Automatic hot upsetting test device and method for large-diameter cylindrical steel sample

Abstract

The invention discloses an automatic hot upsetting test device and method for a large-diameter cylindrical steel sample, and belongs to the technical field of hot upsetting tests.The automatic hot upsetting test device comprises an upsetting machine and a robot used for clamping the sample on the upsetting machine, the robot is provided with a mechanical arm clamping jaw with a special clamping piece, and the mechanical arm clamping jaw is sequentially provided with different clamping areas from the tail end; a compressed air gun blowing pipe is arranged at a fixed position in the upsetting machine, a temperature measuring gun is arranged on the other side of the upsetting machine at the same time for measuring the temperature, and when it is detected that the temperature recovers to the threshold temperature, the next upsetting test continues to be carried out. The manipulator clamping jaw extends into the upsetting machine, whether the torque of the servo motor for grabbing the sample at the tail end of the manipulator clamping jaw is obviously changed or not is detected, and follow-up tests are carried out. According to the invention, a specific manipulator arrangement method is adopted, the large-diameter cylindrical sample can be clamped in different states before and after hot upsetting, and the problems of sample sticking and sample falling of the sample in the hot upsetting process are solved.

Description

Technical Field

[0001] The invention relates to the technical field of hot upsetting tests, in particular to an automatic hot upsetting test device and method for a large-diameter cylindrical steel sample. Background Art

[0002] In the physical hot upsetting performance test of modern steel enterprises, it is necessary to conduct heat treatment upsetting test on the cylindrical specimens such as round bars, high-quality bars, high-quality wires, etc. According to the standard YB / T 5293-2014, the hot upsetting test mainly refers to a process test method that applies pressure along the axis direction of the specimen at room temperature or under heating state, compresses the specimen according to the specified forging ratio, tests the ability of the metal to withstand upsetting plastic deformation, and displays metal surface defects to judge the surface quality of the product.

[0003] Usually, the upset forging test is only carried out on samples below 30mm, and cold upset forging is mainly used, and the samples are loaded by manual handling. If a hot upset forging test is carried out, the samples are loaded by manual handling or crane hoisting, placed in a heating furnace or other heating device for heating treatment according to a certain process, and then transferred to the upset forging platform. After the single-machine equipment performs hot upset forging, the waste is manually discarded after manual observation. However, for steel samples with a diameter of more than 30mm, the sample weight is large, and the diameters and shapes of the cylinders and round cakes before and after the upset forging are different, making them difficult to clamp. Because it is a hot upset forging test, problems such as sample falling due to sample adhesion or loose grip often occur, which can easily cause safety risks.

[0004] In recent years, although fully automatic hot upsetting systems have emerged, there are still problems with hot upsetting tests on large-diameter steel specimens. The specific problems or difficulties are mainly the following: 1. The specimen is heavy. Under the requirements of low cost and stability, it is difficult for the clamp to clamp the cylinder before upsetting and the round cake after upsetting of different diameters. 2. After the specimen is pressed from the cylinder to the round cake after upsetting, the center position of the specimen is offset, which affects the position of the robot. 3. After the specimen is heated, some specimens are sticky, causing the position of the round cake after upsetting to shift or lose the specimen. 4. In addition to the abnormal situation of large-diameter specimens that has been solved, there are still other reasons that cause the operation of large-diameter automatic hot upsetting tests to be unstable, such as loading specimens of other shapes as cylindrical specimens, and the specimens fall over in the furnace and are grabbed into the upsetting machine, but cannot be taken out after the upsetting is completed, which affects the automated test process. Summary of the invention

[0005] The object of the present invention is to provide an automatic hot upsetting test device and method for large diameter cylindrical steel specimens to solve the problems raised by the above background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] An automatic hot upsetting test device for large-diameter cylindrical steel specimens comprises an upsetting machine and a robot for clamping the specimens on the upsetting machine, the robot being provided with a manipulator gripper with a special clamp, the manipulator gripper being provided with different clamping areas in sequence from the end, the clamping areas being provided according to different types and sizes of specimens required to be clamped in the automation system, each area being provided with different detachable clamps as required, and each section of the clamp adopts a V-shaped opening on two planes for clamping the specimens; a compressed air gun blowpipe is provided at a fixed position inside the upsetting machine, the compressed air gun blowpipe is aimed at the lower surface of the upper platen of the upsetting machine for blowing and cooling, a temperature measuring gun is provided on the other side of the upsetting machine for temperature measurement, and when it is detected that the temperature has recovered to a threshold temperature, the next upsetting test is continued.

