Rod-shaped forge piece carrying device, grabbing method and forge piece production line
Through the multi-axis robot equipped with a contact position sensor measurement device, the problems of low gripping accuracy and poor consistency in the handling of titanium alloy forgings are solved, and accurate calibration and efficient handling are achieved in high-temperature environments are achieved, and the stability and efficiency of the forging process are improved.
Patent Information
- Application Number
- CN202510653266.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-05-20
- Publication Date
- 2025-07-18
AI Technical Summary
During the handling of existing titanium alloy forgings, relying on manual operations leads to low gripping accuracy, poor product consistency, and the visual system is difficult to apply in high temperature environments, so it is impossible to effectively calibrate the position error of the forgings.
The multi-axis robot is equipped with a contact position sensor measuring device, which detects axial errors by measuring the pinch rod and performs calibration and correction to ensure that the clamps accurately grasp and place the forgings.
It improves the gripping accuracy and placement accuracy of forging, ensures the consistency of the forging process, avoids the influence of high temperatures and sprays, and improves handling efficiency and product quality.
Smart Images
Figure CN120325873A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of titanium alloy forging, and particularly to a handling device for rod-shaped forgings, a grasping method and a forging production line. Background Art
[0002] In the forging industry, the product quality of titanium alloy forgings is an important factor affecting the economic benefits of enterprises. The placement accuracy of forgings and the handling efficiency are important technical factors affecting the forming quality of forgings.
[0003] Currently, the handling operation of titanium alloy forgings usually relies on manual operation of hand tools for handling, with low handling efficiency and inaccurate grasping accuracy, resulting in poor product consistency. The common layout of an artificial forging production line is shown in Figure 5 as follows: First, there may be errors in the axial length of the rod-shaped forgings after blanking, resulting in the first error in the axial direction of the rod-shaped forgings; then, the rod-shaped forgings are manually loaded onto the multi-layer rack 1 by worker 32. If the placement position is inaccurate in the depth direction (the same as the axial direction of the rod-shaped forgings) on the rack 1, it will cause the second error in the axial direction of the rod-shaped forgings; subsequently, the rod-shaped forgings are sequentially transferred into the first heating furnace 2 and the second heating furnace 3 by worker 32. After heating, the rod-shaped forgings are deformed by heat, and the tolerance in the axial direction of the rod-shaped forgings is large, resulting in the third error; finally, manually transferring them into the horizontal forging machine 4 often causes inaccurate placement in the axial direction position in the horizontal forging machine's upsetting process die, resulting in the fourth error.
[0004] In other fields, the mechanical handling + vision system method is often adopted to improve the grasping accuracy and handling speed. Under the positioning of the vision system, the grasping position can be automatically adjusted to solve the error of the grasping position caused by inaccurate initial placement position and the axial expansion and contraction of the forgings themselves. However, the vision system often depends on the cleanliness of the environment and the consistency of the tooling position. In the forging field, the environment inside the high-temperature heating furnace does not support the installation of vision cameras, and the spray in the forging press will seriously affect the recognition effect of the vision system. Therefore, it is very difficult to use the vision positioning method to ensure the accuracy of the grasping position, which is also the reason why the forging industry still remains in the stage of manual handling. Therefore, there is an urgent need for a handling system that can adapt to the complex handling requirements in the forging process. Summary of the Invention
[0005] The object of the present invention is to solve the above technical problems, and provide a handling device for rod-shaped forgings, a grasping method and a forging production line. By using a multi-axis robot equipped with a contact position sensor measuring device to judge the axial error and perform calibration and correction, the grasping accuracy can be improved, and then the placement accuracy can be ensured, so as to improve the consistency of forging of forgings. Moreover, since the contact position sensor measuring device measures through a measuring rod, it will not be affected by the high temperature of the heating furnace and the spray of the graphite spraying device.
[0006] To achieve the above object, the present invention provides the following solutions: The present invention discloses a handling device for rod-shaped forgings, including a multi-axis robot. A clamp and a contact position sensor measuring device are provided at the execution terminal of the multi-axis robot. The contact position sensor measuring device has a measuring ejector rod that can be telescoped. The measuring ejector rod is coaxially arranged with the central axis of the jaws of the clamp. The measuring ejector rod can contact the end of the rod-shaped forging before the clamp reaches the preset clamping coordinate position. The measuring stroke of the measuring ejector rod allows the clamp to reach the preset clamping coordinate position. The execution terminal of the multi-axis robot can calibrate the clamp to the actual clamping coordinate position according to the telescopic amount of the measuring ejector rod.
