equipment. The angle and position of the clamping mechanism 2 can be adjusted by extending and retracting the second and third rotating plates 223 to better adapt to workpieces of different shapes and complexities. This design improves the versatility of the clamping mechanism 2, allowing it to be applied to various complex workpiece clamping scenarios.

[0026] Embodiment 2: The embodiment of the present application also provides a method for using a handling robot device for quickly clamping and releasing a forged workpiece. The method for using a handling robot device for quickly clamping and releasing a forged workpiece comprises the following steps: S1: The operator first sets a program for the handling robot to control the running trajectory of the handling robot for fast clamping and releasing of forged workpieces; S2: The operator determines the size of the workpiece to be transported and adjusts the length of the rotating block. The operator uses a long tool to press the abutment button 231 on the second rotating plate 222, so that the abutment button 231 compresses the abutment spring 23, so that the abutment button 231 is disengaged from the abutment hole 232, and the second rotating plate 222 is extended and retracted in the first connecting groove 224. At the same time, the operator uses a long tool to press the abutment button 231 on the third rotating plate 223, so that the abutment button 231 compresses the abutment spring 23, so that the abutment button 231 is disengaged from the abutment hole 232, and the third rotating plate 223 is extended and retracted in the second connecting groove 225, thereby controlling the length of the rotating block to better adapt to workpieces of different degrees of complexity. S3: Control the mobile vehicle 1 to start and move to the position where the workpiece needs to be transported. The first hydraulic rod 32 is extended, and the first hydraulic rod 32 drives the first connecting column 34 to extend. The first connecting block 345 and the second connecting block 346 rotate to facilitate the angle adjustment of the first hydraulic rod 32, thereby driving the first bracket arm 31 to rotate along the first rotating shaft 313. At the same time, the second hydraulic rod 33 is extended, and the second hydraulic rod 33 abuts on the second connecting column 341 to drive the third connecting column 342 to extend. The third connecting block 347 and the fourth connecting block 348 rotate to facilitate the angle adjustment of the second hydraulic rod 33, thereby driving the second bracket arm 311 to rotate along the second rotating shaft 316, thereby controlling the height and angle of the fixed box 21. S4: Control the clamping mechanism 2 to extend and retract the cylinder 214 during the clamping process, so that the telescopic rod 211 is limited by the limiter 27 to extend and retract in the same direction. The telescopic rod 211 is fixedly connected to the limiter block 215 and the limiter plate 216, thereby driving the limiter block 215 and the limiter plate 216 to move together with the telescopic rod 211. At the same time, the third rotating rod 261 drives the first rotating plate 221 to rotate along the connecting shaft 212 through the telescopic movement of the limiter plate 216, thereby clamping the object. S5: The first roller 242 on the telescopic rod 211 and the second roller 252 on the third rotating plate 223 reduce friction and energy loss by rolling during the clamping process, thereby extending the service life of the clamping block and the clamped object, and the rollers evenly disperse the clamping force; S6: After clamping the object, the fixing box 21 is rolled by the rotating shaft 4, so as to facilitate the control of the forging direction and position of the forged workpiece during the forging process, and to achieve rapid clamping and release after rolling.

[0027] The above are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A handling robot device for quickly clamping and releasing forged workpieces, characterized in that: The invention comprises a control vehicle (1), a clamping mechanism (2) and a mechanical arm mechanism (3), wherein the mechanical arm mechanism (3) is arranged on the control vehicle (1), the clamping mechanism (2) comprises a fixed box (21), a telescopic rod (211), a connecting shaft (212), a fixing member (213), a cylinder (214), a limit block (215) and a rotating block assembly (22), the fixed box (21) is arranged on the clamping mechanism (2), the fixing member (213) is arranged on the fixed box (21), the cylinder (214) is arranged on the fixed member (213), the telescopic rod (211) is arranged on the output shaft of the cylinder (214), the limit block (215) is fixedly arranged on the telescopic rod (211), the connecting shaft (212) is fixedly arranged on the fixed box (21), and the rotating block assembly (22) is rotatably arranged on the connecting shaft (212).

2. The robot device for quickly clamping and releasing forged workpieces according to claim 1 is characterized in that: The rotating block assembly (22) comprises a first rotating plate (221), a second rotating plate (222) and a third rotating plate (223); the first rotating plate (221) is rotatably arranged on the connecting shaft (212); a first connecting groove (224) is provided on the first rotating plate (221); the second rotating plate (222) is movably arranged on the first rotating plate (221) via the first connecting groove (224); a second connecting groove (225) is provided on the second rotating plate (222); and the third rotating plate (223) is movably arranged on the second rotating plate (222) via the second connecting groove (225).

3. The robot device for quickly clamping and releasing forged workpieces according to claim 2 is characterized in that: A plurality of abutment holes (232) are provided on the first rotating plate (221) and the second rotating plate (222), a storage groove (233) is provided on the second rotating plate (222) and the third rotating plate (223), an abutment spring (23) is provided in the storage groove (233), and an abutment button (231) is provided at one end of the abutment spring (23) away from the storage groove (233).

4. A handling robot device for quickly clamping and releasing forged workpieces according to any one of claim 3, characterized in that: A first connection seat (24) is provided at one end of the telescopic rod (211) away from the cylinder (214), a first rotating rod (241) is fixedly provided via the first connection seat (24), and a first roller (242) is movably provided on the first rotating rod (241); a second connection seat (25) is provided at one end of the third rotating plate (223) away from the second connection groove (225), a second rotating rod (251) is fixedly provided via the second connection seat (25), and a second roller (252) is movably provided on the second rotating rod (251).