[0008] Preferably, each area on the manipulator gripper is V-shaped when viewed from the top, and the cylinders with diameters covered by the V-shaped openings are all circumscribed cylinder diameter circles when viewed from the top.

[0009] The present invention provides another technical solution: an automatic hot upsetting test method for a large diameter cylindrical steel sample, which is implemented based on an automatic hot upsetting test device for a large diameter cylindrical steel sample, and comprises the following steps:

[0010] S1: Insert the manipulator jaws into the 800-ton upset forging machine, and then close the manipulator jaws;

[0011] S2: Check whether the torque of the manipulator servo motor changes significantly when the end of the manipulator gripper is within the range of the diameter R of the sample being grabbed this time. If there is a change, execute S3; if there is no change, execute S4;

[0012] S3: The manipulator clamp places the sample after upsetting on the observation platform;

[0013] S4: The robot reports an error message "Abnormal grip, please process" and the operator processes it. Then he clicks the "Processed" command and the robot gripper returns to its initial position.

[0014] Furthermore, it also includes a centering and regularizing method to solve the deviation of the sample position by using the robot gripper, which is as follows: when the sample is offset from the original position after upsetting, the special action is to first clamp the sample and then release the robot gripper for a short distance, while the robot gripper moves toward the sample as a whole. When the left clamp just touches the sample, the force on the sample is F. The force analysis is performed on the sample, and the coordinate axis is established with the robot gripper as the y-axis direction. The force is decomposed into Fx and Fy. Fx pushes the sample to the right a distance of x, and Fy pushes the sample a distance of y. The sample always slides along the edge of the V-shaped mouth of the robot gripper. When the sample touches the other side of the V-shaped mouth at the same time, it is subjected to force T. Ty and Fy are equal to achieve force balance. The sample no longer moves in the y-axis direction of the robot gripper, and the regularization is completed at this time.

[0015] Furthermore, the distance x required for the sample to be regularized in the x direction is x, and the distance x is completed in 1-2 times. Finally, the manipulator grips the sample, and the V-shaped mouth makes four-point contact to achieve stable clamping of the sample.

[0016] Furthermore, it also includes a method for preventing the sample from sticking in an upsetting machine, which is as follows: a compressed air gun blowpipe is set at a fixed position inside the upsetting machine, the compressed air gun blowpipe is aimed at the lower surface of the upsetting upper platen for blowing cooling, and a temperature measuring gun is set at the same time to measure the temperature. When it is detected that the temperature has returned to an appropriate temperature, the next upsetting test can be continued.

[0017] Furthermore, it also includes an alarm protection method for the case where the manipulator gripper fails to grip the sample, which is as follows: assuming that the diameter of the sample that the manipulator gripper needs to grip or the diameter of the gripping edge each time it closes is R, and the distance between the ends of the manipulator gripper affected by the servo motor is D. When the manipulator gripper is closed, the motor rotates through the forward and reverse screws, and the robot system detects D, and detects the torque situation where D drops from R to 0.9R. When the torque changes significantly, the robot system determines that the manipulator gripper has gripped the sample. When the torque does not change significantly, the robot system determines that the manipulator gripper has not gripped the sample, and writes a dialog box instruction in the program interface "Manipulator gripping is abnormal, please confirm". After the manual processing is completed, the test can continue.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] The automatic hot upsetting test device and method for large-diameter cylindrical steel samples of the present invention can clamp large-diameter cylindrical samples in different states before and after hot upsetting through clamping jaws of specific shapes and adopting a specific manipulator regularization method, thereby solving the problems of sample sticking and sample falling of such samples during the hot upsetting process. The entire device has an ingenious structure and an effective method, and can ensure that large-diameter cylindrical steel samples can be stably subjected to automatic hot upsetting tests, ensure that the samples can be stably and conveniently grasped, and at the same time ensure that the automatic hot upsetting test runs stably to avoid interruptions and the occurrence of abnormalities and dangers. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the framework of the test device of the present invention;