[0007] Preferably, the contact position sensor measuring device includes a measuring cylinder, a sensor, and a protective housing. There is a sliding piston in the measuring cylinder. The sliding piston divides the interior of the measuring chamber into a rod chamber and a rodless chamber. The measuring cylinder is provided with a rod chamber air charging / discharging port and a rodless chamber air charging / discharging port. The rod chamber air charging / discharging port is communicated with the rod chamber, and the rodless chamber air charging / discharging port is communicated with the rodless chamber. The rodless chamber air charging / discharging port is located at one end of the rod chamber away from the sliding piston. The protective housing is communicated with the rodless chamber. The sensor includes a magnetic induction ranging instrument, a position magnet, and the measuring ejector rod. The magnetic induction ranging instrument is installed in the protective housing. The sensing rod of the magnetic induction ranging instrument extends into the rodless chamber. The measuring ejector rod is coaxially installed on the sliding piston. The measuring ejector rod is located in the rod chamber. The rod chamber is provided with an outlet for the measuring ejector rod to extend out. The measuring ejector rod is provided with a hollow chamber. The sliding piston is provided with a communication port communicated with the hollow chamber. The communication port allows the sensing rod to extend into the hollow chamber. The position magnet is fixedly installed on the sliding piston. The position magnet is located in the rodless chamber.
[0008] Preferably, the protective housing is made of heat-insulating material.
[0009] Preferably, a ejector rod slideway with a diameter smaller than that of the sliding piston is provided in the measuring cylinder. One end of the ejector rod slideway is communicated with the outlet, and the other end is communicated with the rod chamber. A linear bearing for the sliding connection of the measuring ejector rod is installed in the ejector rod slideway.
[0010] Preferably, the measuring cylinder is connected to the protective housing through an end cover.
[0011] Preferably, the end of the end cover is provided with a threaded head for threaded connection with the measuring cylinder. A sealing groove is provided on the contact surface between the end cover and the measuring cylinder, and a sealing ring is provided in the sealing groove.
[0012] Preferably, the clamp includes two clamp arms arranged side by side with adjustable spacing, and clamp blocks are correspondingly provided on the two clamp arms.
[0013] Preferably, it further includes a controller. The multi-axis robot and the contact position sensor measuring device are both communicatively connected to the controller. The controller stores a preset clamping coordinate position and a preset telescopic amount. The controller can compare the actual telescopic amount of the measuring ejector rod transmitted by the contact position sensor measuring device with the preset telescopic amount to obtain a difference value. The controller calculates the actual clamping coordinate position based on the difference value and the preset clamping coordinate position, and the execution terminal of the multi-axis robot moves the clamp according to the actual clamping coordinate position.
[0014] A method for grasping a rod-shaped forging is also disclosed. The rod-shaped forging handling device described above is adopted, and it includes the following steps:
[0015] The execution terminal of the multi-axis robot moves the clamp to the outer end of the rod-shaped forging, so that the central axis of the clamp jaw is aligned with the central axis of the rod-shaped forging.
[0016] The execution terminal of the multi-axis robot drives the clamp to move along the axial direction of the rod-shaped forging towards the inner end of the rod-shaped forging, and stops moving when reaching the preset clamping coordinate position. During the moving process, the measuring ejector rod of the contact position sensor measuring device contacts the outer end of the rod-shaped forging and is gradually compressed. After the clamp moves to the preset clamping coordinate position, the actual compression value of the measuring ejector rod is obtained.
[0017] Subtract the actual compression value from the preset compression amount to obtain a difference value. When the difference value is negative, the clamp moves the distance of the difference value from the preset clamping coordinate position towards the outer end of the rod-shaped forging, and the clamp closes to clamp the rod-shaped forging. When the difference value is positive, the clamp moves the distance of the difference value from the preset clamping coordinate position towards the inner end of the rod-shaped forging, and the clamp closes to clamp the rod-shaped forging.
[0018] The preset clamping coordinate position is obtained based on a rod-shaped forging with a standard axial length at the standard placement position. The preset compression amount is the compression value of the measuring ejector rod obtained when the multi-axis robot grasps a rod-shaped forging with a standard axial length at the standard placement position according to the preset clamping coordinates.
[0019] A forging production line is also disclosed, which includes a material rack, a first heating furnace, a second heating furnace, a horizontal forging machine, a spraying robot, and the above-mentioned rod-shaped forging handling device. The material rack, the first heating furnace, the second heating furnace, the horizontal forging machine, and the spraying robot are arranged in sequence along the circumference, and the multi-axis robot of the rod-shaped forging handling device is located at the center of the circumference.
[0020] The present invention has achieved the following technical effects compared with the prior art:
[0021] In the bar-shaped forging handling device of the present invention, a self-calibrating handling method of a multi-axis robot + a contact displacement sensor is adopted. When in use, an axial error is judged through a contact position sensor measuring device, and then the multi-axis robot drives the clamp to calibrate and correct the position error to improve the grasping accuracy. On the premise of ensuring the grasping accuracy, the placement accuracy of the forging can be ensured, thereby improving the consistency of forging. At the same time, since the contact position sensor measuring device realizes the measurement by contracting the measuring ejector rod, problems such as being affected by the high temperature of the heating furnace and the spraying of the graphite spraying device like vision recognition devices will not occur. BRIEF DESCRIPTION OF THE DRAWINGS
[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.