5. A handling robot device for quickly clamping and releasing forged workpieces according to any one of claim 4, characterized in that: A third connecting seat (26) is provided on one end of the first rotating plate (221) away from the first connecting groove (224); a third rotating rod (261) is fixedly provided via the third connecting seat (26); a third roller (262) is movably provided on the third rotating rod (261); a limiting plate (216) is fixedly provided on the limiting block (215); a limiting groove (217) is provided on the limiting plate (216); the third rotating rod (261) is movably provided in the limiting groove (217); and a limiting member (27) is fixedly provided on the fixed box (21).

6. The robot device for quickly clamping and releasing forged workpieces according to claim 5 is characterized in that: The mechanical arm mechanism (3) comprises a first support arm (31), a second support arm (311), a first fixed seat (312), a first rotating shaft (313), a second fixed seat (315) and a second rotating shaft (316); the first fixed seat (312) is arranged on the control moving vehicle (1); a first connecting hole (314) is provided on the first fixed seat (312); the first rotating shaft (313) is rotatably arranged on the first fixed seat (312) through the first connecting hole (314); the first support arm (31) is fixedly arranged on the first rotating shaft (313); the second fixed seat (315) is arranged on the first support arm (31); a second connecting hole (317) is provided on the second fixed seat (315); the second rotating shaft (316) is rotatably arranged on the second fixed seat (315) through the second connecting hole (317); and the second support arm (311) is fixedly arranged on the second rotating shaft (316).

7. A handling robot device for quickly clamping and releasing forged workpieces according to claim 6, characterized in that: The first support arm (31) is provided with a first rotation hole and a second rotation hole, through which a first connecting column (34) and a second connecting column (341) are arranged, and the second support arm (311) is provided with a third rotation hole, through which a third connecting column (342) is arranged.

8. The robot device for quickly clamping and releasing forged workpieces according to claim 7 is characterized in that: The control moving vehicle (1) is provided with a third fixing seat (343), the third fixing seat (343) is provided with a third connecting hole, a third rotating shaft (344) is fixedly provided through the third connecting hole, a first connecting block (345) is movably provided on the third rotating shaft (344), a second connecting block (346) is movably provided on the first connecting column (34), a first hydraulic rod (32) is provided through the first connecting block (345), an output shaft of the first hydraulic rod (32) is provided on the second connecting block (346), a third connecting block (347) is movably provided on the second connecting column (341), a fourth connecting block (348) is movably provided on the third connecting column (342), a second hydraulic rod (33) is provided through the third connecting block (347), and an output shaft of the second hydraulic rod (33) is provided on the fourth connecting block (348).

9. The robot device for quickly clamping and releasing forged workpieces according to claim 8, characterized in that: A rotating shaft (4) is provided on one end of the second bracket arm (311) away from the first bracket arm (31), and the fixing box (21) is provided on the rotating shaft (4).

10. A method for using a handling robot device for quickly clamping and releasing a forged workpiece according to any one of claims 1 to 9, characterized in that: The steps include: S1: The operator first sets a program for the handling robot to control the running trajectory of the handling robot for fast clamping and releasing of forged workpieces; S2: The operator determines the size of the workpiece to be transported, thereby adjusting the length of the rotating block. The operator uses a long tool to press the abutment button (231) on the second rotating plate (222), so that the abutment button (231) compresses the abutment spring (23), so that the abutment button (231) is disengaged from the abutment hole (232), and the second rotating plate (222) is extended and retracted in the first connecting groove (224). At the same time, the operator uses a long tool to press the abutment button (231) on the third rotating plate (223), so that the abutment button (231) compresses the abutment spring (23), so that the abutment button (231) is disengaged from the abutment hole (232), and the third rotating plate (223) is extended and retracted in the second connecting groove (225), thereby controlling the length of the rotating block, so as to better adapt to workpieces of different degrees of complexity. S3: Control the moving vehicle (1) to start and move to the position where the workpiece needs to be transported, the first hydraulic rod (32) extends, the first hydraulic rod (32) drives the first connecting column (34) to extend, the first connecting block (345) and the second connecting block (346) rotate to facilitate the angle adjustment of the first hydraulic rod (32), thereby driving the first support arm (31) to rotate along the first rotation axis (313), and at the same time the second hydraulic rod (33) extends, the second hydraulic rod (33) abuts against the second connecting column (341) to drive the third connecting column (342) to extend, the third connecting block (347) and the fourth connecting block (348) rotate to facilitate the angle adjustment of the second hydraulic rod (33), thereby driving the second support arm (311) to rotate along the second rotation axis (316), thereby controlling the height and angle of the fixed box (21); S4: Controlling the clamping mechanism (2) during the clamping process, the cylinder (214) pushes the telescopic rod (211) to be limited in the same direction by the limiting member (27), and the telescopic rod (211) is fixedly connected to the limiting block (215) and the limiting plate (216), thereby driving the limiting block (215) and the limiting plate (216) to move together with the telescopic rod (211), and at the same time, the third rotating rod (261) drives the first rotating plate (221) to rotate along the connecting shaft (212) through the telescopic movement of the limiting plate (216), thereby clamping the object; S5: The first roller (242) on the telescopic rod (211) and the second roller (252) on the third rotating plate (223) reduce friction and energy loss by rolling during the clamping process, thereby extending the service life of the clamping block and the clamped object, and the rollers evenly disperse the clamping force; S6: After the object is clamped, the fixing box (21) is rolled by the rotating shaft (4), so as to facilitate the control of the forging direction and position of the forged workpiece during the forging process, and to achieve rapid clamping and release after rolling.

Images