[0021] Figure 2 This is a working state diagram of the manipulator gripper of the present invention;

[0022] Figure 3 The working plane of the manipulator gripper of the present invention;

[0023] Figure 4 This is a diagram of a single manipulator gripper of the present invention;

[0024] Figure 5 This is a state diagram of the manipulator of the present invention when the manipulator moves to the right and just touches the sample after the manipulator jaws are clamped and then released for a certain distance;

[0025] Figure 6 For the present invention Figure 5 The state diagram of the force F and T after the middle specimen is aligned in place;

[0026] Figure 7 For the present invention Figure 6 The stress state diagram of the specimen after regularization is completed;

[0027] Figure 8 It is a structural schematic diagram of the anti-sticking sample of the upsetting machine of the present invention;

[0028] Fig. 9 For the present invention Figure 8 sectional view of

[0029] Fig.10 The present invention is a flow chart of the test method.

[0030] In the figure: 1. Upsetting machine; 2. Test specimen; 3. Robot; 4. Robot gripper; 5. Compressed air gun blowpipe; 6. Temperature measuring gun. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] See also Figure 1-9 The embodiment of the present invention provides an automatic hot upsetting test device for a large-diameter cylindrical steel sample, including an upsetting machine 1 and a robot 3 for clamping a sample 2 on the upsetting machine 1, a manipulator gripper 4 with a special clamp on the robot 3, and different clamping areas are arranged in sequence from the end of the manipulator gripper 4, and the clamping areas are arranged according to different types and sizes of the sample 2 to be clamped in the automation system, and different detachable clamps are arranged in each area according to the needs, and each section of the clamp adopts a V-shaped mouth on two planes to clamp the sample 2; a compressed air gun blowpipe 5 is arranged at a fixed position inside the upsetting machine 1, and the compressed air gun blowpipe 5 is aimed at the lower surface of the upper platen of the upsetting machine 1 for blowing cooling, and a temperature measuring gun 6 is arranged on the other side of the upsetting machine 1 for temperature measurement, and the next upsetting test is continued when the temperature is detected to have recovered to the threshold temperature. Each area on the manipulator gripper 4 in this embodiment is V-shaped when viewed from the top, and the cylinders of the diameter covered by the V-shaped mouth are all circumscribed cylinder diameter circles when viewed from the top.

[0033] See also Fig.10 In order to further better explain the embodiments of the present invention, an automatic hot upsetting test method for a large diameter cylindrical steel sample is also provided, which is implemented based on an automatic hot upsetting test device for a large diameter cylindrical steel sample and includes the following steps:

[0034] S1: insert the manipulator gripper 4 into the 800-ton upset forging machine 1, and then close the manipulator gripper 4;

[0035] S2: Detect whether the torque of the manipulator servo motor changes significantly when the end of the manipulator gripper 4 is within the range of the diameter R of the sample 2 being grasped this time. If there is a change, execute S3; if there is no change, execute S4;

[0036] S3: The manipulator gripper 4 places the sample 2 after upsetting on the observation platform;

[0037] S4: Robot 3 reports an error message "Abnormal grip, please process" and the operator processes it and clicks the "Processed" command, and the robot gripper 4 returns to its initial position.