[0023] Figure 1 It is a layout schematic diagram of the forging production line in the embodiment of the present invention;
[0024] Figure 2 It is a structural schematic diagram of the execution terminal of the multi-axis robot in the embodiment of the present invention;
[0025] Figure 3 It is an internal structural schematic diagram of the contact position sensor measuring device in the embodiment of the present invention;
[0026] Figure 4 It is a bottom view structural schematic diagram of the execution terminal of the multi-axis robot in the embodiment of the present invention;
[0027] Figure 5 It is a layout schematic diagram of the manual forging production line;
[0028] Figure 6 It is a schematic diagram of the measurement process of the contact displacement sensor in the embodiment of the present invention;
[0029] Figure 7 It is a schematic diagram of the clamp grasping process in the embodiment of the present invention;
[0030] Figure 8 It is a structural schematic diagram of the trajectory control system of the multi-axis robot in the embodiment of the present invention.
[0031] Description of the reference numerals: 1, material rack; 2, first heating furnace; 3, second heating furnace; 4, horizontal forging machine; 5, multi-axis robot; 6, spraying robot; 7, clamp arm; 8, mounting bracket; 9, front clamp block; 10, rear clamp block; 11, contact position sensor measuring device; 12, measuring ejector rod; 13, measuring cylinder; 14, sealing ring; 15, end cover; 16, protective housing; 17, magnetic induction distance measuring instrument; 18, non-magnetic locking screw; 19, position magnet; 20, magnetic isolation washer; 21, hole snap ring; 22, linear bearing; 23, hollow chamber; 24, rod chamber; 25, rodless chamber; 26, cable; 27, mounting hole; 28, rod chamber charging and discharging port; 29, sensing rod; 30, rodless chamber charging and discharging port; 31, sliding piston; 32, worker. Detailed implementation manners
[0032] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
[0033] The purpose of the present invention is to provide a bar-shaped forging handling device, a grasping method and a forging production line to solve the problems existing in the prior art. Traditional handling robot clamps usually handle workpieces at fixed positions and cannot cope with the uncertainties brought by changes in the workpiece positions. Through the structural design of the handling robot clamp, a high-precision contact position sensor measuring device is introduced in the upsetting process, enabling the specific position of the workpiece to be detected in a high-temperature and complex forging environment, making up for the short board of automation technology and improving the forging handling and production efficiency. When the existing handling robots grasp workpieces, they need to pre-fix the tooling or manually teach the position precisely, and manual feeding will inevitably bring errors resulting in different grasping positions. By combining the data detected by the contact position sensor measuring device with position calculation, the grasping and discharging positions can be adaptively adjusted according to the actual placement of the workpiece, thereby improving the product consistency.
[0034] To make the above objects, features and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific implementation manners.
[0035] Embodiment 1
[0036] As Figures 1 to 8As shown in the figure, this embodiment provides a handling device for rod-shaped forgings, including a multi-axis robot 5 (also known as an industrial robotic arm). A clamp and a contact position sensor measuring device 11 are provided at the execution terminal of the multi-axis robot 5. The clamp is used to grasp and hold the rod-shaped forging. The measuring ejector rod 12 of the contact position sensor measuring device 11 is coaxially arranged with the central axis of the jaws of the clamp. The measuring ejector rod 12 can contact the end of the rod-shaped forging before the clamp reaches the preset clamping coordinate position. The measuring stroke of the measuring ejector rod 12 allows the clamp to reach the preset clamping coordinate position. The multi-axis robot 5 obtains the actual clamping coordinate position of the clamp according to the telescopic amount of the measuring ejector rod 12, and the execution terminal of the multi-axis robot 5 sends the clamp to the actual clamping coordinate position for clamping, completing the calibration of the clamping position and ensuring the grasping accuracy.
[0037] Due to the errors in the blanking length of the rod-shaped forgings, the slight errors in manual feeding, and the elongation of the forgings due to heat expansion in the heating furnace, the clamp fails to grasp accurately, resulting in dropping of materials, deviations in placing into the heating furnace and the die cavity, which affect the accuracy of subsequent forged parts and the eccentric load of the press. Therefore, a position sensor structure is needed to import the position coordinate values of each red-hot part into the robot coordinate system, so as to accurately grasp the rod-shaped forgings. For this purpose, this handling device for rod-shaped forgings proposes a self-calibrating handling method of a robot + contact displacement sensor. During use, the contact position sensor measuring device 11 is used to judge the axial error, and then the multi-axis robot 5 drives the clamp to calibrate and correct the position error to improve the grasping accuracy. As long as the accuracy of each grasp is ensured, the multi-axis robot 5 can ensure the accuracy of each placement under the limit of the placement coordinates in the later stage, thus ensuring the consistency of the forged products. Since the contact position sensor measuring device 11 measures by contracting the measuring ejector rod 12, there will be no problems such as being affected by the high temperature of the heating furnace and the atomization of the spraying device like vision recognition devices.
[0038] Working principle:
[0039] First, the execution terminal of the multi-axis robot 5 moves the clamp to the outer end of the rod-shaped forging, aligning the central axis of the jaws of the clamp with the central axis of the rod-shaped forging. At this time, the measuring ejector rod 12 of the contact position sensor measuring device 11 is also aligned with the axis of the rod-shaped forging. The rod-shaped forging can be an alloy forging, such as a titanium alloy forging, or a non-alloy forging.
[0040] Then, the execution terminal of the multi-axis robot 5 drives the clamp to translate along the axial direction of the bar-shaped forging towards the inner end of the bar-shaped forging, and stops moving when reaching the preset clamping coordinate position. During the movement, the measuring ejector rod 12 of the contact position sensor measuring device 11 contacts the outer end of the bar-shaped forging and is gradually compressed. After the clamp moves to the preset clamping coordinate position, the actual compression value of the measuring ejector rod 12 is obtained, where the preset clamping coordinate position is determined according to the accurately placed bar-shaped forging.
[0041] Then, subtract the actual compression amount from the preset compression amount to obtain a compensation difference value. The preset compression amount is the expansion and contraction amount of the measuring ejector rod 12 measured by the contact position sensor measuring device 11 when using this bar-shaped forging handling device to clamp the bar-shaped forging with a standard axial length at the accurate position according to the preset clamping coordinate position.
[0042] When the compensation difference value is negative, it indicates that the bar-shaped forging is placed relatively outward compared to the accurate position, or expands in the axial direction relative to the unheated bar-shaped forging. The clamp should move towards the outer end direction of the bar-shaped forging. Therefore, the execution terminal of the multi-axis robot 5 drives the clamp to move a distance equal to the difference value from the preset clamping coordinate position towards the outer end direction of the bar-shaped forging, and then the clamp closes to grip the bar-shaped forging to complete the grasping, and the multi-axis robot 5 performs subsequent handling.
[0043] When the compensation difference value is positive, it indicates that the bar-shaped forging is placed relatively inward compared to the accurate position. The clamp should move towards the inner end direction of the bar-shaped forging. Therefore, the execution terminal of the multi-axis robot 5 drives the clamp to move a distance equal to the difference value from the preset clamping coordinate position towards the inner end direction of the bar-shaped forging, and then the clamp closes to grip the bar-shaped forging to complete the grasping, and the multi-axis robot 5 performs subsequent handling.
[0044] Among them, the preset clamping coordinate position generally determines a clamping position between the outer end and the inner end of the bar-shaped forging with a standard axial length. This clamping position is converted into spatial coordinate information (a spatial coordinate system composed of the x-axis, y-axis, and z-axis) according to the standard placement position for the execution terminal of the multi-axis robot 5 to perform positioning. When the central axis of the jaws of the clamp of the multi-axis robot 5 corresponds to the outer end of the bar-shaped forging, the clamp only translates along the axial direction parallel to the bar-shaped forging during subsequent clamping and calibration, and performs compensation calibration in the axial direction parallel to the bar-shaped forging.
[0045] The preset compression amount is the compression value of the measuring ejector rod 12 obtained when the multi-axis robot 5 grabs the bar-shaped forging with a standard axial length at the standard placement position according to the preset clamping coordinates. This compression value is the standard reference quantity.
[0046] In one embodiment, the contact position sensor measuring device 11 includes a measuring cylinder 13, a sensor, and a protective housing 16. A sliding piston 31 is slidably connected within the measuring cylinder 13. The sliding piston 31 divides the measuring cylinder 13 into a rod chamber 24 and a rodless chamber 25. The measuring cylinder 13 is provided with a rod chamber air charging / discharging port 28 and a rodless chamber air charging / discharging port 30. The rod chamber air charging / discharging port 28 communicates with the rod chamber 24, and the rodless chamber air charging / discharging port 30 communicates with the rodless chamber 25. The rodless chamber air charging / discharging port 30 is located at one end of the rod chamber 24 away from the sliding piston 31, and the protective housing 16 communicates with the rodless chamber 25. The sensor includes a measuring push rod 12, a magnetic induction distance measuring instrument 17, and a position magnet 19. The magnetic induction distance measuring instrument 17 is installed within the protective housing 16, and the sensing rod 29 of the magnetic induction distance measuring instrument 17 extends into the rodless chamber 25. The measuring push rod 12 is coaxially installed on the sliding piston 31. Preferably, the measuring push rod 12 and the sliding piston 31 can be integrally formed. The measuring push rod 12 is located within the rod chamber 24, and the rod chamber 24 is provided with an outlet for the measuring push rod 12 to extend out. A hollow chamber 23 is provided within the measuring push rod 12, and the sliding piston 31 is provided with a communication port communicating with the hollow chamber 23. The sensing rod 29 extends into the hollow chamber 23 through the communication port. The position magnet 19 is fixedly installed on the sliding piston 31 and is located within the rodless chamber 25. A relative displacement between the position magnet 19 and the sensing rod 29 will generate electromagnetic induction, and the magnetic induction distance measuring instrument 17 obtains an analog electrical signal through electromagnetic induction, thereby measuring the telescopic size of the measuring push rod 12.