[0038] like Figure 5-7As shown, in the above embodiment, the present invention also includes a centering and regularizing method for solving the deviation of the position of the sample 2 by the manipulator clamp 4. The range of movement of the manipulator clamp 4 to the left and right is considered by measuring the space size inside the upsetting machine 1. By programming the specific action of the manipulator, combined with the use area and shape of the manipulator clamp 4, the left and right movement range of the manipulator clamp 4 after opening a certain amplitude (larger than the round cake sample after the upsetting is completed) must be smaller than the range of movement of the manipulator. By using a clamp in the diameter range of the sample, the left and right movements are repeated 1-2 times, and the manipulator can be used to solve the problem of sample position deviation and achieve the functions of regularization and centering; specifically as follows: when the sample 2 is offset from the original position after upsetting, the special action is to first clamp the sample 2 and then release the manipulator clamp 4 for a short distance, At the same time, the manipulator gripper 4 moves as a whole toward the sample 2. When the left clamp just contacts the sample 2, the force on the sample 2 is F. The force analysis is performed on the sample 2. The coordinate axis is established with the manipulator gripper 4 as the y-axis direction, and the force is decomposed into Fx and Fy. Fx pushes the sample 2 to the right by a distance of x, and Fy pushes the sample 2 by a distance of y. The sample 2 always slides along the edge of the V-shaped opening of the manipulator gripper 4. When the sample 2 contacts the other side of the V-shaped opening at the same time, it is subjected to a force T. Ty and Fy are equal to achieve force balance. The sample 2 no longer moves in the y-axis direction of the manipulator gripper 4. At this time, the regularization is completed. The distance x required for the regularization of the sample 2 in the x direction is x, and the distance x is completed in 1-2 times. Finally, the manipulator gripper 4 clamps the sample 2, and the V-shaped opening is in four-point contact to achieve stable clamping of the sample 2.

[0039] like Figure 8-9 As shown, in the above embodiment, the present invention also includes a method for preventing the top forging machine 1 from sticking to the sample, which is as follows: a compressed air gun blowpipe 5 is set at a fixed position inside the top forging machine 1, and the compressed air gun blowpipe 5 is aimed at the lower surface of the top forging upper platen for blowing cooling, and a temperature measuring gun 6 is set at the same time to measure the temperature. When it is detected that the temperature has returned to an appropriate temperature, the next top forging test can be continued.

[0040] In the above embodiment, the present invention also includes an alarm protection method for the robot gripper 4 not gripping the sample 2. When the sample 2 is lost, as the last guarantee, within the range of different diameters, by detecting the torque of the servo motor, when there is no obvious motor current feedback, the system determines that the robot gripper 4 has not grasped the sample 2, and writes a dialog box of "abnormal gripping of the robot, please confirm" on the program interface. After the manual processing is completed, the test can continue, as follows: Set the diameter of the sample 2 or the clamping edge that the robot gripper 4 needs to clamp each time it closes The diameter is R, and the distance between the end of the manipulator gripper 4 affected by the servo motor is D. When the manipulator gripper 4 is closed, the motor rotates through the forward and reverse screws, and the robot system detects D. The torque condition of D drops from R to 0.9R. When the torque changes significantly, the robot system determines that the manipulator gripper 4 has grasped the sample 2. When the torque does not change significantly, the robot system determines that the manipulator gripper 4 has not grasped the sample 2, and writes a dialog box instruction in the program interface "Manipulator gripping is abnormal, please confirm". After the manual processing is completed, the test can continue.

[0041] To sum up: the automatic hot upsetting test device and method for large-diameter cylindrical steel specimens provided by the present invention can meet the requirements of fully automatic hot upsetting processing of cylindrical steel specimens with a diameter of 30-200mm. The hot upsetting specimen method adapted to cylindrical specimens with a diameter of 30mm-200mm is composed of special clamps of a manipulator and related special actions, special devices for large-tonnage upsetting machines, and a system-specific protection program. Through clamps of specific shapes and a specific manipulator regularization method, large-diameter cylindrical specimens can be clamped in different states before and after hot upsetting, thereby solving the problems of sticking and falling of such specimens during the hot upsetting process and ensuring the stable, safe and reliable hot upsetting test of large-diameter cylindrical steel specimens.

[0042] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An automatic hot upsetting test device for a large diameter cylindrical steel sample, comprising an upsetting machine (1) and a robot (3) for clamping a sample (2) on the upsetting machine (1), characterized in that: The robot (3) is provided with a manipulator gripper (4) with a special clamp. Different clamping areas are arranged in sequence from the end of the manipulator gripper (4). The clamping areas are arranged according to different types and sizes of samples (2) to be clamped in the automation system. Different detachable clamps are arranged in each area according to the needs. Each section of the clamp adopts a V-shaped opening on two planes to clamp the sample (2). A compressed air gun blowpipe (5) is arranged at a fixed position inside the upsetting machine (1). The compressed air gun blowpipe (5) is aimed at the lower surface of the upper platen of the upsetting machine (1) for blowing cooling. A temperature measuring gun (6) is arranged on the other side of the upsetting machine (1) for temperature measurement. When the temperature is detected to have recovered to the threshold temperature, the next upsetting test is continued.