[0047] Working principle, refer to Figure 6 the measurement process of the contact displacement sensor:
[0048] First, air is filled into the rodless chamber 25 through the rodless chamber air charging / discharging port 30. The gas pushes the sliding piston 31 to move towards the rod chamber 24. The gas in the rod chamber 24 is pressurized and discharged outside through the rod chamber air charging / discharging port 28. The movement of the sliding piston 31 pushes the measuring push rod 12 outwards until the sliding piston 31 moves to the end of the rod chamber 24 away from the rodless chamber 25. At this time, the measuring push rod 12 reaches its maximum elongation. The position magnet 19 moves with the sliding piston 31, generating a relative displacement L1 with the sensing rod 29.
[0049] Then, the valve body acts to disconnect the air source connection of the rodless chamber air charging / discharging port 30 and connect it to the atmosphere. At this time, both the rod chamber 24 and the rodless chamber 25 are connected to the atmosphere. As the execution terminal of the multi-axis robot 5 moves towards the preset clamping coordinate position, the bar-shaped forging will push back the measuring push rod 12. The sliding piston 31 moves towards the rodless chamber 25. The rod chamber 24 inhales air from the atmosphere, and the gas in the rodless chamber 25 is discharged to the atmosphere through the rodless chamber air charging / discharging port 30 until the clamp reaches the preset clamping coordinate position. The position magnet 19 moves back with the sliding piston 31, generating a relative displacement L2 with the sensing rod 29. L1 - L2 is the actual telescopic amount of the measuring push rod 12.
[0050] Then, before the execution terminal of the multi-axis robot 5 drives the clamp to move to the actual clamping coordinate position, the valve body moves, the rod chamber 24 is connected to the air source, and gas is filled into the rod chamber 24 through the rod chamber filling and discharging port 28, and the sliding piston 31 further moves toward the rodless chamber 25 until the sliding piston 31 moves to the end of the rodless chamber 25 away from the sliding piston 31. At this time, the measuring push rod 12 reaches the maximum retraction amount, so that the measuring push rod 12 actively avoids the clamp to avoid interference when grabbing the forging;
[0051] Finally, when the execution terminal of the multi-axis robot 5 drives the clamp to complete the transportation, the valve body moves, the rodless chamber air filling and discharging port 30 is connected to the air source, the rod chamber air filling and discharging port 28 is disconnected from the air source, and the atmosphere is connected to inflate the rodless chamber 25 through the rodless chamber air filling and discharging port 30, and the measuring push rod 12 is pushed out again, and the above steps can be repeated.
[0052] In one embodiment, the protective shell 16 is a heat-insulating material. Although only the measuring push rod 12 is extended into the heating furnace during use, the protective shell 16 (the rangefinder part) does not extend into the heating furnace. However, since the heat transmitted from the furnace mouth of the heating furnace may affect the rangefinder, the protective shell 16 is made of heat-insulating material, which can further ensure that the rangefinder is not affected or damaged by high temperature.
[0053] In one embodiment, the cable 26 of the magnetic induction distance meter 17 extends out from one end of the protective housing 16 away from the measuring cylinder 13 .
[0054] In one embodiment, an embedding groove is provided on the communication port of the sliding piston 31, and the position magnet 19 is embedded in the embedding groove. A magnetic isolation gasket 20 is provided between the position magnet 19 and the bottom of the embedding groove. The position magnet 19 and the magnetic isolation gasket 20 can be locked on the bottom of the embedding groove by a non-magnetic locking screw 18. The position magnet 19 can be a ring magnet, and the inner ring of the ring magnet can be passed through by the sensing rod 29 to avoid affecting the relative position change between the position magnet 19 and the sensing rod 29.
[0055] In one embodiment, a push rod slide is provided in the measuring cylinder 13, one end of the push rod slide is connected to the end cover 15, and the other end of the push rod slide is connected to the rod cavity 24. The diameter of the push rod slide is smaller than the sliding piston 31, so that the end surface of the push rod slide facing the sliding piston 31 can axially limit the sliding piston 31. A linear bearing 22 is installed in the push rod slide, and the measuring push rod 12 is slidably connected in the push rod slide through the linear bearing 22. The linear bearing 22 is preferably a single-lined linear bearing. Preferably, a hole elastic ring 21 is embedded in the push rod slide, and the measuring push rod 12 passes through the inner ring of the hole elastic ring 21 to avoid affecting the movement of the measuring push rod 12. The hole elastic ring 21 fits with the end of the linear bearing 22 away from the extension port to axially limit the linear bearing 22 and prevent the linear bearing 22 from moving toward the rod cavity 24.
[0056] In one embodiment, a threaded head is provided at the end of the end cap 15, and the end cap 15 can be threadedly connected to the measuring cylinder 13 through the threaded head. A sealing groove is provided on the contact surface between the end cap 15 and the measuring cylinder 13, and a sealing ring 14 is provided in the sealing groove. The sealing effect between the end cap 15 and the measuring cylinder 13 is ensured through the sealing ring 14 to prevent dust from entering.
[0057] In one embodiment, the clamp includes two clamp arms 7. The two clamp arms 7 are arranged side by side with an adjustable spacing, and the spacing adjustment direction is perpendicular to the central axis direction of the clamp jaws. The length direction of the clamp arm 7 is parallel to the central axis direction of the clamp jaws. Clamp blocks are provided on both of the two clamp arms 7, and the clamp blocks on the two clamp arms 7 correspond to each other. When the spacing between the two clamp arms 7 is reduced, the corresponding clamp blocks on the two clamp arms 7 will close together to clamp the forging. The number of clamp blocks on each clamp arm 7 is set as required, usually two, including a front clamp block 9 and a rear clamp block 10. The front clamp block 9 and the rear clamp block 10 are spaced along the length direction of the clamp arm 7, and the rear clamp block 10 is located between the front clamp block 9 and the contact type position sensor measuring device 11. The contact type position sensor measuring device 11 is located between the two clamp arms 7.
[0058] In one embodiment, a mounting support 8 is provided at the end of the multi-axis robot 5, and the clamp arm 7 is mounted on the mounting support 8.
[0059] In one embodiment, a mounting plate is mounted on one of the two clamp arms 7. A mounting hole 27 is provided on the measuring cylinder 13, and the measuring cylinder 13 is bolt-mounted on the mounting plate through the mounting hole 27 and can move along with the clamp arm 7 on which the mounting plate is mounted.
[0060] In one embodiment, for the method of adjusting the spacing between the two clamp arms 7, the two clamp arms 7 are slidably connected to the mounting support 8, and then it can be achieved through the commonly used driving methods and driving mechanisms of the clamp.
[0061] For example, the driving mechanism can adopt a telescopic cylinder: each of the two clamp arms 7 is equipped with a telescopic cylinder. The cylinder body of the telescopic cylinder is fixed on the mounting support 8, and the piston rod of the telescopic cylinder is fixedly connected to the clamp arm 7. Through the telescoping of the piston rods of the two telescopic cylinders, the clamp arms 7 can be moved closer to and away from each other to achieve spacing adjustment. The telescopic cylinder can adopt a hydraulic telescopic cylinder, an electric telescopic cylinder, a pneumatic telescopic cylinder, etc., which is selected according to the actual situation.
[0062] For another example, the driving mechanism can adopt the cooperation mode of a gear and a rack: the gear is rotatably connected to the mounting support 8, and a rack is meshed with each of the upper and lower sides of the gear. The rack is slidably connected to the mounting support 8. One clamping arm 7 is fixedly connected to the upper rack, and the other clamping arm 7 is fixedly connected to the lower rack. The gear is driven to rotate by a driving motor, so as to drive the two racks to move synchronously. When the gear rotates forward or backward, the two clamping arms 7 can be made to approach and move away from each other.
[0063] For another example, the driving mechanism adopts the lead screw-nut mode: the nut is fixedly connected to the clamping arm 7, and the lead screw is rotatably connected to the mounting support 8. The lead screw is driven by a driving motor.
[0064] In one embodiment, a controller is further included. The multi-axis robot 5 and the contact position sensor measuring device 11 are both communicatively connected to the controller. The controller stores a preset clamping coordinate position and a preset telescopic amount. The controller can compare the actual telescopic amount of the measuring ejector rod 12 transmitted by the contact position sensor measuring device 11 with the preset telescopic amount to obtain a difference value, and then the controller calculates the actual clamping coordinate position according to the difference value and the preset clamping coordinate position. The execution terminal of the multi-axis robot 5 moves the clamping jaws according to the actual clamping coordinate position.
[0065] In one embodiment, the controller is a PLC controller. The PLC controller can be installed in the control cabinet.