2. The automatic hot upsetting test device for a large diameter cylindrical steel sample as claimed in claim 1, characterized in that: Each area on the manipulator gripper (4) is V-shaped when viewed from the top, and the cylinders with diameters covered by the V-shaped openings are all circumscribed cylinder diameter circles when viewed from the top.

3. An automatic hot upsetting test method for a large diameter cylindrical steel sample, implemented based on the automatic hot upsetting test device for a large diameter cylindrical steel sample according to any one of claims 1 to 2, characterized in that: The following steps are involved: S1: inserting the manipulator gripper (4) into the 800-ton upset forging machine (1), and then closing the manipulator gripper (4); S2: Detect whether the torque of the manipulator servo motor changes significantly when the end of the manipulator gripper (4) is within the vicinity of the diameter R of the sample (2) being grasped this time. If there is a change, execute S3; if there is no change, execute S4; S3: The manipulator gripper (4) places the sample (2) after upsetting on the observation platform; S4: The robot (3) reports an error message "Abnormal grip, please process" and the operator processes it and clicks the "Processed" command, and the robot gripper (4) returns to its initial position.

4. The automatic hot upsetting test method for a large diameter cylindrical steel specimen as claimed in claim 3, characterized in that: The invention also includes a centering and regularizing method for solving the deviation of the position of the sample (2) by using the manipulator clamp (4), which is as follows: when the sample (2) is offset from the original position after upsetting, the special action is to first clamp the sample (2) and then release the manipulator clamp (4) for a short distance, and at the same time, the manipulator clamp (4) moves toward the sample (2) as a whole. When the left clamp just contacts the sample (2), the force on the sample (2) is F. The force analysis of the sample (2) is carried out, and the coordinate axis is established with the manipulator clamp (4) as the y-axis direction, and the force is decomposed into Fx and Fy. Fx pushes the sample (2) to the right by a distance x, and Fy pushes the sample (2) by a distance y. The sample (2) always slides along the edge of the V-shaped opening of the manipulator clamp (4). When the sample (2) contacts the other side of the V-shaped opening at the same time, it is subjected to a force T, and Ty and Fy are equal to achieve force balance. The sample (2) no longer moves in the y-axis direction of the manipulator clamp (4), and the regularization is completed at this time.

5. The automatic hot upsetting test method for a large diameter cylindrical steel specimen as claimed in claim 4, characterized in that: The distance x required for the sample (2) to be regularized in the x direction is x, and the distance x is completed in 1-2 times. Finally, the manipulator gripper (4) grips the sample (2), and the V-shaped mouth has four-point contact to achieve stable gripping of the sample (2).

6. The automatic hot upsetting test method for a large diameter cylindrical steel specimen as claimed in claim 3, characterized in that: The invention also includes a method for preventing a sample from sticking in an upsetting machine (1), which is specifically as follows: a compressed air gun blowpipe (5) is arranged at a fixed position inside the upsetting machine (1), the compressed air gun blowpipe (5) is aimed at the lower surface of the upsetting upper platen for blowing and cooling, and a temperature measuring gun (6) is arranged at the same time for measuring the temperature. When it is detected that the temperature has returned to an appropriate temperature, the next upsetting test can be continued.

7. The automatic hot upsetting test method for a large diameter cylindrical steel specimen as claimed in claim 3, characterized in that: The invention also includes an alarm protection method for when the manipulator gripper (4) fails to grip the sample (2), which is as follows: the diameter of the sample (2) or the gripping edge diameter required for each closing of the manipulator gripper (4) is R, and the end distance of the manipulator gripper (4) affected by the servo motor is D. When the manipulator gripper (4) is closed, the motor rotates through the forward and reverse screws, and the robot system detects D, and detects the torque condition when D drops from R to 0.9R. When the torque changes significantly, the robot system determines that the manipulator gripper (4) has gripped the sample (2). When the torque does not change significantly, the robot system determines that the manipulator gripper (4) has not gripped the sample (2), and writes a dialog box instruction of "manipulator gripping abnormality, please confirm" in the program interface. After the manual processing is completed, the test can continue.

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