[0066] Embodiment 2
[0067] As Figures 1 to 8 shown, this embodiment provides a method for grasping a rod-shaped forging, which adopts the rod-shaped forging handling device in Embodiment 1 and includes the following steps:
[0068] The execution terminal of the multi-axis robot 5 moves the clamping jaws to the outer end (the end close to the multi-axis robot 5) of the rod-shaped forging, so that the central axis of the jaws of the clamping jaws is aligned with the central axis of the rod-shaped forging; at this time, the axis of the measuring ejector rod 12 of the contact position sensor measuring device 11 is also coaxially aligned with the axis of the rod-shaped forging;
[0069] The execution terminal of the multi-axis robot 5 drives the clamping jaws to move along the axis direction of the rod-shaped forging towards the inner end of the rod-shaped forging, and stops moving when reaching the preset clamping coordinate position. During the moving process, the measuring ejector rod 12 of the contact position sensor measuring device 11 contacts the outer end of the rod-shaped forging and is gradually compressed. After the clamping jaws move to the preset clamping coordinate position, the actual compression value of the measuring ejector rod 12 is obtained;
[0070] Subtract the actual compression value from the preset compression amount to obtain a difference value;
[0071] When the difference is negative, the clamp moves a distance equal to the difference from the preset clamping coordinate position towards the outer end of the bar-shaped forging, and the clamp closes to grip the bar-shaped forging, completing the grasping;
[0072] When the difference is positive, the clamp moves a distance equal to the difference from the preset clamping coordinate position towards the inner end of the bar-shaped forging, and the clamp closes to grip the bar-shaped forging, completing the grasping;
[0073] Among them, the preset clamping coordinate position is obtained based on a bar-shaped forging with a standard axial length at the standard placement position. The preset compression amount is the compression value of the measuring ejector rod 12 obtained when the multi-axis robot 5 grasps a bar-shaped forging with a standard axial length at the standard placement position according to the preset clamping coordinates. That is, place the bar-shaped forging with the standard axial length at the accurate position of the rack 1, and then when using this bar-shaped forging handling device to grip the bar-shaped forging with the standard axial length according to the preset clamping coordinate position, the telescopic amount of the measuring ejector rod 12 measured by the contact position sensor measuring device 11 is used to eliminate the axial length error and placement error of the bar-shaped forging after blanking.
[0074] In one embodiment, the specific step sequence of the bar-shaped forging grasping method is as follows:
[0075] Step S1: Determine the preset clamping position of the clamp;
[0076] Step S2: Extend the measuring ejector rod 12 to the maximum elongation position;
[0077] Step S3: The multi-axis robot 5 translates the clamp along the axis of the bar-shaped forging to the preset clamping position according to the preset clamping position parameters, and the measuring ejector rod 12 is compressed by the bar-shaped forging;
[0078] Step S4: Read the retraction position value of the measuring ejector rod 12;
[0079] Step S5: Compare with the retraction position value when the bar-shaped forging is at the standard clamping position (preset clamping position) to obtain a difference;
[0080] Step S6: Transmit the translation variable required for the clamp to grip the bar-shaped forging to the multi-axis robot 5 after compensating through the probe difference calculation.
[0081] Embodiment 3
[0082] As Figures 1 to 8As shown in the figure, this embodiment provides a forging production line, which includes a material rack 1, a first heating furnace 2, a second heating furnace 3, a horizontal forging machine 4, a spray robot 6, and the rod-shaped forging handling device in Embodiment 1. The material rack 1, the first heating furnace 2, the second heating furnace 3, the horizontal forging machine 4, and the spray robot 6 are arranged in sequence along the circumference, and the multi-axis robot 5 of the rod-shaped forging handling device is located at the center of the circumference. The rod-shaped forging on the material rack 1 can be sequentially transferred to the first heating furnace 2, the second heating furnace 3, and the horizontal forging machine 4 by the multi-axis robot 5 for forging. The spray robot 6 is used to purge, cool, and lubricate the surface of the mold in the horizontal forging machine 4. By means of robot grasping, the grasping effect can be improved compared with manual operation. Cooperating with the contact position sensor measuring device 11 can improve the grasping accuracy. Once the grasping accuracy is guaranteed, the accuracy of the final placement position in the horizontal forging machine 4 can be guaranteed, ensuring the forging consistency of the forging. The measuring method of the contact position sensor measuring device 11 is through the telescopic measurement method of the ejector rod 12. When grasping from the first heating furnace 2 and the second heating furnace 3, only the ejector rod 12 is extended, and the main body of the contact position sensor measuring device 11 is located outside, thus avoiding the influence of high temperature. And if the protective shell 16 of the contact position sensor measuring device 11 is made of heat-insulating material, the influence of high temperature can be further avoided.
[0083] In an embodiment, the material rack 1 adopts a multi-layer material rack. The rod-shaped forgings are first manually loaded onto the material rack 1 by workers and then grasped by the multi-axis robot 5 for subsequent handling.
[0084] In an embodiment, the first heating furnace 2 and the second heating furnace 3 can adopt box-type heating furnaces.
[0085] In the present invention, specific examples are used to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.
Claims
1. A bar-shaped forging handling device, characterized in that, It includes a multi-axis robot. A gripper and a contact position sensor measuring device are provided at the execution terminal of the multi-axis robot. The contact position sensor measuring device has a telescopic measuring ejector rod. The measuring ejector rod is coaxially arranged with the central axis of the jaws of the gripper. The measuring ejector rod can contact the end of the bar-shaped forging before the gripper reaches the preset clamping coordinate position. The measuring stroke of the measuring ejector rod allows the gripper to reach the preset clamping coordinate position. The execution terminal of the multi-axis robot can calibrate the gripper to the actual clamping coordinate position according to the telescopic amount of the measuring ejector rod.
2. The bar-shaped forging handling device according to claim 1, characterized in that The contact position sensor measuring device includes a measuring cylinder, a sensor and a protective housing. There is a sliding piston in the measuring cylinder. The sliding piston divides the interior of the measuring chamber into a rod chamber and a rodless chamber. The measuring cylinder is provided with a rod chamber air charging / discharging port and a rodless chamber air charging / discharging port. The rod chamber air charging / discharging port is communicated with the rod chamber, and the rodless chamber air charging / discharging port is communicated with the rodless chamber. The rodless chamber air charging / discharging port is located at one end of the rod chamber away from the sliding piston. The protective housing is communicated with the rodless chamber. The sensor includes a magnetic induction distance measuring instrument, a position magnet and the measuring ejector rod. The magnetic induction distance measuring instrument is installed in the protective housing. The sensing rod of the magnetic induction distance measuring instrument extends into the rodless chamber. The measuring ejector rod is coaxially installed on the sliding piston. The measuring ejector rod is located in the rod chamber. The rod chamber is provided with an outlet for the measuring ejector rod to extend out. The measuring ejector rod is provided with a hollow chamber. The sliding piston is provided with a communication port communicated with the hollow chamber. The communication port allows the sensing rod to extend into the hollow chamber. The position magnet is fixedly installed on the sliding piston. The position magnet is located in the rodless chamber.
3. The bar-shaped forging handling device according to claim 2, characterized in that, The protective housing is made of heat-insulating material.
4. The bar-shaped forging handling device according to claim 2, wherein A ejector rod slideway with a diameter smaller than that of the sliding piston is provided in the measuring cylinder. One end of the ejector rod slideway is communicated with the outlet, and the other end is communicated with the rod chamber. A linear bearing for the sliding connection of the measuring ejector rod is installed in the ejector rod slideway.
5. The bar-shaped forging handling device according to claim 2, characterized in that, The measuring cylinder is connected to the protective housing through an end cover.
6. The bar-shaped forging handling device according to claim 5, characterized in that, The end of the end cover is provided with a threaded head for threaded connection with the measuring cylinder. A sealing groove is provided on the contact surface between the end cover and the measuring cylinder. A sealing ring is provided in the sealing groove.
7. The bar-shaped forging handling device according to claim 1, characterized in that, The gripper includes two gripper arms arranged side by side with adjustable spacing. Gripper blocks are correspondingly provided on the two gripper arms.
8. The bar-shaped forging handling device according to claim 1, characterized in that, It also includes a controller. The multi-axis robot and the contact position sensor measuring device are both communicatively connected to the controller. The controller stores the preset clamping coordinate position and the preset telescopic amount. The controller can compare the actual telescopic amount of the measuring ejector rod transmitted by the contact position sensor measuring device with the preset telescopic amount to obtain a difference value. The controller calculates the actual clamping coordinate position according to the difference value and the preset clamping coordinate position. The execution terminal of the multi-axis robot moves the gripper according to the actual clamping coordinate position.
9. A method for gripping a rod-shaped forging, characterized in that Adopt the bar forging handling device described in any one of claims 1-8, including the following steps: The execution terminal of the multi-axis robot moves the clamp to the outer end of the bar forging, so that the central axis of the jaws of the clamp is aligned with the central axis of the bar forging; The execution terminal of the multi-axis robot drives the clamp to move along the axis direction of the bar forging towards the inner end of the bar forging, and stops moving when reaching the preset clamping coordinate position. During the moving process, the measuring ejector rod of the contact position sensor measuring device contacts the outer end of the bar forging and is gradually compressed. After the clamp moves to the preset clamping coordinate position, the actual compression value of the measuring ejector rod is obtained; Subtract the actual compression value from the preset compression amount to obtain the difference value. When the difference value is negative, the clamp moves from the preset clamping coordinate position towards the outer end of the bar forging by the distance of the difference value, and the clamp closes to clamp the bar forging. When the difference value is positive, the clamp moves from the preset clamping coordinate position towards the inner end of the bar forging by the distance of the difference value, and the clamp closes to clamp the bar forging; The preset clamping coordinate position is obtained according to the bar forging with the standard axial length at the standard placement position. The preset compression amount is the compression value of the measuring ejector rod obtained when the multi-axis robot grabs the bar forging with the standard axial length at the standard placement position according to the preset clamping coordinates; 10. A forging production line, characterized in that, It includes a material rack, a first heating furnace, a second heating furnace, a horizontal forging machine, a spraying robot, and the bar forging handling device described in any one of claims 1-8. The material rack, the first heating furnace, the second heating furnace, the horizontal forging machine, and the spraying robot are arranged in sequence along the circumference, and the multi-axis robot of the bar forging handling device is located at the center of the circumference.